Remove namespace in .cpp as well

engine/core/math/intersection.cpp

@@ -32,254 +32,252 @@ OTHER DEALINGS IN THE SOFTWARE.
 
 namespace crown
 {
-namespace math
+
+/// Returns the distance along ray (from, dir) to intersection point with plane @a p.
+/// -1.0f if no collision.
+float ray_plane_intersection(const Vector3& from, const Vector3& dir, const Plane& p)
 {
-	/// Returns the distance along ray (from, dir) to intersection point with plane @a p.
-	/// -1.0f if no collision.
-	float ray_plane_intersection(const Vector3& from, const Vector3& dir, const Plane& p)
-	{
-		float nd = vector3::dot(dir, p.n);
-		float orpn = vector3::dot(from, p.n);
-		float dist = -1.0f;
+	float nd = vector3::dot(dir, p.n);
+	float orpn = vector3::dot(from, p.n);
+	float dist = -1.0f;
 
-		if (nd < 0.0f)
-			dist = (-p.d - orpn) / nd;
+	if (nd < 0.0f)
+		dist = (-p.d - orpn) / nd;
 
-		return dist > 0.0f ? dist : -1.0f;
-	}
+	return dist > 0.0f ? dist : -1.0f;
+}
 
-	/// Returns the distance along ray (from, dir) to intersection point with sphere @a s.
-	/// -1.0f if no collision.
-	float ray_sphere_intersection(const Vector3& from, const Vector3& dir, const Sphere& s)
+/// Returns the distance along ray (from, dir) to intersection point with sphere @a s.
+/// -1.0f if no collision.
+float ray_sphere_intersection(const Vector3& from, const Vector3& dir, const Sphere& s)
+{
+	Vector3 v = s.c - from;
+	float b = vector3::dot(v, dir);
+	float det = (s.r * s.r) - vector3::dot(v, v) + (b * b);
+
+	if (det < 0.0 || b < s.r)
 	{
-		Vector3 v = s.c - from;
-		float b = vector3::dot(v, dir);
-		float det = (s.r * s.r) - vector3::dot(v, v) + (b * b);
+		return -1.0f;
+	}
 
-		if (det < 0.0 || b < s.r)
-		{
-			return -1.0f;
-		}
+	return b - sqrt(det);
+}
 
-		return b - sqrt(det);
-	}
+// http://www.opengl-tutorial.org/miscellaneous/clicking-on-objects/picking-with-custom-ray-obb-function/
+float ray_oobb_intersection(const Vector3& from, const Vector3& dir, const OBB& obb)
+{
+	using namespace vector3;
+	
+	float tmin = 0.0f;
+	float tmax = 100000.0f;
 
-	// http://www.opengl-tutorial.org/miscellaneous/clicking-on-objects/picking-with-custom-ray-obb-function/
-	float ray_oobb_intersection(const Vector3& from, const Vector3& dir, const OBB& obb)
-	{
-		using namespace vector3;
-		
-		float tmin = 0.0f;
-		float tmax = 100000.0f;
+	Vector3 obb_pos(obb.tm.t.x, obb.tm.t.y, obb.tm.t.z);
+	Vector3 delta = obb_pos - from;
 
-		Vector3 obb_pos(obb.tm.t.x, obb.tm.t.y, obb.tm.t.z);
-		Vector3 delta = obb_pos - from;
+	{
+		const Vector3 xaxis(obb.tm.x.x, obb.tm.x.y, obb.tm.x.z);
+		float e = dot(xaxis, delta);
+		float f = dot(dir, xaxis);
 
+		if (fabs(f) > 0.001f)
 		{
-			const Vector3 xaxis(obb.tm.x.x, obb.tm.x.y, obb.tm.x.z);
-			float e = dot(xaxis, delta);
-			float f = dot(dir, xaxis);
-
-			if (fabs(f) > 0.001f)
-			{
-				float t1 = (e+obb.aabb.min.x)/f;
-				float t2 = (e+obb.aabb.max.x)/f;
+			float t1 = (e+obb.aabb.min.x)/f;
+			float t2 = (e+obb.aabb.max.x)/f;
 
-				if (t1>t2){
-					float w=t1;t1=t2;t2=w;
-				}
+			if (t1>t2){
+				float w=t1;t1=t2;t2=w;
+			}
 
-				if (t2 < tmax)
-					tmax = t2;
-				if (t1 > tmin)
-					tmin = t1;
+			if (t2 < tmax)
+				tmax = t2;
+			if (t1 > tmin)
+				tmin = t1;
 
