def GetPlane(self):
from PlaneMath import Plane
boxplane = [Plane(1, 0, 0, self.Vertex[1].x), Plane(1, 0, 0, self.Vertex[0].x), Plane(0, 1, 0, self.Vertex[1].y),\
Plane(0, 1, 0, self.Vertex[0].y), Plane(0, 0, 1, self.Vertex[1].z), Plane(0, 0, 1, self.Vertex[0].z)]
if self.UseTransform:
for i in range(0, 6):
boxplane[i].TransformPlane(self.TransformMatrix)
return boxplane[0], boxplane[1], boxplane[2], boxplane[3], boxplane[4], boxplane[5]
def IsBoundingBoxVertexInbound(self, sourceBox):
from Vector3Math import Vector3
from BoundingBoxMath import BoundingBox
from Util import MathUtil
v0 = Vector3(sourceBox.Vertex[0])
v1 = Vector3(sourceBox.Vertex[1])
countPlane = 0
if self.FarNearDisabled:
countPlane = 4
else:
countPlane = 6
for i in countPlane:
p = Plane(self.HexahedronPlane[i])
if MathUtil.PlanePointDistance(p, v0.x, v0.y, v0.z) < 0:
continue
if MathUtil.PlanePointDistance(p, v1.x, v0.y, v0.z) < 0:
continue
if MathUtil.PlanePointDistance(p, v0.x, v1.y, v0.z) < 0:
continue
if MathUtil.PlanePointDistance(p, v1.x, v1.y, v0.z) < 0:
continue
if MathUtil.PlanePointDistance(p, v0.x, v0.y, v1.z) < 0:
continue
if MathUtil.PlanePointDistance(p, v1.x, v0.y, v1.z) < 0:
continue
if MathUtil.PlanePointDistance(p, v0.x, v1.y, v1.z) < 0:
continue
if MathUtil.PlanePointDistance(p, v1.x, v1.y, v1.z) < 0:
continue
return True
return False
def Clear():
from Vector3Math import Vector3
from MatrixMath import Matrix
from PlaneMath import Plane
self.ViewProjMatrixCacheEnabled = False
self.FarNearDisabled = False
self.ViewProjMatrixCache = Matrix()
self.HexahedronPlane = [
Plane.New(),
Plane.New(),
Plane.New(),
Plane.New(),
Plane.New(),
Plane.New()
]
self.FrustumVertex = [Vector3.New(), Vector3.New(), Vector3.New(), Vector3.New(),\
Vector3.New(), Vector3.New(), Vector3.New(), Vector3.New()]
self.FrustumVertexsource = [Vector3(1,1,0), Vector3(-1,1,0), Vector3(-1,-1,0), Vector3(1,-1,0),\
Vector3(1,1,1), Vector3(-1,1,1), Vector3(-1,-1,1), Vector3(1,-1,1)]
self.FrustumID = 0
def FindNearCollision(self, posfrom0, posto0):
from Vector3Math import Vector3
from Util import Collision
from PlaneMath import Plane
posfrom = ToLocal(posfrom0)
posto = ToLocal(posto0)
planex0 = Plane(1, 0, 0, -self.Vertex[0].x)
planex1 = Plane(1, 0, 0, -self.Vertex[1].x)
planey0 = Plane(0, 1, 0, -self.Vertex[0].y)
planey1 = Plane(0, 1, 0, -self.Vertex[1].y)
planez0 = Plane(0, 0, 1, -self.Vertex[0].z)
planez1 = Plane(0, 0, 1, -self.Vertex[1].z)
intersection = Vector3.New()
minDist = 1.7976931348623157e+308
minIntersect = Vector3.New()
collide = False
colCheck, intersection = Collision.PlaneLineIntersectionFast(planex0, posfrom, posto)
if colCheck:
if (intersection.y >= self.Vertex[0].y and intersection.y <= self.Vertex[1].y) and (intersection.z >= self.Vertex[0].z and intersection.z <= self.Vertex[1].z):
intersectionWorld = ToWorld(intersection)
distv = intersectionWorld - posfrom0
dist = distv.LengthSq()
minIntersect = intersectionWorld
collide = True
minDist = dist
colCheck, intersection = Collision.PlaneLineIntersectionFast(planex1, posfrom, posto)
if colCheck:
if ((intersection.y >= self.Vertex[0].y and intersection.y <= self.Vertex[1].y) and (intersection.z >= self.Vertex[0].z and intersection.z <= self.Vertex[1].z)):
