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matched Math3D_CylVsLineSeg and fixed a Math_ error (#564)
* matched cylvsline * slight name adjustment * format * and asm * comment cleanup * fixed misspelling and added mathfixer tool * formatting Co-authored-by: petrie911 <pmontag@DESKTOP-LG8A167.localdomain>
This commit is contained in:
petrie911
GitHub
parent
b95643b397
commit
3727cc38b8
36 changed files with 382 additions and 1048 deletions
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@ -62,6 +62,11 @@ s32 Math3D_LineSegMakePerpLineSeg(Vec3f* lineAPointA, Vec3f* lineAPointB, Vec3f*
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Vec3f lineABPointADiff;
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f32 t;
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f32 t2;
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f32 tempf1;
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f32 tempf2;
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f32 tempf3;
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f32 tempf4;
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f32 tempf5;
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lineADiff.x = lineAPointB->x - lineAPointA->x;
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lineADiff.y = lineAPointB->y - lineAPointA->y;
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@ -70,21 +75,18 @@ s32 Math3D_LineSegMakePerpLineSeg(Vec3f* lineAPointA, Vec3f* lineAPointB, Vec3f*
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lineBDiff.y = lineBPointB->y - lineBPointA->y;
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lineBDiff.z = lineBPointB->z - lineBPointA->z;
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if (IS_ZERO(SQ(lineBDiff.x) + SQ(lineBDiff.y) + SQ(lineBDiff.z))) {
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if (IS_ZERO(SQXYZ(lineBDiff))) {
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return false;
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}
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sp5C = ((lineADiff.x * lineBDiff.x) + (lineADiff.y * lineBDiff.y) + (lineADiff.z * lineBDiff.z)) *
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(1.0f / (SQ(lineBDiff.x) + SQ(lineBDiff.y) + SQ(lineBDiff.z)));
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tempf1 = 1.0f / SQXYZ(lineBDiff);
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sp5C = DOTXYZ(lineADiff, lineBDiff) * tempf1;
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lineABPointADiff.x = lineAPointA->x - lineBPointA->x;
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lineABPointADiff.y = lineAPointA->y - lineBPointA->y;
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lineABPointADiff.z = lineAPointA->z - lineBPointA->z;
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// most reordering is here.
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temp_f18 =
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((lineABPointADiff.x * lineBDiff.x) + (lineABPointADiff.y * lineBDiff.y) + (lineABPointADiff.z * lineBDiff.z)) *
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(1.0f / (SQ(lineBDiff.x) + SQ(lineBDiff.y) + SQ(lineBDiff.z)));
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temp_f18 = DOTXYZ(lineABPointADiff, lineBDiff) * tempf1;
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sp4C = lineADiff.x - (lineBDiff.x * sp5C);
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sp50 = lineADiff.y - (lineBDiff.y * sp5C);
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@ -92,7 +94,6 @@ s32 Math3D_LineSegMakePerpLineSeg(Vec3f* lineAPointA, Vec3f* lineAPointB, Vec3f*
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if (IS_ZERO(SQ(sp4C) + SQ(sp50) + SQ(sp30))) {
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return false;
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}
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t = SQ(sp4C) + SQ(sp50) + SQ(sp30);
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temp_f0_4 = -((sp4C * (lineABPointADiff.x - (lineBDiff.x * temp_f18))) +
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(sp50 * (lineABPointADiff.y - (lineBDiff.y * temp_f18))) +
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@ -1624,72 +1625,28 @@ s32 Math3D_PointInCyl(Cylinder16* cyl, Vec3f* point) {
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}
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}
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#ifdef NON_MATCHING
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s32 Math3D_CylVsLineSeg(Cylinder16* cyl, Vec3f* linePointA, Vec3f* linePointB, Vec3f* intersectA, Vec3f* intersectB) {
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Vec3f pointACylBottomDiff;
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Vec3f pointBCylBottomDiff;
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Vec3f spD4;
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f32 spD0;
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f32 spCC;
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f32 spB8;
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s32 sp9C;
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Vec3f sp6C[4];
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s32 sp68;
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f32 sp4C;
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f32 sp2C;
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f32 sp28;
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f32* temp_a0;
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f32* temp_a1;
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f32* temp_s0;
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f32 temp_f0;
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f32 temp_f0_2;
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f32 temp_f0_3;
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f32 temp_f0_4;
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f32 temp_f0_5;