-				if (tmax < tmin)
-					return -1.0f;
+			if (tmax < tmin)
+				return -1.0f;
 
-			}
-			else
-			{
-				if(-e+obb.aabb.min.x > 0.0f || -e+obb.aabb.max.x < 0.0f)
-					return -1.0f;
-			}
 		}
-
+		else
 		{
-			const Vector3 yaxis(obb.tm.y.x, obb.tm.y.y, obb.tm.y.z);
-			float e = dot(yaxis, delta);
-			float f = dot(dir, yaxis);
+			if(-e+obb.aabb.min.x > 0.0f || -e+obb.aabb.max.x < 0.0f)
+				return -1.0f;
+		}
+	}
 
-			if (fabs(f) > 0.001f){
+	{
+		const Vector3 yaxis(obb.tm.y.x, obb.tm.y.y, obb.tm.y.z);
+		float e = dot(yaxis, delta);
+		float f = dot(dir, yaxis);
 
-				float t1 = (e+obb.aabb.min.y)/f;
-				float t2 = (e+obb.aabb.max.y)/f;
+		if (fabs(f) > 0.001f){
 
-				if (t1>t2){float w=t1;t1=t2;t2=w;}
+			float t1 = (e+obb.aabb.min.y)/f;
+			float t2 = (e+obb.aabb.max.y)/f;
 
-				if (t2 < tmax)
-					tmax = t2;
-				if (t1 > tmin)
-					tmin = t1;
+			if (t1>t2){float w=t1;t1=t2;t2=w;}
 
-				if (tmin > tmax)
-					return -1.0f;
-			}
-			else
-			{
-				if(-e+obb.aabb.min.y > 0.0f || -e+obb.aabb.max.y < 0.0f)
-					return -1.0f;
-			}
-		}
+			if (t2 < tmax)
+				tmax = t2;
+			if (t1 > tmin)
+				tmin = t1;
 
+			if (tmin > tmax)
+				return -1.0f;
+		}
+		else
 		{
-			const Vector3 zaxis(obb.tm.z.x, obb.tm.z.y, obb.tm.z.z);
-			float e = dot(zaxis, delta);
-			float f = dot(dir, zaxis);
+			if(-e+obb.aabb.min.y > 0.0f || -e+obb.aabb.max.y < 0.0f)
+				return -1.0f;
+		}
+	}
 
-			if (fabs(f) > 0.001f){
+	{
+		const Vector3 zaxis(obb.tm.z.x, obb.tm.z.y, obb.tm.z.z);
+		float e = dot(zaxis, delta);
+		float f = dot(dir, zaxis);
 
-				float t1 = (e+obb.aabb.min.z)/f;
-				float t2 = (e+obb.aabb.max.z)/f;
+		if (fabs(f) > 0.001f){
 
-				if (t1>t2){float w=t1;t1=t2;t2=w;}
+			float t1 = (e+obb.aabb.min.z)/f;
+			float t2 = (e+obb.aabb.max.z)/f;
 
-				if (t2 < tmax)
-					tmax = t2;
-				if (t1 > tmin)
-					tmin = t1;
+			if (t1>t2){float w=t1;t1=t2;t2=w;}
 
-				if (tmin > tmax)
-					return -1.0f;
+			if (t2 < tmax)
+				tmax = t2;
+			if (t1 > tmin)
+				tmin = t1;
 
-			}
-			else
-			{
-				if(-e+obb.aabb.min.z > 0.0f || -e+obb.aabb.max.z < 0.0f)
-					return -1.0f;
-			}
-		}
+			if (tmin > tmax)
+				return -1.0f;
 
-		return tmin;
+		}
+		else
+		{
+			if(-e+obb.aabb.min.z > 0.0f || -e+obb.aabb.max.z < 0.0f)
+				return -1.0f;
+		}
 	}
 
-	bool plane_3_intersection(const Plane& p1, const Plane& p2, const Plane& p3, Vector3& ip)
-	{
-		const Vector3& n1 = p1.n;
-		const Vector3& n2 = p2.n;
-		const Vector3& n3 = p3.n;
+	return tmin;
+}
 
-		float den = -vector3::dot(vector3::cross(n1, n2), n3);
-
-		if (equals(den, (float)0.0))
-		{
-			return false;
-		}
+bool plane_3_intersection(const Plane& p1, const Plane& p2, const Plane& p3, Vector3& ip)
+{
+	const Vector3& n1 = p1.n;
+	const Vector3& n2 = p2.n;
+	const Vector3& n3 = p3.n;
 