intersectionWorld = ToWorld(intersection)
distv = intersectionWorld - posfrom0
dist = distv.LengthSq()
if collide == False or dist < minDist:
collide = True
minIntersect = intersectionWorld
minDist = dist
colCheck, intersection = Collision.PlaneLineIntersectionFast(planey0, posfrom, posto)
if colCheck:
if ((intersection.x >= self.Vertex[0].x and intersection.x <= self.Vertex[1].x) and (intersection.z >= self.Vertex[0].z and intersection.z <= self.Vertex[1].z)):
intersectionWorld = ToWorld(intersection)
distv = intersectionWorld - posfrom0
dist = distv.LengthSq()
if collide == False or dist < minDist:
collide = True
minIntersect = intersectionWorld
minDist = dist
colCheck, intersection = Collision.PlaneLineIntersectionFast(planey1, posfrom, posto)
if colCheck:
if ((intersection.x >= self.Vertex[0].x and intersection.x <= self.Vertex[1].x) and (intersection.z >= self.Vertex[0].z and intersection.z <= self.Vertex[1].z)):
intersectionWorld = ToWorld(intersection)
distv = intersectionWorld - posfrom0
dist = distv.LengthSq()
if collide == False or dist < minDist:
collide = True
minIntersect = intersectionWorld
minDist = dist
colCheck, intersection = Collision.PlaneLineIntersectionFast(planez0, posfrom, posto)
if colCheck:
if ((intersection.x >= self.Vertex[0].x and intersection.x <= self.Vertex[1].x) and (intersection.y >= self.Vertex[0].y and intersection.y <= self.Vertex[1].y)):
intersectionWorld = ToWorld(intersection)
distv = intersectionWorld - posfrom0
dist = distv.LengthSq()
if collide == False or dist < minDist:
collide = True
minIntersect = intersectionWorld
minDist = dist
colCheck, intersection = Collision.PlaneLineIntersectionFast(planez1, posfrom, posto)
if colCheck:
if ((intersection.x >= self.Vertex[0].x and intersection.x <= self.Vertex[1].x) and (intersection.y >= self.Vertex[0].y and intersection.y <= self.Vertex[1].y)):
intersectionWorld = ToWorld(intersection)
distv = intersectionWorld - posfrom0
dist = distv.LengthSq()
if collide == False or dist < minDist:
collide = True
minIntersect = intersectionWorld
minDist = dist
if collide:
return True, minIntersect, minDist
return False, Vector3.New(), 0
def ExtractFromProjectMatrix(self, viewProj, viewProjInverse):
from MatrixMath import Matrix
if ViewProjMatrixCacheEnabled:
if ViewProjMatrixCache == viewProj:
return
self.FrustumID += 1
self.ViewProjMatrixCacheEnabled = True
selfViewProjMatrixCache = Matrix(viewProj)
for i in range(0, 8):
self.FrustumVertex[i] = Vector3.TransformCoord(
self.FrustumVertexsource[i], viewProjInverse)
self.HexahedronPlane[0] = Plane(viewProj.m[0][3] + viewProj.m[0][0],\
viewProj.m[1][3] + viewProj.m[1][0],\
viewProj.m[2][3] + viewProj.m[2][0],\
viewProj.m[3][3] + viewProj.m[3][0])
self.HexahedronPlane[0].Normalize()
self.HexahedronPlane[1] = Plane(viewProj.m[0][3] - viewProj.m[0][0],\
viewProj.m[1][3] - viewProj.m[1][0],\
viewProj.m[2][3] - viewProj.m[2][0],\
viewProj.m[3][3] - viewProj.m[3][0])
self.HexahedronPlane[1].Normalize()
#// index bug (code mistake) fix 2015.09.03
self.HexahedronPlane[2] = Plane( viewProj.m[0][3] - viewProj.m[0][1],\
