diff options
| author | Erwin Coumans <blender@erwincoumans.com> | 2008-09-13 11:06:43 +0400 |
|---|---|---|
| committer | Erwin Coumans <blender@erwincoumans.com> | 2008-09-13 11:06:43 +0400 |
| commit | 7f293488d12b5d5076b4bbf3d6c9248867c447a0 (patch) | |
| tree | 977ac9f1063de48615e8f294bfbcadb2a3b645f6 /extern/bullet2/src/LinearMath/btAabbUtil2.h | |
| parent | 206cfe7955683ac166201e417977e933fd98f7b3 (diff) | |
Upgrade to latest Bullet trunk, that is in sync with Blender/extern/bullet2. (except for one define 'WIN32_AVOID_SSE_WHEN_EMBEDDED_INSIDE_BLENDER')
In case someone reads those SVN logs: you can enable some extra broadphase SSE optimizations by replacing WIN32_AVOID_SSE_WHEN_EMBEDDED_INSIDE_BLENDER by WIN32 in extern/bullet2/src/BulletCollision/BroadphaseCollision/btDbvt.h
Thanks to Benoit Bolsee for the upstream patch/contribution.
Removed some obsolete files, they were just intended for comparison/testing.
Diffstat (limited to 'extern/bullet2/src/LinearMath/btAabbUtil2.h')
| -rw-r--r-- | extern/bullet2/src/LinearMath/btAabbUtil2.h | 34 |
1 files changed, 34 insertions, 0 deletions
diff --git a/extern/bullet2/src/LinearMath/btAabbUtil2.h b/extern/bullet2/src/LinearMath/btAabbUtil2.h index 8bb6b3af7c3..275c4914628 100644 --- a/extern/bullet2/src/LinearMath/btAabbUtil2.h +++ b/extern/bullet2/src/LinearMath/btAabbUtil2.h @@ -17,6 +17,7 @@ subject to the following restrictions: #ifndef AABB_UTIL2 #define AABB_UTIL2 +#include "btTransform.h" #include "btVector3.h" #include "btMinMax.h" @@ -163,6 +164,39 @@ SIMD_FORCE_INLINE bool btRayAabb(const btVector3& rayFrom, } + +SIMD_FORCE_INLINE void btTransformAabb(const btVector3& halfExtents, btScalar margin,const btTransform& t,btVector3& aabbMinOut,btVector3& aabbMaxOut) +{ + btVector3 halfExtentsWithMargin = halfExtents+btVector3(margin,margin,margin); + btMatrix3x3 abs_b = t.getBasis().absolute(); + btVector3 center = t.getOrigin(); + btVector3 extent = btVector3(abs_b[0].dot(halfExtentsWithMargin), + abs_b[1].dot(halfExtentsWithMargin), + abs_b[2].dot(halfExtentsWithMargin)); + aabbMinOut = center - extent; + aabbMaxOut = center + extent; +} + + +SIMD_FORCE_INLINE void btTransformAabb(const btVector3& localAabbMin,const btVector3& localAabbMax, btScalar margin,const btTransform& trans,btVector3& aabbMinOut,btVector3& aabbMaxOut) +{ + btAssert(localAabbMin.getX() <= localAabbMax.getX()); + btAssert(localAabbMin.getY() <= localAabbMax.getY()); + btAssert(localAabbMin.getZ() <= localAabbMax.getZ()); + btVector3 localHalfExtents = btScalar(0.5)*(localAabbMax-localAabbMin); + localHalfExtents+=btVector3(margin,margin,margin); + + btVector3 localCenter = btScalar(0.5)*(localAabbMax+localAabbMin); + btMatrix3x3 abs_b = trans.getBasis().absolute(); + btVector3 center = trans(localCenter); + btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents), + abs_b[1].dot(localHalfExtents), + abs_b[2].dot(localHalfExtents)); + aabbMinOut = center-extent; + aabbMaxOut = center+extent; +} + + #endif |