-		Vector3 res = p1.d * vector3::cross(n2, n3) + p2.d * vector3::cross(n3, n1) + p3.d * vector3::cross(n1, n2);
-		ip = res / den;
+	float den = -vector3::dot(vector3::cross(n1, n2), n3);
 
-		return true;
+	if (equals(den, (float)0.0))
+	{
+		return false;
 	}
 
-	bool frustum_sphere_intersection(const Frustum& f, const Sphere& s)
-	{
-		if (plane::distance_to_point(f.left, s.c) < -s.r ||
-			plane::distance_to_point(f.right, s.c) < -s.r)
-		{
-			return false;
-		}
+	Vector3 res = p1.d * vector3::cross(n2, n3) + p2.d * vector3::cross(n3, n1) + p3.d * vector3::cross(n1, n2);
+	ip = res / den;
 
-		if (plane::distance_to_point(f.bottom, s.c) < -s.r ||
-			plane::distance_to_point(f.top, s.c) < -s.r)
-		{
-			return false;
-		}
+	return true;
+}
 
-		if (plane::distance_to_point(f.near, s.c) < -s.r ||
-			plane::distance_to_point(f.far, s.c) < -s.r)
-		{
-			return false;
-		}
+bool frustum_sphere_intersection(const Frustum& f, const Sphere& s)
+{
+	if (plane::distance_to_point(f.left, s.c) < -s.r ||
+		plane::distance_to_point(f.right, s.c) < -s.r)
+	{
+		return false;
+	}
 
-		return true;
+	if (plane::distance_to_point(f.bottom, s.c) < -s.r ||
+		plane::distance_to_point(f.top, s.c) < -s.r)
+	{
+		return false;
 	}
 