viewProj.m[1][3] - viewProj.m[1][1],\
viewProj.m[2][3] - viewProj.m[2][1],\
viewProj.m[3][3] - viewProj.m[3][1])
self.HexahedronPlane[2].Normalize()
self.HexahedronPlane[3] = Plane(viewProj.m[0][3] + viewProj.m[0][1],\
viewProj.m[1][3] + viewProj.m[1][1],\
viewProj.m[2][3] + viewProj.m[2][1],\
viewProj.m[3][3] + viewProj.m[3][1])
self.HexahedronPlane[3].Normalize()
self.HexahedronPlane[4] = Plane(viewProj.m[0][2], viewProj.m[1][2],
viewProj.m[2][2], viewProj.m[3][2])
self.HexahedronPlane[4].Normalize()
self.HexahedronPlane[5] = Plane( viewProj.m[0][3] - viewProj.m[0][2],\
viewProj.m[1][3] - viewProj.m[1][2],\
viewProj.m[2][3] - viewProj.m[2][2],\
viewProj.m[3][3] - viewProj.m[3][2])
self.HexahedronPlane[5].Normalize()
def IsPointInbound(self, x, y, z):
from Vector3Math import Vector3
from Util import MathUtil
p = Vector3(x, y, z)
if self.FarNearDisabled:
if MathUtil.PlanePointDistance(self.HexahedronPlane[0], p) < 0 and\
MathUtil.PlanePointDistance(self.HexahedronPlane[1], p) < 0 and\
MathUtil.PlanePointDistance(self.HexahedronPlane[2], p) < 0 and\
MathUtil.PlanePointDistance(self.HexahedronPlane[3], p) < 0:
return True
return False
else:
if (MathUtil.PlanePointDistance(self.HexahedronPlane[0], p) < 0 and\
MathUtil.PlanePointDistance(self.HexahedronPlane[1], p) < 0 and\
MathUtil.PlanePointDistance(self.HexahedronPlane[2], p) < 0 and\
MathUtil.PlanePointDistance(self.HexahedronPlane[3], p) < 0 and\
MathUtil.PlanePointDistance(self.HexahedronPlane[4], p)< 0 and\
MathUtil.PlanePointDistance(self.HexahedronPlane[5], p) < 0):
return True
return False
def IsBoundingBoxCollide(self, sourceBox):
from Vector3Math import Vector3
from MatrixMath import Matrix
from PlaneMath import Plane
from BoundingBoxMath import BoundingBox
# 1) frustum 어떤 하나의 면 밖으로 obb의 모든 점들이 모여 있다면 시야에 없음.(끝)
if self.IsBoundingBoxOutbound(sourceBox):
return False
# 2) frustum 6면의 면 안쪽으로 obb의 점들이 모두 있다면 시야 안에 물체가 완전히 들어옴.(끝)
# 3) obb점들의 일부는 frustum 6면의 안쪽에 있고 일부는 6면의 밖에 있다면 시야 안에 물체의 일부만 들어옴.(끝)
if self.IsBoundingBoxVertexInbound(sourceBox):
return True
# 3) box의 어떤 하나의 면 밖으로 frustum의 모든 점들이 모여 있다면 시야에 없음.(끝)
if self.FrustumVertex[0].x <= sourceBox.Vertex[0].x and\
self.FrustumVertex[1].x <= sourceBox.Vertex[0].x and\
self.FrustumVertex[2].x <= sourceBox.Vertex[0].x and\
self.FrustumVertex[3].x <= sourceBox.Vertex[0].x and\
self.FrustumVertex[4].x <= sourceBox.Vertex[0].x and\
self.FrustumVertex[5].x <= sourceBox.Vertex[0].x and\
self.FrustumVertex[6].x <= sourceBox.Vertex[0].x and\
self.FrustumVertex[7].x <= sourceBox.Vertex[0].x:
return False
if self.FrustumVertex[0].x >= sourceBox.Vertex[1].x and\
self.FrustumVertex[1].x >= sourceBox.Vertex[1].x and\
self.FrustumVertex[2].x >= sourceBox.Vertex[1].x and\
self.FrustumVertex[3].x >= sourceBox.Vertex[1].x and\
self.FrustumVertex[4].x >= sourceBox.Vertex[1].x and\
self.FrustumVertex[5].x >= sourceBox.Vertex[1].x and\
self.FrustumVertex[6].x >= sourceBox.Vertex[1].x and\
self.FrustumVertex[7].x >= sourceBox.Vertex[1].x:
return False
if self.FrustumVertex[0].y <= sourceBox.Vertex[0].y and\
self.FrustumVertex[1].y <= sourceBox.Vertex[0].y and\
