mirror of https://gitee.com/cf-fz/WebCAD.git
ChenX
1 year ago
parent
e312df83ed
commit
1c1347d462
@ -1,249 +1,15 @@
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import { Vector3, Matrix4 } from 'three';
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// Quote from:
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// https://github.com/Mugen87/yume/blob/master/src/javascript/engine/etc/OBB.js
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// 即obb.js(本项目中已存在)
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import { Matrix3, Matrix4, Vector3 } from 'three';
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import { OBB } from "three/examples/jsm/math/OBB";
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// Reference material:
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//https://stackoverflow.com/questions/28499800/oriented-box-intersection-in-threejs
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//http://www.cnblogs.com/iamzhanglei/archive/2012/06/07/2539751.html
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//https://github.com/Mugen87/yume/blob/master/src/javascript/engine/etc/OBB.js
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export class OBB
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{
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_EPSILON = 1e-3;
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public center: Vector3;
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constructor(public ocs: Matrix4, public halfSizes: Vector3)
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{
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this.center = halfSizes.clone().applyMatrix4(ocs);
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}
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intersectsOBB(obb: OBB, is2D?: boolean, ucsInv?: Matrix4): boolean
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{
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let newCenter: Vector3;
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let newObbCenter: Vector3;
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let cs: Matrix4;
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let obbcs: Matrix4;
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if (is2D)
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{
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let mtx1 = new Matrix4().multiplyMatrices(ucsInv, this.ocs);
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let mtx2 = new Matrix4().multiplyMatrices(ucsInv, obb.ocs);
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cs = mtx1;
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obbcs = mtx2;
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cs.elements[14] = 0;
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obbcs.elements[14] = 0;
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newCenter = this.halfSizes.clone().applyMatrix4(cs);
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newObbCenter = obb.halfSizes.clone().applyMatrix4(obbcs);
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}
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let xAxisA = new Vector3();
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let yAxisA = new Vector3();
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let zAxisA = new Vector3();
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let xAxisB = new Vector3();
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let yAxisB = new Vector3();
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let zAxisB = new Vector3();
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let translation = new Vector3();
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let vector = new Vector3();
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let axisA: Vector3[] = [];
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let axisB: Vector3[] = [];
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let rotationMatrix = [[], [], []];
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let rotationMatrixAbs = [[], [], []];
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let halfSizeA: number, halfSizeB: number;
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let t: number, i: number;
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// extract each axis
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(cs ?? this.ocs).extractBasis(xAxisA, yAxisA, zAxisA);
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(obbcs ?? obb.ocs).extractBasis(xAxisB, yAxisB, zAxisB);
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// push basis vectors into arrays, so you can access them via indices
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axisA.push(xAxisA, yAxisA, zAxisA);
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axisB.push(xAxisB, yAxisB, zAxisB);
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// get displacement vector
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vector.subVectors(newObbCenter ?? obb.center, newCenter ?? this.center);
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// express the translation vector in the coordinate frame of the current
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// OBB (this)
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for (i = 0; i < 3; i++)
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{
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translation.setComponent(i, vector.dot(axisA[i]));
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}
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// generate a rotation matrix that transforms from world space to the
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// OBB's coordinate space
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for (i = 0; i < 3; i++)
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{
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for (let j = 0; j < 3; j++)
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{
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rotationMatrix[i][j] = axisA[i].dot(axisB[j]);
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rotationMatrixAbs[i][j] = Math.abs(rotationMatrix[i][j]) + this._EPSILON;
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}
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}
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// test the three major axes of this OBB
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for (i = 0; i < 3; i++)
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{
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vector.set(rotationMatrixAbs[i][0], rotationMatrixAbs[i][1], rotationMatrixAbs[i][2]);
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halfSizeA = this.halfSizes.getComponent(i);
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halfSizeB = obb.halfSizes.dot(vector);
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if (Math.abs(translation.getComponent(i)) > halfSizeA + halfSizeB)
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{
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return false;
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}
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}
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// test the three major axes of other OBB
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for (i = 0; i < 3; i++)
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{
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vector.set(rotationMatrixAbs[0][i], rotationMatrixAbs[1][i], rotationMatrixAbs[2][i]);
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halfSizeA = this.halfSizes.dot(vector);
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halfSizeB = obb.halfSizes.getComponent(i);
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vector.set(rotationMatrix[0][i], rotationMatrix[1][i], rotationMatrix[2][i]);
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t = translation.dot(vector);
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if (Math.abs(t) > halfSizeA + halfSizeB)
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{
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return false;
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}
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}
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// test the 9 different cross-axes
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// A.x <cross> B.x
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halfSizeA = this.halfSizes.y * rotationMatrixAbs[2][0] + this.halfSizes.z * rotationMatrixAbs[1][0];
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halfSizeB = obb.halfSizes.y * rotationMatrixAbs[0][2] + obb.halfSizes.z * rotationMatrixAbs[0][1];
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t = translation.z * rotationMatrix[1][0] - translation.y * rotationMatrix[2][0];
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if (Math.abs(t) > halfSizeA + halfSizeB)
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{
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return false;
