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use crate::bounding_volume::AABB;
use crate::math::{Point, Real, Vector, DIM};
use crate::query::Ray;
use crate::shape::Segment;
use num::{Bounded, Zero};
impl AABB {
#[inline]
pub fn clip_segment(&self, pa: &Point<Real>, pb: &Point<Real>) -> Option<Segment> {
let ab = pb - pa;
clip_aabb_line(self, pa, &ab)
.map(|clip| Segment::new(pa + ab * (clip.0).0.max(0.0), pa + ab * (clip.1).0.min(1.0)))
}
#[inline]
pub fn clip_line_parameters(
&self,
orig: &Point<Real>,
dir: &Vector<Real>,
) -> Option<(Real, Real)> {
clip_aabb_line(self, orig, dir).map(|clip| ((clip.0).0, (clip.1).0))
}
#[inline]
pub fn clip_line(&self, orig: &Point<Real>, dir: &Vector<Real>) -> Option<Segment> {
clip_aabb_line(self, orig, dir)
.map(|clip| Segment::new(orig + dir * (clip.0).0, orig + dir * (clip.1).0))
}
#[inline]
pub fn clip_ray_parameters(&self, ray: &Ray) -> Option<(Real, Real)> {
self.clip_line_parameters(&ray.origin, &ray.dir)
.and_then(|clip| {
let t0 = clip.0;
let t1 = clip.1;
if t1 < 0.0 {
None
} else {
Some((t0.max(0.0), t1))
}
})
}
#[inline]
pub fn clip_ray(&self, ray: &Ray) -> Option<Segment> {
self.clip_ray_parameters(ray)
.map(|clip| Segment::new(ray.point_at(clip.0), ray.point_at(clip.1)))
}
}
pub fn clip_aabb_line(
aabb: &AABB,
origin: &Point<Real>,
dir: &Vector<Real>,
) -> Option<((Real, Vector<Real>, isize), (Real, Vector<Real>, isize))> {
let mut tmax: Real = Bounded::max_value();
let mut tmin: Real = -tmax;
let mut near_side = 0;
let mut far_side = 0;
let mut near_diag = false;
let mut far_diag = false;
for i in 0usize..DIM {
if dir[i].is_zero() {
if origin[i] < aabb.mins[i] || origin[i] > aabb.maxs[i] {
return None;
}
} else {
let denom = 1.0 / dir[i];
let flip_sides;
let mut inter_with_near_halfspace = (aabb.mins[i] - origin[i]) * denom;
let mut inter_with_far_halfspace = (aabb.maxs[i] - origin[i]) * denom;
if inter_with_near_halfspace > inter_with_far_halfspace {
flip_sides = true;
std::mem::swap(
&mut inter_with_near_halfspace,
&mut inter_with_far_halfspace,
)
} else {
flip_sides = false;
}
if inter_with_near_halfspace > tmin {
tmin = inter_with_near_halfspace;
near_side = if flip_sides {
-(i as isize + 1)
} else {
i as isize + 1
};
near_diag = false;
} else if inter_with_near_halfspace == tmin {
near_diag = true;
}
if inter_with_far_halfspace < tmax {
tmax = inter_with_far_halfspace;
far_side = if !flip_sides {
-(i as isize + 1)
} else {
i as isize + 1
};
far_diag = false;
} else if inter_with_far_halfspace == tmax {
far_diag = true;
}
if tmax < 0.0 || tmin > tmax {
return None;
}
}
}
let near = if near_diag {
(tmin, -dir.normalize(), near_side)
} else {
let mut normal = Vector::zeros();
if near_side < 0 {
normal[(-near_side - 1) as usize] = 1.0;
} else {
normal[(near_side - 1) as usize] = -1.0;
}
(tmin, normal, near_side)
};
let far = if far_diag {
(tmax, -dir.normalize(), far_side)
} else {
let mut normal = Vector::zeros();
if far_side < 0 {
normal[(-far_side - 1) as usize] = -1.0;
} else {
normal[(far_side - 1) as usize] = 1.0;
}
(tmax, normal, far_side)
};
Some((near, far))
}