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#include "Plane3.h"
#include "AABB.h"
#include "Matrix4.h"
double Plane3::distanceToOrientedExtents(const Vector3& extents, const Matrix4& orientation) const
{
return fabs(extents[0] * normal().dot(orientation.xCol3())) +
fabs(extents[1] * normal().dot(orientation.yCol3())) +
fabs(extents[2] * normal().dot(orientation.zCol3()));
}
bool Plane3::containsAABB(const AABB& aabb, const Matrix4& orientation) const
{
double dot = distanceToPoint(aabb.origin);
return !(dot > 0 || -dot < distanceToOrientedExtents(aabb.extents, orientation));
}
void Plane3::translate(const Vector3& translation)
{
_dist = _dist - ( translation.x() * _normal.x()
+ translation.y() * _normal.y()
+ translation.z() * _normal.z());
}
Plane3& Plane3::transform(const Matrix4& m)
{
_normal = m.transformDirection(_normal);
_dist = _normal.x() * (_dist * _normal.x() - m.tx())
+ _normal.y() * (_dist * _normal.y() - m.ty())
+ _normal.z() * (_dist * _normal.z() - m.tz());
return *this;
}
Plane3 Plane3::transformed(const Matrix4& m) const
{
return Plane3(*this).transform(m);
}
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