More overlap tests.

examples/29-debugdraw/debugdraw.cpp

@@ -932,6 +932,33 @@ public:
 						dde.draw(triangleB);
 					}
 
+					{
+						Sphere sphereA     = { { px+kStepX*4.0f, py, pz+kStepZ*0.0f }, 0.5f };
+						Triangle triangleB =
+						{
+							{ xx-0.4f, yy+0.0f, zz-0.4f },
+							{ xx-0.5f, yy-0.3f, zz+0.0f },
+							{ xx+0.3f, yy+0.5f, zz+0.0f },
+						};
+
+						translate(triangleB, {kStepX*4.0f, 0.0f, kStepZ*0.0f});
+
+						bx::Plane planeB;
+						bx::calcPlane(planeB, triangleB.v0, triangleB.v1, triangleB.v2);
+
+						const Disk diskB = { getCenter(triangleB), planeB.normal, 0.5f };
+
+						olp = overlap(sphereA, diskB);
+
+						dde.setColor(olp ? kOverlap : 0xffffffff);
+						dde.setWireframe(false);
+						dde.draw(sphereA);
+
+						dde.setColor(olp ? kOverlap : 0xffffffff);
+						dde.setWireframe(true);
+						dde.draw(diskB);
+					}
+
 					// AABB ---
 					{
 						Aabb aabbA, aabbB;
@@ -997,6 +1024,34 @@ public:
 						dde.draw(triangleB);
 					}
 
+					{
+						Aabb aabbA;
+						toAabb(aabbA, { px+kStepX*4.0f, py, pz+kStepZ*1.0f }, { 0.5f, 0.5f, 0.5f });
+						Triangle triangleB =
+						{
+							{ xx-0.4f, yy+0.0f, zz-0.4f },
+							{ xx-0.5f, yy-0.3f, zz+0.0f },
+							{ xx+0.3f, yy+0.5f, zz+0.0f },
+						};
+
+						translate(triangleB, {kStepX*4.0f, 0.0f, kStepZ*1.0f});
+
+						bx::Plane planeB;
+						bx::calcPlane(planeB, triangleB.v0, triangleB.v1, triangleB.v2);
+
+						const Disk diskB = { getCenter(triangleB), planeB.normal, 0.5f };
+
+						olp = overlap(aabbA, diskB);
+
+						dde.setColor(olp ? kOverlap : 0xffffffff);
+						dde.setWireframe(false);
+						dde.draw(aabbA);
+
+						dde.setColor(olp ? kOverlap : 0xffffffff);
+						dde.setWireframe(true);
+						dde.draw(diskB);
+					}
+
 					// Triangle ---
 					{
 						Triangle triangleA =
@@ -1060,6 +1115,41 @@ public:
 						dde.setWireframe(true);
 						dde.draw(triangleB);
 					}
+
+					{
+						Triangle triangleA =
+						{
+							{ px-0.4f, py+0.0f, pz-0.4f },
+							{ px+0.0f, py-0.3f, pz-0.5f },
+							{ px+0.0f, py+0.5f, pz+0.3f },
+						};
+
+						translate(triangleA, {kStepX*4.0f, 0.0f, kStepZ*2.0f});
+
+						Triangle triangleB =
+						{
+							{ xx-0.4f, yy+0.0f, zz-0.4f },
+							{ xx-0.5f, yy-0.3f, zz+0.0f },
+							{ xx+0.3f, yy+0.5f, zz+0.0f },
+						};
+
+						translate(triangleB, {kStepX*4.0f, 0.0f, kStepZ*2.0f});
+
+						bx::Plane planeB;
+						bx::calcPlane(planeB, triangleB.v0, triangleB.v1, triangleB.v2);
+
+						const Disk diskB = { getCenter(triangleB), planeB.normal, 0.5f };
+
+						olp = overlap(triangleA, diskB);
+
+						dde.setColor(olp ? kOverlap : 0xffffffff);
+						dde.setWireframe(false);
+						dde.draw(triangleA);
+
+						dde.setColor(olp ? kOverlap : 0xffffffff);
+						dde.setWireframe(true);
+						dde.draw(diskB);
+					}
 				}
 			dde.pop();
 

examples/common/bounds.cpp

@@ -9,14 +9,19 @@
 
 using namespace bx;
 
