torque 碰撞检测盒

bool SceneObject::collideBox(const Point3F &start, const Point3F &end, RayInfo *info)
{
   const F32 * pStart = (const F32*)start;
   const F32 * pEnd = (const F32*)end;
   const F32 * pMin = (const F32*)mObjBox.minExtents;
   const F32 * pMax = (const F32*)mObjBox.maxExtents;

   F32 maxStartTime = -1;
   F32 minEndTime = 1;
   F32 startTime;
   F32 endTime;

   // used for getting normal
   U32 hitIndex = 0xFFFFFFFF;
   U32 side;

   // walk the axis
   for(U32 i = 0; i < 3; i++)
   {
      //
      if(pStart[i] < pEnd[i])
      {
         if(pEnd[i] < pMin[i] || pStart[i] > pMax[i])
            return(false);

         F32 dist = pEnd[i] - pStart[i];

         startTime = (pStart[i] < pMin[i]) ? (pMin[i] - pStart[i]) / dist : -1;
         endTime = (pEnd[i] > pMax[i]) ? (pMax[i] - pStart[i]) / dist : 1;
         side = 1;
      }
      else
      {
         if(pStart[i] < pMin[i] || pEnd[i] > pMax[i])
            return(false);

         F32 dist = pStart[i] - pEnd[i];
         startTime = (pStart[i] > pMax[i]) ? (pStart[i] - pMax[i]) / dist : -1;
         endTime = (pEnd[i] < pMin[i]) ? (pStart[i] - pMin[i]) / dist : 1;
         side = 0;
      }

      //
      if(startTime > maxStartTime)
      {
         maxStartTime = startTime;
         hitIndex = i * 2 + side;
      }
      if(endTime < minEndTime)
         minEndTime = endTime;
      if(minEndTime < maxStartTime)
         return(false);
   }

   // fail if inside
   if(maxStartTime < 0.f)
      return(false);

   //
   static Point3F boxNormals[] = {
      Point3F( 1, 0, 0),
      Point3F(-1, 0, 0),
      Point3F( 0, 1, 0),
      Point3F( 0,-1, 0),
      Point3F( 0, 0, 1),
      Point3F( 0, 0,-1),
   };

   //
   AssertFatal(hitIndex != 0xFFFFFFFF, "SceneObject::collideBox");
   info->t = maxStartTime;
   info->object = this;
   mObjToWorld.mulV(boxNormals[hitIndex], &info->normal);
   info->material = 0;
   return(true);
}