-	bool frustum_box_intersection(const Frustum& f, const AABB& b)
+	if (plane::distance_to_point(f.near, s.c) < -s.r ||
+		plane::distance_to_point(f.far, s.c) < -s.r)
 	{
-		uint8_t out;
-
-		out = 0;
-		if (plane::distance_to_point(f.left, aabb::vertex(b, 0)) < 0.0) out++;
-		if (plane::distance_to_point(f.left, aabb::vertex(b, 1)) < 0.0) out++;
-		if (plane::distance_to_point(f.left, aabb::vertex(b, 2)) < 0.0) out++;
-		if (plane::distance_to_point(f.left, aabb::vertex(b, 3)) < 0.0) out++;
-		if (plane::distance_to_point(f.left, aabb::vertex(b, 4)) < 0.0) out++;
-		if (plane::distance_to_point(f.left, aabb::vertex(b, 5)) < 0.0) out++;
-		if (plane::distance_to_point(f.left, aabb::vertex(b, 6)) < 0.0) out++;
-		if (plane::distance_to_point(f.left, aabb::vertex(b, 7)) < 0.0) out++;
-
-		// If all vertices are outside one face, then the box doesn't intersect the frustum
-		if (out == 8) return false;
-
-		out = 0;
-		if (plane::distance_to_point(f.right, aabb::vertex(b, 0)) < 0.0) out++;
-		if (plane::distance_to_point(f.right, aabb::vertex(b, 1)) < 0.0) out++;
-		if (plane::distance_to_point(f.right, aabb::vertex(b, 2)) < 0.0) out++;
-		if (plane::distance_to_point(f.right, aabb::vertex(b, 3)) < 0.0) out++;
-		if (plane::distance_to_point(f.right, aabb::vertex(b, 4)) < 0.0) out++;
-		if (plane::distance_to_point(f.right, aabb::vertex(b, 5)) < 0.0) out++;
-		if (plane::distance_to_point(f.right, aabb::vertex(b, 6)) < 0.0) out++;
-		if (plane::distance_to_point(f.right, aabb::vertex(b, 7)) < 0.0) out++;
-		if (out == 8) return false;
-
-		out = 0;
-		if (plane::distance_to_point(f.bottom, aabb::vertex(b, 0)) < 0.0) out++;
-		if (plane::distance_to_point(f.bottom, aabb::vertex(b, 1)) < 0.0) out++;
-		if (plane::distance_to_point(f.bottom, aabb::vertex(b, 2)) < 0.0) out++;
-		if (plane::distance_to_point(f.bottom, aabb::vertex(b, 3)) < 0.0) out++;
-		if (plane::distance_to_point(f.bottom, aabb::vertex(b, 4)) < 0.0) out++;
-		if (plane::distance_to_point(f.bottom, aabb::vertex(b, 5)) < 0.0) out++;
-		if (plane::distance_to_point(f.bottom, aabb::vertex(b, 6)) < 0.0) out++;
-		if (plane::distance_to_point(f.bottom, aabb::vertex(b, 7)) < 0.0) out++;
-		if (out == 8) return false;
-
-		out = 0;
-		if (plane::distance_to_point(f.top, aabb::vertex(b, 0)) < 0.0) out++;
-		if (plane::distance_to_point(f.top, aabb::vertex(b, 1)) < 0.0) out++;
-		if (plane::distance_to_point(f.top, aabb::vertex(b, 2)) < 0.0) out++;
-		if (plane::distance_to_point(f.top, aabb::vertex(b, 3)) < 0.0) out++;
-		if (plane::distance_to_point(f.top, aabb::vertex(b, 4)) < 0.0) out++;
-		if (plane::distance_to_point(f.top, aabb::vertex(b, 5)) < 0.0) out++;
-		if (plane::distance_to_point(f.top, aabb::vertex(b, 6)) < 0.0) out++;
-		if (plane::distance_to_point(f.top, aabb::vertex(b, 7)) < 0.0) out++;
-		if (out == 8) return false;
-
-		out = 0;
-		if (plane::distance_to_point(f.near, aabb::vertex(b, 0)) < 0.0) out++;
-		if (plane::distance_to_point(f.near, aabb::vertex(b, 1)) < 0.0) out++;
-		if (plane::distance_to_point(f.near, aabb::vertex(b, 2)) < 0.0) out++;
-		if (plane::distance_to_point(f.near, aabb::vertex(b, 3)) < 0.0) out++;
-		if (plane::distance_to_point(f.near, aabb::vertex(b, 4)) < 0.0) out++;
-		if (plane::distance_to_point(f.near, aabb::vertex(b, 5)) < 0.0) out++;
-		if (plane::distance_to_point(f.near, aabb::vertex(b, 6)) < 0.0) out++;
-		if (plane::distance_to_point(f.near, aabb::vertex(b, 7)) < 0.0) out++;
-		if (out == 8) return false;
-
-		out = 0;
-		if (plane::distance_to_point(f.far, aabb::vertex(b, 0)) < 0.0) out++;
-		if (plane::distance_to_point(f.far, aabb::vertex(b, 1)) < 0.0) out++;
-		if (plane::distance_to_point(f.far, aabb::vertex(b, 2)) < 0.0) out++;
-		if (plane::distance_to_point(f.far, aabb::vertex(b, 3)) < 0.0) out++;
-		if (plane::distance_to_point(f.far, aabb::vertex(b, 4)) < 0.0) out++;
-		if (plane::distance_to_point(f.far, aabb::vertex(b, 5)) < 0.0) out++;
-		if (plane::distance_to_point(f.far, aabb::vertex(b, 6)) < 0.0) out++;
-		if (plane::distance_to_point(f.far, aabb::vertex(b, 7)) < 0.0) out++;
-		if (out == 8) return false;
-
-		// If we are here, it is because either the box intersects or it is contained in the frustum
-		return true;
+		return false;
 	}
 