-Vec3 getCenter(const Aabb& _outAabb)
+Vec3 getCenter(const Aabb& _aabb)
 {
-	return mul(add(_outAabb.min, _outAabb.max), 0.5f);
+	return mul(add(_aabb.min, _aabb.max), 0.5f);
 }
 
-Vec3 getExtents(const Aabb& _outAabb)
+Vec3 getExtents(const Aabb& _aabb)
 {
-	return mul(sub(_outAabb.max, _outAabb.min), 0.5f);
+	return mul(sub(_aabb.max, _aabb.min), 0.5f);
+}
+
+Vec3 getCenter(const Triangle& _triangle)
+{
+	return bx::mul(bx::add(bx::add(_triangle.v0, _triangle.v1), _triangle.v2), 1.0f/3.0f);
 }
 
 void toAabb(Aabb& _outAabb, const Vec3& _center, const Vec3& _extent)
@@ -826,6 +831,24 @@ bool intersect(const Ray& _ray, const Triangle& _triangle, Hit* _hit)
 	return true;
 }
 
+void barycentric(float& _outU, float& _outV, float& _outW, const Triangle& _triangle, const Vec3& _pos)
+{
+	const Vec3 v0 = sub(_triangle.v1, _triangle.v0);
+	const Vec3 v1 = sub(_triangle.v2, _triangle.v0);
+	const Vec3 v2 = sub(_pos, _triangle.v0);
+
+	const float dot00 = dot(v0, v0);
+	const float dot01 = dot(v0, v1);
+	const float dot02 = dot(v0, v2);
+	const float dot11 = dot(v1, v1);
+	const float dot12 = dot(v1, v2);
+
+	const float invDenom = 1.0f/(dot00*dot11 - square(dot01) );
+	_outU = (dot11*dot02 - dot01*dot12)*invDenom;
+	_outV = (dot00*dot12 - dot01*dot02)*invDenom;
+	_outW = 1.0f - _outU - _outV;
+}
+
 Vec3 closestPoint(const Plane& _plane, const Vec3 _pos)
 {
 	const float dist = distance(_plane, _pos);
@@ -846,8 +869,8 @@ bool overlap(const Sphere& _sphere, const Vec3& _pos)
 
 bool overlap(const Sphere& _sphereA, const Sphere& _sphereB)
 {
-	const Vec3 ba = sub(_sphereA.center, _sphereB.center);
-	const float   rsq = square(_sphereA.radius + _sphereB.radius);
+	const Vec3   ba = sub(_sphereA.center, _sphereB.center);
+	const float rsq = square(_sphereA.radius + _sphereB.radius);
 	return dot(ba, ba) <= rsq;
 }
 
@@ -862,24 +885,6 @@ bool overlap(const Sphere& _sphere, const Plane& _plane)
 	return bx::abs(distance(_plane, _sphere.center) ) <= _sphere.radius;
 }
 
-void barycentric(float& _outU, float& _outV, float& _outW, const Triangle& _triangle, const Vec3& _pos)
-{
-	const Vec3 v0 = sub(_triangle.v1, _triangle.v0);
-	const Vec3 v1 = sub(_triangle.v2, _triangle.v0);
-	const Vec3 v2 = sub(_pos, _triangle.v0);
-
-	const float dot00 = dot(v0, v0);
-	const float dot01 = dot(v0, v1);
-	const float dot02 = dot(v0, v2);
-	const float dot11 = dot(v1, v1);
-	const float dot12 = dot(v1, v2);
-
-	const float invDenom = 1.0f/(dot00*dot11 - square(dot01) );
-	_outU = (dot11*dot02 - dot01*dot12)*invDenom;
-	_outV = (dot00*dot12 - dot01*dot02)*invDenom;
-	_outW = 1.0f - _outU - _outV;
-}
-
 bool overlap(const Sphere& _sphere, const Triangle& _triangle)
 {
 	Plane plane;
@@ -923,8 +928,15 @@ bool overlap(const Sphere& _sphere, const Cone& _cone)
 