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f32 temp_f0_6;
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f32 temp_f10;
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f32 temp_f12;
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f32 temp_f12_2;
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Vec3f cylToPtA;
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Vec3f cylToPtB;
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Vec3f ptAToPtB;
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f32 fracA;
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f32 fracB;
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f32 fracBase;
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f32 zero = 0.0f;
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f32 pad;
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f32 cylRadiusSq;
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f32 temp_f14_2;
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f32 temp_f14_3;
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f32 temp_f16;
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f32 temp_f16_2;
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f32 temp_f18;
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f32 temp_f2;
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f32 temp_f2_2;
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f32 temp_f2_3;
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f32 temp_f2_4;
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f32 temp_f2_5;
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f32 temp_f2_6;
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f32 temp_f2_7;
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s32 temp_a0_2;
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s32 temp_t0;
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s32 temp_v0;
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s32 temp_v1;
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void* temp_t2;
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s32 phi_a1;
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s32 phi_a1_2;
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f32 phi_f2;
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s32 phi_v0;
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s32 phi_v0_2;
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s32 phi_v1;
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s32 phi_v1_2;
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s32 phi_a2;
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s32 phi_a1_3;
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s32 phi_a2_2;
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s32 phi_a1_4;
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s32 phi_v0_3;
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s32 phi_t0;
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s32 phi_v1_3;
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s32 phi_v1_4;
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s32 phi_a2_3;
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s32 phi_a2_4;
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s32 phi_t0_2;
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s32 phi_v1_5;
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s32 phi_t0_3;
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f32 radSqDiff;
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f32 distCent2;
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f32 dot2AB;
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s32 sideIntA;
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s32 sideIntB;
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s32 intBeyondA;
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s32 intBeyondB;
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s32 intFlags = 0;
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Vec3f intPts[4];
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s32 count;
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s32 i;
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sp9C = 0;
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if (Math3D_PointInCyl(cyl, linePointA) && Math3D_PointInCyl(cyl, linePointB)) {
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// both points are in the cylinder
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*intersectA = *linePointA;
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@ -1697,151 +1654,158 @@ s32 Math3D_CylVsLineSeg(Cylinder16* cyl, Vec3f* linePointA, Vec3f* linePointB, V
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return 2;
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}
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pointACylBottomDiff.x = linePointA->x - cyl->pos.x;
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pointACylBottomDiff.y = linePointA->y - cyl->pos.y - cyl->yShift;
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pointACylBottomDiff.z = linePointA->z - cyl->pos.z;
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pointBCylBottomDiff.x = linePointB->x - cyl->pos.x;
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pointBCylBottomDiff.y = linePointB->y - cyl->pos.y - cyl->yShift;
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pointBCylBottomDiff.z = linePointB->z - cyl->pos.z;
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Math_Vec3f_Diff(&pointBCylBottomDiff, &pointACylBottomDiff, &spD4);
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cylToPtA.x = linePointA->x - cyl->pos.x;
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cylToPtA.y = linePointA->y - cyl->pos.y - cyl->yShift;
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cylToPtA.z = linePointA->z - cyl->pos.z;
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cylToPtB.x = linePointB->x - cyl->pos.x;
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cylToPtB.y = linePointB->y - cyl->pos.y - cyl->yShift;
