Catcrafts/Crafter.Math
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OBB OBB test

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This commit is contained in:
Jorijn van der Graaf 2026-03-04 15:57:34 +01:00
commit 55a319a6ac
4 changed files with 137 additions and 35 deletions
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73
interfaces/Crafter.Math-Intersection.cppm
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@ -19,6 +19,7 @@ Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
export module Crafter.Math:Intersection;
import :Vector;
import :MatrixRowMajor;
import std;
namespace Crafter {
@ -67,7 +68,7 @@ namespace Crafter {
d = std::sqrt(d);
float t = (T(-0.5)) * (b + d) / a;
T t = (T(-0.5)) * (b + d) / a;
if (t > T(0)) {
return t;
} else {
@ -121,4 +122,74 @@ namespace Crafter {
return (tMin >= T(0)) ? tMin : tMax;
}
export template<typename T>
std::vector<Vector<T, 3, 0>> getOBBCorners(Vector<T, 3, 0> size, MatrixRowMajor<T, 4, 3, 1> matrix) {
std::vector<Vector<T, 3, 0>> localCorners = {
Vector<T, 3, 0>(-size.x, -size.y, -size.z),
Vector<T, 3, 0>( size.x, -size.y, -size.z),
Vector<T, 3, 0>(-size.x, size.y, -size.z),
Vector<T, 3, 0>( size.x, size.y, -size.z),
Vector<T, 3, 0>(-size.x, -size.y, size.z),
Vector<T, 3, 0>( size.x, -size.y, size.z),
Vector<T, 3, 0>(-size.x, size.y, size.z),
Vector<T, 3, 0>( size.x, size.y, size.z)
};
std::vector<Vector<T, 3, 0>> worldCorners;
for (Vector<T, 3, 0> localCorner : localCorners) {
Vector<T, 3, 0> rotatedCorner = matrix * localCorner;
worldCorners.push_back(rotatedCorner);
}
return worldCorners;
}
export template<typename T>
constexpr T IntersectionTestOrientedBoxOrientedBox(Vector<T, 3, 0> sizeA, MatrixRowMajor<T, 4, 3, 1> boxA, Vector<T, 3, 0> sizeB, MatrixRowMajor<T, 4, 3, 1> boxB) {
std::vector<Vector<T, 3, 0>> axes;
std::vector<Vector<T, 3, 0>> box1Corners = getOBBCorners(sizeA, boxA);
std::vector<Vector<T, 3, 0>> box2Corners = getOBBCorners(sizeB, boxB);
axes.push_back(Vector<T, 3, 0>(boxA.m[0][0], boxA.m[0][1], boxA.m[0][2]));
axes.push_back(Vector<T, 3, 0>(boxA.m[1][0], boxA.m[1][1], boxA.m[1][2]));
axes.push_back(Vector<T, 3, 0>(boxA.m[2][0], boxA.m[2][1], boxA.m[2][2]));
axes.push_back(Vector<T, 3, 0>(boxB.m[0][0], boxB.m[0][1], boxB.m[0][2]));
axes.push_back(Vector<T, 3, 0>(boxB.m[1][0], boxB.m[1][1], boxB.m[1][2]));
axes.push_back(Vector<T, 3, 0>(boxB.m[2][0], boxB.m[2][1], boxB.m[2][2]));
for (int i = 0; i < 3; ++i) {
for (int j = 0; j < 3; ++j) {
axes.push_back(Vector<T, 3, 0>::Cross(Vector<T, 3, 0>(boxA.m[i][0], boxA.m[i][1], boxA.m[i][2]), Vector<T, 3, 0>(boxB.m[j][0], boxB.m[j][1], boxB.m[j][2])));
}
}
for (Vector<T, 3, 0> axis : axes) {
T min1 = Vector<T, 3, 0>::Dot(box1Corners[0], axis);
T max1 = min1;
for (Vector<T, 3, 0> corner : box1Corners) {
T projection = Vector<T, 3, 0>::Dot(corner, axis);
min1 = std::min(min1, projection);
max1 = std::max(max1, projection);
}
T min2 = Vector<T, 3, 0>::Dot(box2Corners[0], axis);
T max2 = min2;
for (Vector<T, 3, 0> corner : box2Corners) {
T projection = Vector<T, 3, 0>::Dot(corner, axis);
min2 = std::min(min2, projection);
max2 = std::max(max2, projection);
}
if (max1 < min2 || max2 < min1) {
return false;
}
}
return true;
}
}