 bool overlap(const Sphere& _sphere, const Disk& _disk)
 {
-	BX_UNUSED(_sphere, _disk);
-	return false;
+	if (!overlap(_sphere, Sphere{_disk.center, _disk.radius}) )
+	{
+		return false;
+	}
+
+	bx::Plane plane;
+	bx::calcPlane(plane, _disk.normal, _disk.center);
+
+	return overlap(_sphere, plane);
 }
 
 bool overlap(const Sphere& _sphere, const Obb& _obb)
@@ -945,6 +957,11 @@ bool overlap(const Aabb& _aabb, const Vec3& _pos)
 		;
 }
 
+bool overlap(const Aabb& _aabb, const Sphere& _sphere)
+{
+	return overlap(_sphere, _aabb);
+}
+
 uint32_t overlapTestMask(const Aabb& _aabbA, const Aabb& _aabbB)
 {
 	/// Returns 0 is two AABB don't overlap, otherwise returns flags of overlap
@@ -1031,8 +1048,15 @@ bool overlap(const Aabb& _aabb, const Cone& _cone)
 
 bool overlap(const Aabb& _aabb, const Disk& _disk)
 {
-	BX_UNUSED(_aabb, _disk);
-	return false;
+	if (!overlap(_aabb, Sphere{_disk.center, _disk.radius}) )
+	{
+		return false;
+	}
+
+	bx::Plane plane;
+	bx::calcPlane(plane, _disk.normal, _disk.center);
+
+	return overlap(_aabb, plane);
 }
 
 bool overlap(const Aabb& _aabb, const Obb& _obb)
@@ -1052,6 +1076,16 @@ bool overlap(const Triangle& _triangle, const bx::Vec3& _pos)
 		;
 }
 
+bool overlap(const Triangle& _triangle, const Sphere& _sphere)
+{
+	return overlap(_sphere, _triangle);
+}
+
+bool overlap(const Triangle& _triangle, const Aabb& _aabb)
+{
+	return overlap(_aabb, _triangle);
+}
+
 bool overlap(const Triangle& _triangle, const bx::Plane& _plane)
 {
 	const float dist0 = distance(_plane, _triangle.v0);
@@ -1092,8 +1126,15 @@ bool overlap(const Triangle& _triangle, const Cone& _cone)
 
 bool overlap(const Triangle& _triangle, const Disk& _disk)
 {
-	BX_UNUSED(_triangle, _disk);
-	return false;
+	if (!overlap(_triangle, Sphere{_disk.center, _disk.radius}) )
+	{
+		return false;
+	}
+
+	bx::Plane plane;
+	bx::calcPlane(plane, _disk.normal, _disk.center);
+
+	return overlap(_triangle, plane);
 }
 
 bool overlap(const Triangle& _triangle, const Obb& _obb)

examples/common/bounds.h

@@ -72,6 +72,15 @@ struct Hit
 	bx::Plane plane;
 };
 
+///
+bx::Vec3 getCenter(const Aabb& _aabb);
+
+///
+bx::Vec3 getExtents(const Aabb& _aabb);
+
+///
+bx::Vec3 getCenter(const Triangle& _triangle);
+
 ///
 void toAabb(Aabb& _outAabb, const bx::Vec3& _center, const bx::Vec3& _extent);
 
@@ -183,6 +192,9 @@ bool overlap(const Sphere& _sphere, const Obb& _obb);
 ///
 bool overlap(const Aabb& _aabb, const bx::Vec3& _pos);
 
+///
+bool overlap(const Aabb& _aabb, const Sphere& _sphere);
+
 ///
 bool overlap(const Aabb& _aabbA, const Aabb& _aabbB);
 
@@ -210,6 +222,12 @@ bool overlap(const Aabb& _aabb, const Obb& _obb);
 ///
 bool overlap(const Triangle& _triangle, const bx::Vec3& _pos);
 
+///
+bool overlap(const Triangle& _triangle, const Sphere& _sphere);
+
+///
+bool overlap(const Triangle& _triangle, const Aabb& _aabb);
+
 ///
 bool overlap(const Triangle& _triangle, const bx::Plane& _plane);