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cylToPtB.z = linePointB->z - cyl->pos.z;
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Math_Vec3f_Diff(&cylToPtB, &cylToPtA, &ptAToPtB);
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cylRadiusSq = SQ(cyl->radius);
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if (!IS_ZERO(spD4.y)) {
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if (1) {}
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if ((-pointACylBottomDiff.y / spD4.y) >= 0.0f) {
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if ((-pointACylBottomDiff.y / spD4.y) <= 1.0f) {
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if ((SQ((spD4.x * (-pointACylBottomDiff.y / spD4.y)) + pointACylBottomDiff.x) +
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SQ((spD4.z * (-pointACylBottomDiff.y / spD4.y)) + pointACylBottomDiff.z)) < cylRadiusSq) {
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sp6C[0].x =
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(f32)cyl->pos.x + ((spD4.x * (-pointACylBottomDiff.y / spD4.y)) + pointACylBottomDiff.x);
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sp6C[0].y = (f32)cyl->pos.y + (f32)cyl->yShift;
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sp6C[0].z =
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(f32)cyl->pos.z + ((spD4.z * (-pointACylBottomDiff.y / spD4.y)) + pointACylBottomDiff.z);
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sp9C |= 1;
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}
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/**
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* This section checks for intersections with the cylinder's base and top
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*/
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if (!IS_ZERO(ptAToPtB.y)) {
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// fraction of length along AB to reach y = 0
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fracBase = -cylToPtA.y / ptAToPtB.y;
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if ((0.0f <= fracBase) && (fracBase <= 1.0f)) {
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f32 baseIntX = (ptAToPtB.x * fracBase) + cylToPtA.x;
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f32 baseIntZ = (ptAToPtB.z * fracBase) + cylToPtA.z;
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if (SQ(baseIntX) + SQ(baseIntZ) < cylRadiusSq) {
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// adds base intersection point to intPts and sets its flag
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intPts[0].x = cyl->pos.x + baseIntX;
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intPts[0].y = (f32)cyl->pos.y + cyl->yShift;
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intPts[0].z = cyl->pos.z + baseIntZ;
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intFlags |= 1;
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}
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}
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// fraction of length along AB to reach y = cyl->height
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fracA = (cyl->height - cylToPtA.y) / ptAToPtB.y;
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if ((0.0f <= fracA) && (fracA <= 1.0f)) {
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f32 topIntX = ptAToPtB.x * fracA + cylToPtA.x;
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f32 topIntZ = ptAToPtB.z * fracA + cylToPtA.z;
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phi_f2 = ((cyl->height - pointACylBottomDiff.y) / spD4.y);
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if (phi_f2 >= 0.0f) {
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if (phi_f2 <= 1.0f) {
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if ((SQ(pointACylBottomDiff.x + (spD4.x * phi_f2)) + SQ(pointACylBottomDiff.z + (spD4.z * phi_f2))) <
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cylRadiusSq) {
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sp6C[1].x = (f32)cyl->pos.x + pointACylBottomDiff.x + (spD4.x * phi_f2);
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sp6C[1].y = (f32)cyl->pos.y + cyl->height + cyl->yShift;
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sp6C[1].z = (f32)cyl->pos.z + pointACylBottomDiff.z + (spD4.x * phi_f2);
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sp9C |= 2;
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}
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if (SQ(topIntX) + SQ(topIntZ) < cylRadiusSq) {
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// adds top intersection point to intPts and sets its flag
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intPts[1].x = cyl->pos.x + topIntX;
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intPts[1].y = (f32)cyl->pos.y + cyl->yShift + cyl->height;
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intPts[1].z = cyl->pos.z + topIntZ;
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intFlags |= 2;
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}
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}
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}
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spB8 = SQ(pointACylBottomDiff.x) + SQ(pointACylBottomDiff.z) - cylRadiusSq; // 498c
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temp_f12_2 = SQ(spD4.z) + SQ(spD4.x);
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temp_f18 = temp_f12_2 * 2.0f;
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if (!IS_ZERO(temp_f18)) {
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temp_f2_3 = (spD4.x * pointACylBottomDiff.x) + (spD4.z * pointACylBottomDiff.z);
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temp_f14_2 = temp_f2_3 + temp_f2_3;
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temp_f0_3 = temp_f14_2 * temp_f14_2;
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temp_f16_2 = (4.0f * temp_f12_2) * spB8;