self.FrustumVertex[2].y <= sourceBox.Vertex[0].y and\
self.FrustumVertex[3].y <= sourceBox.Vertex[0].y and\
self.FrustumVertex[4].y <= sourceBox.Vertex[0].y and\
self.FrustumVertex[5].y <= sourceBox.Vertex[0].y and\
self.FrustumVertex[6].y <= sourceBox.Vertex[0].y and\
self.FrustumVertex[7].y <= sourceBox.Vertex[0].y:
return False
if self.FrustumVertex[0].y >= sourceBox.Vertex[1].y and\
self.FrustumVertex[1].y >= sourceBox.Vertex[1].y and\
self.FrustumVertex[2].y >= sourceBox.Vertex[1].y and\
self.FrustumVertex[3].y >= sourceBox.Vertex[1].y and\
self.FrustumVertex[4].y >= sourceBox.Vertex[1].y and\
self.FrustumVertex[5].y >= sourceBox.Vertex[1].y and\
self.FrustumVertex[6].y >= sourceBox.Vertex[1].y and\
self.FrustumVertex[7].y >= sourceBox.Vertex[1].y:
return False
if self.FrustumVertex[0].z <= sourceBox.Vertex[0].z and\
self.FrustumVertex[1].z <= sourceBox.Vertex[0].z and\
self.FrustumVertex[2].z <= sourceBox.Vertex[0].z and\
self.FrustumVertex[3].z <= sourceBox.Vertex[0].z and\
self.FrustumVertex[4].z <= sourceBox.Vertex[0].z and\
self.FrustumVertex[5].z <= sourceBox.Vertex[0].z and\
self.FrustumVertex[6].z <= sourceBox.Vertex[0].z and\
self.FrustumVertex[7].z <= sourceBox.Vertex[0].z:
return False
if self.FrustumVertex[0].z >= sourceBox.Vertex[1].z and\
self.FrustumVertex[1].z >= sourceBox.Vertex[1].z and\
self.FrustumVertex[2].z >= sourceBox.Vertex[1].z and\
self.FrustumVertex[3].z >= sourceBox.Vertex[1].z and\
self.FrustumVertex[4].z >= sourceBox.Vertex[1].z and\
self.FrustumVertex[5].z >= sourceBox.Vertex[1].z and\
self.FrustumVertex[6].z >= sourceBox.Vertex[1].z and\
self.FrustumVertex[7].z >= sourceBox.Vertex[1].z:
return False
# 1) frustum 의 edge들이 obb의 면들과 충돌 한다면 시야 안의 물체가 일부만 들어옴.(끝)
intersect = Vector3.New()
for i in range(0, 12):
check, intersect = sourceBox.GetLineIntersect(
self.FrustumVertex[edgeCheckIndex[i][0]],
self.FrustumVertex[edgeCheckIndex[i][1]])
if check:
return True
countPlane = 0
if self.FarNearDisabled:
countPlane = 4
else:
countPlnae = 6
# 2) box의 edge들이 frustum의 면들과 충돌 한다면 시야 안의 물체가 일부만 들어옴.(끝)
boxVertex = [Vector3(sourceBox.Vertex[0].x, sourceBox.Vertex[0].y, sourceBox.Vertex[0].z),\
Vector3(sourceBox.Vertex[0].x, sourceBox.Vertex[1].y, sourceBox.Vertex[0].z),\
Vector3(sourceBox.Vertex[1].x, sourceBox.Vertex[1].y, sourceBox.Vertex[0].z),\
Vector3(sourceBox.Vertex[1].x, sourceBox.Vertex[0].y, sourceBox.Vertex[0].z),\
Vector3(sourceBox.Vertex[0].x, sourceBox.Vertex[0].y, sourceBox.Vertex[1].z),\
Vector3(sourceBox.Vertex[0].x, sourceBox.Vertex[1].y, sourceBox.Vertex[1].z),\
Vector3(sourceBox.Vertex[1].x, sourceBox.Vertex[1].y, sourceBox.Vertex[1].z),\
Vector3(sourceBox.Vertex[1].x, sourceBox.Vertex[0].y, sourceBox.Vertex[1].z)]
for i in range(0, 12):
for k in countPlane:
p = Plane(self.HexahedronPlane[k])
# if plus point in bound
# if minus point out of bound
d0 = MathUtil.PlanePointDistance(
p, boxVertex[edgeCheckIndex[i][0]].x,
boxVertex[edgeCheckIndex[i][0]].y,
boxVertex[edgeCheckIndex[i][0]].z)
d1 = MathUtil.PlanePointDistance(
p, boxVertex[edgeCheckIndex[i][1]].x,
boxVertex[edgeCheckIndex[i][1]].y,
boxVertex[edgeCheckIndex[i][1]].z)
if d0 * d1 <= 0:
return True
return False