load models from assets

[blank.git] / src / model / geometry.cpp

diff --git a/src/model/geometry.cpp b/src/model/geometry.cpp
index 416d930c4f68d0c24a0f690851264b98556b855b..e0b55826de35ed58bb05ca441a260a5877f45e86 100644 (file)
--- a/src/model/geometry.cpp
+++ b/src/model/geometry.cpp
@@ -35,7 +35,7 @@ bool Intersection(
                                return false;
                        }
                } else {
-                       if (aabb.min[i] - e < 0.0f || -aabb.max[i] - e > 0.0f) {
+                       if (aabb.min[i] - e > 0.0f || aabb.max[i] - e < 0.0f) {
                                return false;
                        }
                }
@@ -47,24 +47,98 @@ bool Intersection(
                *dist = t_min;
        }
        if (normal) {
-               glm::vec4 norm(0.0f);
                if (min_all.x > min_all.y) {
                        if (min_all.x > min_all.z) {
-                               norm.x = t2.x < t1.x ? 1 : -1;
+                               normal->x = t2.x < t1.x ? 1 : -1;
                        } else {
-                               norm.z = t2.z < t1.z ? 1 : -1;
+                               normal->z = t2.z < t1.z ? 1 : -1;
                        }
                } else if (min_all.y > min_all.z) {
-                       norm.y = t2.y < t1.y ? 1 : -1;
+                       normal->y = t2.y < t1.y ? 1 : -1;
                } else {
-                       norm.z = t2.z < t1.z ? 1 : -1;
+                       normal->z = t2.z < t1.z ? 1 : -1;
                }
-               norm = M * norm;
-               *normal = glm::vec3(norm);
        }
        return true;
 }
 
+
+bool Intersection(
+       const AABB &a_box,
+       const glm::mat4 &a_m,
+       const AABB &b_box,
+       const glm::mat4 &b_m,
+       float &depth,
+       glm::vec3 &normal
+) noexcept {
+       glm::vec3 a_corners[8] = {
+               glm::vec3(a_m * glm::vec4(a_box.min.x, a_box.min.y, a_box.min.z, 1)),
+               glm::vec3(a_m * glm::vec4(a_box.min.x, a_box.min.y, a_box.max.z, 1)),
+               glm::vec3(a_m * glm::vec4(a_box.min.x, a_box.max.y, a_box.min.z, 1)),
+               glm::vec3(a_m * glm::vec4(a_box.min.x, a_box.max.y, a_box.max.z, 1)),
+               glm::vec3(a_m * glm::vec4(a_box.max.x, a_box.min.y, a_box.min.z, 1)),
+               glm::vec3(a_m * glm::vec4(a_box.max.x, a_box.min.y, a_box.max.z, 1)),
+               glm::vec3(a_m * glm::vec4(a_box.max.x, a_box.max.y, a_box.min.z, 1)),
+               glm::vec3(a_m * glm::vec4(a_box.max.x, a_box.max.y, a_box.max.z, 1)),
+       };
+
+       glm::vec3 b_corners[8] = {
+               glm::vec3(b_m * glm::vec4(b_box.min.x, b_box.min.y, b_box.min.z, 1)),
+               glm::vec3(b_m * glm::vec4(b_box.min.x, b_box.min.y, b_box.max.z, 1)),
+               glm::vec3(b_m * glm::vec4(b_box.min.x, b_box.max.y, b_box.min.z, 1)),
+               glm::vec3(b_m * glm::vec4(b_box.min.x, b_box.max.y, b_box.max.z, 1)),
+               glm::vec3(b_m * glm::vec4(b_box.max.x, b_box.min.y, b_box.min.z, 1)),
+               glm::vec3(b_m * glm::vec4(b_box.max.x, b_box.min.y, b_box.max.z, 1)),
+               glm::vec3(b_m * glm::vec4(b_box.max.x, b_box.max.y, b_box.min.z, 1)),
+               glm::vec3(b_m * glm::vec4(b_box.max.x, b_box.max.y, b_box.max.z, 1)),
+       };
+
+       glm::vec3 axes[6] = {
+               glm::vec3(a_m * glm::vec4(1, 0, 0, 0)),
+               glm::vec3(a_m * glm::vec4(0, 1, 0, 0)),
+               glm::vec3(a_m * glm::vec4(0, 0, 1, 0)),
+               glm::vec3(b_m * glm::vec4(1, 0, 0, 0)),
+               glm::vec3(b_m * glm::vec4(0, 1, 0, 0)),
+               glm::vec3(b_m * glm::vec4(0, 0, 1, 0)),
+       };
+
+       depth = std::numeric_limits<float>::infinity();
+       int min_axis = 0;
+
+       int cur_axis = 0;
+       for (const glm::vec3 &axis : axes) {
+               float a_min = std::numeric_limits<float>::infinity();
+               float a_max = -std::numeric_limits<float>::infinity();
+               for (const glm::vec3 &corner : a_corners) {
+                       float val = glm::dot(corner, axis);
+                       a_min = std::min(a_min, val);
+                       a_max = std::max(a_max, val);
+               }
+
+               float b_min = std::numeric_limits<float>::infinity();
+               float b_max = -std::numeric_limits<float>::infinity();
+               for (const glm::vec3 &corner : b_corners) {
+                       float val = glm::dot(corner, axis);
+                       b_min = std::min(b_min, val);
+                       b_max = std::max(b_max, val);
+               }
+
+               if (a_max < b_min || b_max < a_min) return false;
+
+               float overlap = std::min(a_max, b_max) - std::max(a_min, b_min);
+               if (overlap < depth) {
+                       depth = overlap;
+                       min_axis = cur_axis;
+               }
+
+               ++cur_axis;
+       }
+
+       normal = axes[min_axis];
+       return true;
+}
+
+
 bool CullTest(const AABB &box, const glm::mat4 &MVP) noexcept {
        // transform corners into clip space
        glm::vec4 corners[8] = {