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if (temp_f0_3 < temp_f16_2) {
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return false;
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}
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phi_a1 = (temp_f0_3 - temp_f16_2) > 0.0f;
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phi_f2 = (sqrtf((temp_f0_3 - temp_f16_2)) - temp_f14_2) / temp_f18;
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if (phi_a1) {
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spCC = (-temp_f14_2 - sqrtf((temp_f0_3 - temp_f16_2))) / temp_f18;
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}
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} else if (!IS_ZERO(((spD4.x * pointACylBottomDiff.x) + (spD4.z * pointACylBottomDiff.z)) +
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((spD4.x * pointACylBottomDiff.x) + (spD4.z * pointACylBottomDiff.z)))) {
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phi_f2 = -spB8 / ((spD4.x * pointACylBottomDiff.x) + (spD4.z * pointACylBottomDiff.z)) +
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((spD4.x * pointACylBottomDiff.x) + (spD4.z * pointACylBottomDiff.z));
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phi_a2 = 1;
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phi_a1 = 0;
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} else {
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return 0;
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}
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if (!phi_a1) {
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if (phi_f2 < 0.0f || phi_f2 > 1.0f) {
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return false;
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}
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} else {
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phi_a2 = phi_f2 < 0.0f || phi_f2 > 1.0f;
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phi_a1 = spCC < 0.0f || spCC > 1.0f;
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if (phi_a1 && phi_a2) {
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/**
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* This section finds the points of intersection of the infinite line containing AB with the side of the infinite
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* cylinder containing cyl. Intersection points beyond the bounds of the segment and cylinder are filtered out
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* afterward.
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*/
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radSqDiff = SQXZ(cylToPtA) - cylRadiusSq;
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if (!IS_ZERO(2.0f * SQXZ(ptAToPtB))) {
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dot2AB = 2.0f * DOTXZ(ptAToPtB, cylToPtA);
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if (SQ(dot2AB) < 4.0f * SQXZ(ptAToPtB) * radSqDiff) {
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// Line's closest xz-approach is outside cylinder. No intersections.
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return 0;
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}
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if (phi_a2) {
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phi_a2 = 0;
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if (SQ(dot2AB) - (4.0f * SQXZ(ptAToPtB) * radSqDiff) > zero) {
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sideIntA = sideIntB = 1;
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} else {
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// Line is tangent in xz-plane. At most 1 side intersection.
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sideIntA = 1;
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sideIntB = 0;
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}
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if (phi_a1) {
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phi_a1 = 0;
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distCent2 = sqrtf(SQ(dot2AB) - (4.0f * SQXZ(ptAToPtB) * radSqDiff));
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if (sideIntA == 1) {
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// fraction of length along AB for side intersection closer to A
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fracA = (distCent2 - dot2AB) / (2.0f * SQXZ(ptAToPtB));
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}
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}
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if ((phi_a2 == 1) && (((phi_f2 * spD4.y) + pointACylBottomDiff.y) < 0.0f ||
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cyl->height < ((phi_f2 * spD4.y) + pointACylBottomDiff.y))) {
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phi_a2 = 0;
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}
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if ((phi_a1 == 1) &&
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(((spCC * spD4.y) + pointACylBottomDiff.y) < 0.0f || cyl->height < ((spCC * spD4.y) + pointACylBottomDiff.y))) {
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phi_a1 = 0;
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}
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if (phi_a2 == 0 && phi_a1 == 0) {
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if (sideIntB == 1) {
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// fraction of length along AB for side intersection closer to B
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fracB = (-dot2AB - distCent2) / (2.0f * SQXZ(ptAToPtB));
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}
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} else if (!IS_ZERO(2.0f * DOTXZ(ptAToPtB, cylToPtA))) {
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// Used if the line segment is nearly vertical. Unclear what it's calculating.