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}
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// A.x < cross> B.y
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halfSizeA = this.halfSizes.y * rotationMatrixAbs[2][1] + this.halfSizes.z * rotationMatrixAbs[1][1];
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halfSizeB = obb.halfSizes.x * rotationMatrixAbs[0][2] + obb.halfSizes.z * rotationMatrixAbs[0][0];
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t = translation.z * rotationMatrix[1][1] - translation.y * rotationMatrix[2][1];
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if (Math.abs(t) > halfSizeA + halfSizeB)
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{
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return false;
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}
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// A.x <cross> B.z
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halfSizeA = this.halfSizes.y * rotationMatrixAbs[2][2] + this.halfSizes.z * rotationMatrixAbs[1][2];
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halfSizeB = obb.halfSizes.x * rotationMatrixAbs[0][1] + obb.halfSizes.y * rotationMatrixAbs[0][0];
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t = translation.z * rotationMatrix[1][2] - translation.y * rotationMatrix[2][2];
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if (Math.abs(t) > halfSizeA + halfSizeB)
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{
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return false;
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}
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// A.y <cross> B.x
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halfSizeA = this.halfSizes.x * rotationMatrixAbs[2][0] + this.halfSizes.z * rotationMatrixAbs[0][0];
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halfSizeB = obb.halfSizes.y * rotationMatrixAbs[1][2] + obb.halfSizes.z * rotationMatrixAbs[1][1];
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t = translation.x * rotationMatrix[2][0] - translation.z * rotationMatrix[0][0];
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if (Math.abs(t) > halfSizeA + halfSizeB)
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{
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return false;
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}
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// A.y <cross> B.y
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halfSizeA = this.halfSizes.x * rotationMatrixAbs[2][1] + this.halfSizes.z * rotationMatrixAbs[0][1];
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halfSizeB = obb.halfSizes.x * rotationMatrixAbs[1][2] + obb.halfSizes.z * rotationMatrixAbs[1][0];
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t = translation.x * rotationMatrix[2][1] - translation.z * rotationMatrix[0][1];
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if (Math.abs(t) > halfSizeA + halfSizeB)
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/**
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* @param ocs 坐标系
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* @param size 尺寸
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* @returns OBB
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*/
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export function GetObbFromOcsSize(ocs: Matrix4, size: Vector3): OBB
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{
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return false;
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}
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// A.y <cross> B.z
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halfSizeA = this.halfSizes.x * rotationMatrixAbs[2][2] + this.halfSizes.z * rotationMatrixAbs[0][2];
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halfSizeB = obb.halfSizes.x * rotationMatrixAbs[1][1] + obb.halfSizes.y * rotationMatrixAbs[1][0];
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t = translation.x * rotationMatrix[2][2] - translation.z * rotationMatrix[0][2];
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if (Math.abs(t) > halfSizeA + halfSizeB)
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{
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return false;
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}
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// A.z <cross> B.x
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halfSizeA = this.halfSizes.x * rotationMatrixAbs[1][0] + this.halfSizes.y * rotationMatrixAbs[0][0];
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halfSizeB = obb.halfSizes.y * rotationMatrixAbs[2][2] + obb.halfSizes.z * rotationMatrixAbs[2][1];
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t = translation.y * rotationMatrix[0][0] - translation.x * rotationMatrix[1][0];
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if (Math.abs(t) > halfSizeA + halfSizeB)
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{
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return false;
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}
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// A.z <cross> B.y
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halfSizeA = this.halfSizes.x * rotationMatrixAbs[1][1] + this.halfSizes.y * rotationMatrixAbs[0][1];
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halfSizeB = obb.halfSizes.x * rotationMatrixAbs[2][2] + obb.halfSizes.z * rotationMatrixAbs[2][0];
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t = translation.y * rotationMatrix[0][1] - translation.x * rotationMatrix[1][1];
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if (Math.abs(t) > halfSizeA + halfSizeB)
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{
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return false;
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}
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// A.z <cross> B.z
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halfSizeA = this.halfSizes.x * rotationMatrixAbs[1][2] + this.halfSizes.y * rotationMatrixAbs[0][2];
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halfSizeB = obb.halfSizes.x * rotationMatrixAbs[2][1] + obb.halfSizes.y * rotationMatrixAbs[2][0];
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t = translation.y * rotationMatrix[0][2] - translation.x * rotationMatrix[1][2];
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if (Math.abs(t) > halfSizeA + halfSizeB)
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{
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return false;
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}
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// no separating axis exists, so the two OBB don't intersect
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return true;
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}
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// setFromObject(obj: THREE.Mesh): OBB;
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// setFromAABB(aabb: THREE.Box3): OBB;
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// setFromSphere(sphere: THREE.Shape): OBB;
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// closestPoint(point: THREE.Vector3): THREE.Vector3
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// isPointContained(point: THREE.Vector3): boolean
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// isAABBContained(aabb: THREE.Box3): boolean
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// isLineContained(line: THREE.Line3): boolean
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// isTriangleContained(tarianlg: THREE.Triangle): boolean
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// intersectsAABB(box: THREE.Box3): boolean
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// intersectsSphere(sphere: THREE.Sphere): boolean
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// intersectsOBB(box: OBB): boolean;
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// intersectsPlane(plane: Plane): boolean
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// intersectsRay(ray: Ray): boolean
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// intersectRay(ray: Ray): Vector3
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// intersectSphere(sphere: Sphere): Vector3
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// size(optionalTarget: Vector3): Vector3
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// translate(offset: Vector3): OBB
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// copy(obb: OBB): OBB
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// clone(obb: OBB): OBB
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size = size.clone().multiplyScalar(0.5);
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let center = size.clone().applyMatrix4(ocs);
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return new OBB(center, size, new Matrix3().setFromMatrix4(ocs));
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}
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