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/************************************************************************************
AstroMenace (Hardcore 3D space shooter with spaceship upgrade possibilities)
Copyright © 2006-2013 Michael Kurinnoy, Viewizard
AstroMenace is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
AstroMenace is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with AstroMenace. If not, see <http://www.gnu.org/licenses/>.
Web Site: http://www.viewizard.com/
Project: http://sourceforge.net/projects/openastromenace/
E-mail: viewizard@viewizard.com
*************************************************************************************/
#include "CollisionDetection.h"
//-----------------------------------------------------------------------------
// Проверка столкновений OBB-OBB
//-----------------------------------------------------------------------------
bool vw_OBBOBBCollision(VECTOR3D Object1OBB[8], VECTOR3D Object1OBBLocation, VECTOR3D Object1Location, float Object1RotationMatrix[9],
VECTOR3D Object2OBB[8], VECTOR3D Object2OBBLocation, VECTOR3D Object2Location, float Object2RotationMatrix[9])
{
// строим матрицу, чтобы развернуть точки
float TMPInvObject1RotationMatrix[9];
memcpy(TMPInvObject1RotationMatrix, Object1RotationMatrix, 9*sizeof(float));
Matrix33InverseRotate(TMPInvObject1RotationMatrix);
// размер первого бокса
VECTOR3D a = (Object1OBB[0] - Object1OBB[6])^0.5f;
Matrix33CalcPoint(&a, TMPInvObject1RotationMatrix);
// строим инверсную матрицу для 2-го объекта
float TMPInvObject2RotationMatrix[9];
memcpy(TMPInvObject2RotationMatrix, Object2RotationMatrix, 9*sizeof(float));
Matrix33InverseRotate(TMPInvObject2RotationMatrix);
// размер второго бокса
VECTOR3D b = (Object2OBB[0] - Object2OBB[6])^0.5f;
Matrix33CalcPoint(&b, TMPInvObject2RotationMatrix);
// получаем смещение в мировой системе координат
VECTOR3D T = (Object2Location + Object2OBBLocation)
- (Object1Location + Object1OBBLocation);
Matrix33CalcPoint(&T, TMPInvObject1RotationMatrix);
// строем матрицу для переноса точек 2-го объекта в систему координат 1-го
Matrix33Mult(TMPInvObject1RotationMatrix, Object2RotationMatrix);
float R[3][3];
R[0][0] = TMPInvObject1RotationMatrix[0];
R[0][1] = TMPInvObject1RotationMatrix[3];
R[0][2] = TMPInvObject1RotationMatrix[6];
R[1][0] = TMPInvObject1RotationMatrix[1];
R[1][1] = TMPInvObject1RotationMatrix[4];
R[1][2] = TMPInvObject1RotationMatrix[7];
R[2][0] = TMPInvObject1RotationMatrix[2];
R[2][1] = TMPInvObject1RotationMatrix[5];
R[2][2] = TMPInvObject1RotationMatrix[8];
//делаем 15 проверок, т.к. у нас 15 разделяющих осей
//1 (Ra)x
if(fabsf(T.x) > a.x + b.x * fabsf(R[0][0]) + b.y * fabsf(R[0][1]) + b.z * fabsf(R[0][2]))
return false;
//2 (Ra)y
if(fabsf(T.y) > a.y + b.x * fabsf(R[1][0]) + b.y * fabsf(R[1][1]) + b.z * fabsf(R[1][2]))
return false;
//3 (Ra)z
if(fabsf(T.z) > a.z + b.x * fabsf(R[2][0]) + b.y * fabsf(R[2][1]) + b.z * fabsf(R[2][2]))
return false;
//4 (Rb)x
if(fabsf(T.x*R[0][0] + T.y*R[1][0] + T.z*R[2][0]) >
(b.x + a.x*fabsf(R[0][0]) + a.y * fabsf(R[1][0]) + a.z*fabsf(R[2][0])))
return false;
//5 (Rb)y
if(fabsf(T.x*R[0][1] + T.y*R[1][1] + T.z*R[2][1]) >
(b.y + a.x*fabsf(R[0][1]) + a.y * fabsf(R[1][1]) + a.z*fabsf(R[2][1])))
return false;
//6 (Rb)z
if(fabsf(T.x*R[0][2] + T.y*R[1][2] + T.z*R[2][2]) >
(b.z + a.x*fabsf(R[0][2]) + a.y * fabsf(R[1][2]) + a.z*fabsf(R[2][2])))
return false;
//7 (Ra)x X (Rb)x
if(fabsf(T.z*R[1][0] - T.y*R[2][0]) > a.y*fabsf(R[2][0]) +
a.z*fabsf(R[1][0]) + b.y*fabsf(R[0][2]) + b.z*fabsf(R[0][1]))
return false;
//8 (Ra)x X (Rb)y
if(fabsf(T.z*R[1][1] - T.y*R[2][1]) > a.y*fabsf(R[2][1]) +
a.z*fabsf(R[1][1]) + b.x*fabsf(R[0][2]) + b.z*fabsf(R[0][0]))
return false;
//9 (Ra)x X (Rb)z
if(fabsf(T.z*R[1][2]-T.y*R[2][2]) > a.y*fabsf(R[2][2]) +
a.z*fabsf(R[1][2]) + b.x*fabsf(R[0][1]) + b.y*fabsf(R[0][0]))
return false;
//10 (Ra)y X (Rb)x
if(fabsf(T.x*R[2][0]-T.z*R[0][0]) > a.x*fabsf(R[2][0]) +
a.z*fabsf(R[0][0]) + b.y*fabsf(R[1][2]) + b.z*fabsf(R[1][1]))
return false;
//11 (Ra)y X (Rb)y
if(fabsf(T.x*R[2][1]-T.z*R[0][1]) > a.x*fabsf(R[2][1]) +
a.z*fabsf(R[0][1]) + b.x*fabsf(R[1][2]) + b.z*fabsf(R[1][0]))
return false;
//12 (Ra)y X (Rb)z
if(fabsf(T.x*R[2][2]-T.z*R[0][2]) > a.x*fabsf(R[2][2]) +
a.z*fabsf(R[0][2]) + b.x*fabsf(R[1][1]) + b.y*fabsf(R[1][0]))
return false;
//13 (Ra)z X (Rb)x
if(fabsf(T.y*R[0][0]-T.x*R[1][0]) > a.x*fabsf(R[1][0]) +
a.y*fabsf(R[0][0]) + b.y*fabsf(R[2][2]) + b.z*fabsf(R[2][1]))
return false;
//14 (Ra)z X (Rb)y
if(fabsf(T.y*R[0][1]-T.x*R[1][1]) > a.x*fabsf(R[1][1]) +
a.y*fabsf(R[0][1]) + b.x*fabsf(R[2][2]) + b.z*fabsf(R[2][0]))
return false;
//15 (Ra)z X (Rb)z
if(fabsf(T.y*R[0][2]-T.x*R[1][2]) > a.x*fabsf(R[1][2]) +
a.y*fabsf(R[0][2]) + b.x*fabsf(R[2][1]) + b.y*fabsf(R[2][0]))
return false;
return true;
}
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