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fracA = -radSqDiff / (2.0f * DOTXZ(ptAToPtB, cylToPtA));
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sideIntA = 1;
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sideIntB = 0;
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} else {
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return 0;
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}
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if (phi_a2 == 1 && phi_a1 == 1) {
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sp6C[2].x = ((phi_f2 * spD4.x) + pointACylBottomDiff.x) + (f32)cyl->pos.x;
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sp6C[2].y = (((phi_f2 * spD4.y) + pointACylBottomDiff.y) + (f32)cyl->pos.y) + (f32)cyl->yShift;
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sp6C[2].z = ((phi_f2 * spD4.z) + pointACylBottomDiff.z) + (f32)cyl->pos.z;
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sp6C[2].x = ((spCC * spD4.x) + pointACylBottomDiff.x) + (f32)cyl->pos.x;
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sp6C[2].y = (((spCC * spD4.y) + pointACylBottomDiff.y) + (f32)cyl->pos.y) + (f32)cyl->yShift;
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sp6C[2].z = ((spCC * spD4.z) + pointACylBottomDiff.z) + (f32)cyl->pos.z;
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sp9C = (sp9C | 4) | 8;
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} else if (phi_a2 == 1) {
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sp6C[2].x = ((phi_f2 * spD4.x) + pointACylBottomDiff.x) + (f32)cyl->pos.x;
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sp6C[2].y = (((phi_f2 * spD4.y) + pointACylBottomDiff.y) + (f32)cyl->pos.y) + (f32)cyl->yShift;
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sp6C[2].z = ((phi_f2 * spD4.z) + pointACylBottomDiff.z) + (f32)cyl->pos.z;
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sp9C |= 4;
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} else if (phi_a1 == 1) {
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sp6C[2].x = ((spCC * spD4.x) + pointACylBottomDiff.x) + (f32)cyl->pos.x;
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sp6C[2].y = (((spCC * spD4.y) + pointACylBottomDiff.y) + (f32)cyl->pos.y) + (f32)cyl->yShift;
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sp6C[2].z = ((spCC * spD4.z) + pointACylBottomDiff.z) + (f32)cyl->pos.z;
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sp9C |= 4;
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// checks for intersection points outside the bounds of the segment
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if (!sideIntB) {
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if (fracA < 0.0f || 1.0f < fracA) {
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return 0;
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}
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} else {
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intBeyondA = fracA < 0.0f || 1.0f < fracA;
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intBeyondB = fracB < 0.0f || 1.0f < fracB;
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if (intBeyondA && intBeyondB) {
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return 0;
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}
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if (intBeyondA) {
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sideIntA = 0;