-} // namespace math
+	return true;
+}
+
+bool frustum_box_intersection(const Frustum& f, const AABB& b)
+{
+	uint8_t out;
+
+	out = 0;
+	if (plane::distance_to_point(f.left, aabb::vertex(b, 0)) < 0.0) out++;
+	if (plane::distance_to_point(f.left, aabb::vertex(b, 1)) < 0.0) out++;
+	if (plane::distance_to_point(f.left, aabb::vertex(b, 2)) < 0.0) out++;
+	if (plane::distance_to_point(f.left, aabb::vertex(b, 3)) < 0.0) out++;
+	if (plane::distance_to_point(f.left, aabb::vertex(b, 4)) < 0.0) out++;
+	if (plane::distance_to_point(f.left, aabb::vertex(b, 5)) < 0.0) out++;
+	if (plane::distance_to_point(f.left, aabb::vertex(b, 6)) < 0.0) out++;
+	if (plane::distance_to_point(f.left, aabb::vertex(b, 7)) < 0.0) out++;
+
+	// If all vertices are outside one face, then the box doesn't intersect the frustum
+	if (out == 8) return false;
+
+	out = 0;
+	if (plane::distance_to_point(f.right, aabb::vertex(b, 0)) < 0.0) out++;
+	if (plane::distance_to_point(f.right, aabb::vertex(b, 1)) < 0.0) out++;
+	if (plane::distance_to_point(f.right, aabb::vertex(b, 2)) < 0.0) out++;
+	if (plane::distance_to_point(f.right, aabb::vertex(b, 3)) < 0.0) out++;
+	if (plane::distance_to_point(f.right, aabb::vertex(b, 4)) < 0.0) out++;
+	if (plane::distance_to_point(f.right, aabb::vertex(b, 5)) < 0.0) out++;
+	if (plane::distance_to_point(f.right, aabb::vertex(b, 6)) < 0.0) out++;
+	if (plane::distance_to_point(f.right, aabb::vertex(b, 7)) < 0.0) out++;
+	if (out == 8) return false;
+
+	out = 0;
+	if (plane::distance_to_point(f.bottom, aabb::vertex(b, 0)) < 0.0) out++;
+	if (plane::distance_to_point(f.bottom, aabb::vertex(b, 1)) < 0.0) out++;
+	if (plane::distance_to_point(f.bottom, aabb::vertex(b, 2)) < 0.0) out++;
+	if (plane::distance_to_point(f.bottom, aabb::vertex(b, 3)) < 0.0) out++;
+	if (plane::distance_to_point(f.bottom, aabb::vertex(b, 4)) < 0.0) out++;
+	if (plane::distance_to_point(f.bottom, aabb::vertex(b, 5)) < 0.0) out++;
+	if (plane::distance_to_point(f.bottom, aabb::vertex(b, 6)) < 0.0) out++;
+	if (plane::distance_to_point(f.bottom, aabb::vertex(b, 7)) < 0.0) out++;
+	if (out == 8) return false;
+
+	out = 0;
+	if (plane::distance_to_point(f.top, aabb::vertex(b, 0)) < 0.0) out++;
+	if (plane::distance_to_point(f.top, aabb::vertex(b, 1)) < 0.0) out++;
+	if (plane::distance_to_point(f.top, aabb::vertex(b, 2)) < 0.0) out++;
+	if (plane::distance_to_point(f.top, aabb::vertex(b, 3)) < 0.0) out++;
+	if (plane::distance_to_point(f.top, aabb::vertex(b, 4)) < 0.0) out++;
+	if (plane::distance_to_point(f.top, aabb::vertex(b, 5)) < 0.0) out++;
+	if (plane::distance_to_point(f.top, aabb::vertex(b, 6)) < 0.0) out++;
+	if (plane::distance_to_point(f.top, aabb::vertex(b, 7)) < 0.0) out++;
+	if (out == 8) return false;
+
+	out = 0;
+	if (plane::distance_to_point(f.near, aabb::vertex(b, 0)) < 0.0) out++;
+	if (plane::distance_to_point(f.near, aabb::vertex(b, 1)) < 0.0) out++;
+	if (plane::distance_to_point(f.near, aabb::vertex(b, 2)) < 0.0) out++;
+	if (plane::distance_to_point(f.near, aabb::vertex(b, 3)) < 0.0) out++;
+	if (plane::distance_to_point(f.near, aabb::vertex(b, 4)) < 0.0) out++;
+	if (plane::distance_to_point(f.near, aabb::vertex(b, 5)) < 0.0) out++;
+	if (plane::distance_to_point(f.near, aabb::vertex(b, 6)) < 0.0) out++;
+	if (plane::distance_to_point(f.near, aabb::vertex(b, 7)) < 0.0) out++;
+	if (out == 8) return false;
+
+	out = 0;
+	if (plane::distance_to_point(f.far, aabb::vertex(b, 0)) < 0.0) out++;
+	if (plane::distance_to_point(f.far, aabb::vertex(b, 1)) < 0.0) out++;
+	if (plane::distance_to_point(f.far, aabb::vertex(b, 2)) < 0.0) out++;
+	if (plane::distance_to_point(f.far, aabb::vertex(b, 3)) < 0.0) out++;
+	if (plane::distance_to_point(f.far, aabb::vertex(b, 4)) < 0.0) out++;
+	if (plane::distance_to_point(f.far, aabb::vertex(b, 5)) < 0.0) out++;
+	if (plane::distance_to_point(f.far, aabb::vertex(b, 6)) < 0.0) out++;
+	if (plane::distance_to_point(f.far, aabb::vertex(b, 7)) < 0.0) out++;
+	if (out == 8) return false;
+
+	// If we are here, it is because either the box intersects or it is contained in the frustum
+	return true;
+}
+
 } // namespace crown