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}
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if (intBeyondB) {
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sideIntB = 0;
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}
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}
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// checks for intersection points outside the bounds of the cylinder
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if ((sideIntA == 1) &&
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((fracA * ptAToPtB.y + cylToPtA.y) < 0.0f || cyl->height < (fracA * ptAToPtB.y + cylToPtA.y))) {
|
||||
sideIntA = 0;
|
||||
}
|
||||
if ((sideIntB == 1) &&
|
||||
((fracB * ptAToPtB.y + cylToPtA.y) < 0.0f || cyl->height < (fracB * ptAToPtB.y + cylToPtA.y))) {
|
||||
sideIntB = 0;
|
||||
}
|
||||
if (sideIntA == 0 && sideIntB == 0) {
|
||||
return 0;
|
||||
}
|
||||
// Adds intersection points to intPts and sets side A and side B flags
|
||||
if (sideIntA == 1 && sideIntB == 1) {
|
||||
intPts[2].x = (fracA * ptAToPtB.x + cylToPtA.x) + cyl->pos.x;
|
||||
intPts[2].y = (fracA * ptAToPtB.y + cylToPtA.y) + cyl->pos.y + cyl->yShift;
|
||||
intPts[2].z = (fracA * ptAToPtB.z + cylToPtA.z) + cyl->pos.z;
|
||||
intFlags |= 4;
|
||||
intPts[3].x = (fracB * ptAToPtB.x + cylToPtA.x) + cyl->pos.x;
|
||||
intPts[3].y = (fracB * ptAToPtB.y + cylToPtA.y) + cyl->pos.y + cyl->yShift;
|
||||
intPts[3].z = (fracB * ptAToPtB.z + cylToPtA.z) + cyl->pos.z;
|
||||
intFlags |= 8;
|
||||
} else if (sideIntA == 1) {
|
||||
intPts[2].x = (fracA * ptAToPtB.x + cylToPtA.x) + cyl->pos.x;
|
||||
intPts[2].y = (fracA * ptAToPtB.y + cylToPtA.y) + cyl->pos.y + cyl->yShift;
|
||||
intPts[2].z = (fracA * ptAToPtB.z + cylToPtA.z) + cyl->pos.z;
|
||||
intFlags |= 4;
|
||||
} else if (sideIntB == 1) {
|
||||
intPts[2].x = (fracB * ptAToPtB.x + cylToPtA.x) + cyl->pos.x;
|
||||
intPts[2].y = (fracB * ptAToPtB.y + cylToPtA.y) + cyl->pos.y + cyl->yShift;
|
||||
intPts[2].z = (fracB * ptAToPtB.z + cylToPtA.z) + cyl->pos.z;
|
||||
intFlags |= 4;
|
||||
}
|
||||
|
||||
for (phi_v0_3 = 0, phi_v1_3 = 0; phi_v0_3 < 4; phi_v0_3++) {
|
||||
if (sp9C & (1 << phi_v0_3)) {
|
||||
if (phi_v1_3 == 0) {
|
||||
*intersectA = sp6C[phi_v0_3];
|
||||
} else if (phi_v1_3 == 1) {
|
||||
if (Math3D_Vec3fDistSq(intersectA, linePointA) < Math3D_Vec3fDistSq(intersectA, &sp6C[phi_v0_3])) {
|
||||
*intersectB = sp6C[phi_v0_3];
|
||||
/**
|
||||
* Places the found intersection points into intersectA and intersectB. IntersectA is always closer to point A
|
||||
*/
|
||||
for (count = 0, i = 0; i < 4; i++) {
|
||||
if (intFlags & (1 << i)) {
|
||||
if (count == 0) {
|
||||
*intersectA = intPts[i];
|
||||
} else if (count == 1) {
|
||||
if (Math3D_Vec3fDistSq(intersectA, linePointA) < Math3D_Vec3fDistSq(intersectA, &intPts[i])) {
|
||||
*intersectB = intPts[i];
|
||||
} else {
|
||||
*intersectB = *intersectA;
|
||||
*intersectA = sp6C[phi_v0_3];
|
||||
*intersectA = intPts[i];
|
||||
}
|
||||
break;
|
||||
}
|
||||
count++;
|
||||
}
|
||||
phi_v1_3++;
|
||||
}
|
||||
|
||||
return phi_v1_3;
|
||||
return count;
|
||||
}
|
||||
|
||||
#else
|
||||
#pragma GLOBAL_ASM("asm/non_matchings/code/sys_math3d/Math3D_CylVsLineSeg.s")
|
||||
#endif
|
||||
|
||||
/*
|
||||
* Determines if `cyl` and `tri` are touching. The point of intersection
|
||||
* is placed in `intersect` Returns 1 if they are touching, 0 otherwise.
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue