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Diffstat (limited to 'extern/bullet2/BulletCollision/Gimpact/gim_basic_geometry_operations.h')
| -rw-r--r-- | extern/bullet2/BulletCollision/Gimpact/gim_basic_geometry_operations.h | 543 |
1 files changed, 0 insertions, 543 deletions
diff --git a/extern/bullet2/BulletCollision/Gimpact/gim_basic_geometry_operations.h b/extern/bullet2/BulletCollision/Gimpact/gim_basic_geometry_operations.h deleted file mode 100644 index 666abf7917a..00000000000 --- a/extern/bullet2/BulletCollision/Gimpact/gim_basic_geometry_operations.h +++ /dev/null @@ -1,543 +0,0 @@ -#ifndef GIM_BASIC_GEOMETRY_OPERATIONS_H_INCLUDED -#define GIM_BASIC_GEOMETRY_OPERATIONS_H_INCLUDED - -/*! \file gim_basic_geometry_operations.h -*\author Francisco Len Nßjera -type independant geometry routines - -*/ -/* ------------------------------------------------------------------------------ -This source file is part of GIMPACT Library. - -For the latest info, see http://gimpact.sourceforge.net/ - -Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371. -email: projectileman@yahoo.com - - This library is free software; you can redistribute it and/or - modify it under the terms of EITHER: - (1) The GNU Lesser General Public License as published by the Free - Software Foundation; either version 2.1 of the License, or (at - your option) any later version. The text of the GNU Lesser - General Public License is included with this library in the - file GIMPACT-LICENSE-LGPL.TXT. - (2) The BSD-style license that is included with this library in - the file GIMPACT-LICENSE-BSD.TXT. - (3) The zlib/libpng license that is included with this library in - the file GIMPACT-LICENSE-ZLIB.TXT. - - This library is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files - GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. - ------------------------------------------------------------------------------ -*/ - - -#include "gim_linear_math.h" - - - - - -#define PLANEDIREPSILON 0.0000001f -#define PARALELENORMALS 0.000001f - - -#define TRIANGLE_NORMAL(v1,v2,v3,n)\ -{\ - vec3f _dif1,_dif2;\ - VEC_DIFF(_dif1,v2,v1);\ - VEC_DIFF(_dif2,v3,v1);\ - VEC_CROSS(n,_dif1,_dif2);\ - VEC_NORMALIZE(n);\ -}\ - -#define TRIANGLE_NORMAL_FAST(v1,v2,v3,n){\ - vec3f _dif1,_dif2; \ - VEC_DIFF(_dif1,v2,v1); \ - VEC_DIFF(_dif2,v3,v1); \ - VEC_CROSS(n,_dif1,_dif2); \ -}\ - -/// plane is a vec4f -#define TRIANGLE_PLANE(v1,v2,v3,plane) {\ - TRIANGLE_NORMAL(v1,v2,v3,plane);\ - plane[3] = VEC_DOT(v1,plane);\ -}\ - -/// plane is a vec4f -#define TRIANGLE_PLANE_FAST(v1,v2,v3,plane) {\ - TRIANGLE_NORMAL_FAST(v1,v2,v3,plane);\ - plane[3] = VEC_DOT(v1,plane);\ -}\ - -/// Calc a plane from an edge an a normal. plane is a vec4f -#define EDGE_PLANE(e1,e2,n,plane) {\ - vec3f _dif; \ - VEC_DIFF(_dif,e2,e1); \ - VEC_CROSS(plane,_dif,n); \ - VEC_NORMALIZE(plane); \ - plane[3] = VEC_DOT(e1,plane);\ -}\ - -#define DISTANCE_PLANE_POINT(plane,point) (VEC_DOT(plane,point) - plane[3]) - -#define PROJECT_POINT_PLANE(point,plane,projected) {\ - GREAL _dis;\ - _dis = DISTANCE_PLANE_POINT(plane,point);\ - VEC_SCALE(projected,-_dis,plane);\ - VEC_SUM(projected,projected,point); \ -}\ - -//! Verifies if a point is in the plane hull -template<typename CLASS_POINT,typename CLASS_PLANE> -SIMD_FORCE_INLINE bool POINT_IN_HULL( - const CLASS_POINT& point,const CLASS_PLANE * planes,GUINT plane_count) -{ - GREAL _dis; - for (GUINT _i = 0;_i< plane_count;++_i) - { - _dis = DISTANCE_PLANE_POINT(planes[_i],point); - if(_dis>0.0f) return false; - } - return true; -} - -template<typename CLASS_POINT,typename CLASS_PLANE> -SIMD_FORCE_INLINE void PLANE_CLIP_SEGMENT( - const CLASS_POINT& s1, - const CLASS_POINT &s2,const CLASS_PLANE &plane,CLASS_POINT &clipped) -{ - GREAL _dis1,_dis2; - _dis1 = DISTANCE_PLANE_POINT(plane,s1); - VEC_DIFF(clipped,s2,s1); - _dis2 = VEC_DOT(clipped,plane); - VEC_SCALE(clipped,-_dis1/_dis2,clipped); - VEC_SUM(clipped,clipped,s1); -} - -enum ePLANE_INTERSECTION_TYPE -{ - G_BACK_PLANE = 0, - G_COLLIDE_PLANE, - G_FRONT_PLANE -}; - -enum eLINE_PLANE_INTERSECTION_TYPE -{ - G_FRONT_PLANE_S1 = 0, - G_FRONT_PLANE_S2, - G_BACK_PLANE_S1, - G_BACK_PLANE_S2, - G_COLLIDE_PLANE_S1, - G_COLLIDE_PLANE_S2 -}; - -//! Confirms if the plane intersect the edge or nor -/*! -intersection type must have the following values -<ul> -<li> 0 : Segment in front of plane, s1 closest -<li> 1 : Segment in front of plane, s2 closest -<li> 2 : Segment in back of plane, s1 closest -<li> 3 : Segment in back of plane, s2 closest -<li> 4 : Segment collides plane, s1 in back -<li> 5 : Segment collides plane, s2 in back -</ul> -*/ - -template<typename CLASS_POINT,typename CLASS_PLANE> -SIMD_FORCE_INLINE eLINE_PLANE_INTERSECTION_TYPE PLANE_CLIP_SEGMENT2( - const CLASS_POINT& s1, - const CLASS_POINT &s2, - const CLASS_PLANE &plane,CLASS_POINT &clipped) -{ - GREAL _dis1 = DISTANCE_PLANE_POINT(plane,s1); - GREAL _dis2 = DISTANCE_PLANE_POINT(plane,s2); - if(_dis1 >-G_EPSILON && _dis2 >-G_EPSILON) - { - if(_dis1<_dis2) return G_FRONT_PLANE_S1; - return G_FRONT_PLANE_S2; - } - else if(_dis1 <G_EPSILON && _dis2 <G_EPSILON) - { - if(_dis1>_dis2) return G_BACK_PLANE_S1; - return G_BACK_PLANE_S2; - } - - VEC_DIFF(clipped,s2,s1); - _dis2 = VEC_DOT(clipped,plane); - VEC_SCALE(clipped,-_dis1/_dis2,clipped); - VEC_SUM(clipped,clipped,s1); - if(_dis1<_dis2) return G_COLLIDE_PLANE_S1; - return G_COLLIDE_PLANE_S2; -} - -//! Confirms if the plane intersect the edge or not -/*! -clipped1 and clipped2 are the vertices behind the plane. -clipped1 is the closest - -intersection_type must have the following values -<ul> -<li> 0 : Segment in front of plane, s1 closest -<li> 1 : Segment in front of plane, s2 closest -<li> 2 : Segment in back of plane, s1 closest -<li> 3 : Segment in back of plane, s2 closest -<li> 4 : Segment collides plane, s1 in back -<li> 5 : Segment collides plane, s2 in back -</ul> -*/ -template<typename CLASS_POINT,typename CLASS_PLANE> -SIMD_FORCE_INLINE eLINE_PLANE_INTERSECTION_TYPE PLANE_CLIP_SEGMENT_CLOSEST( - const CLASS_POINT& s1, - const CLASS_POINT &s2, - const CLASS_PLANE &plane, - CLASS_POINT &clipped1,CLASS_POINT &clipped2) -{ - eLINE_PLANE_INTERSECTION_TYPE intersection_type = PLANE_CLIP_SEGMENT2(s1,s2,plane,clipped1); - switch(intersection_type) - { - case G_FRONT_PLANE_S1: - VEC_COPY(clipped1,s1); - VEC_COPY(clipped2,s2); - break; - case G_FRONT_PLANE_S2: - VEC_COPY(clipped1,s2); - VEC_COPY(clipped2,s1); - break; - case G_BACK_PLANE_S1: - VEC_COPY(clipped1,s1); - VEC_COPY(clipped2,s2); - break; - case G_BACK_PLANE_S2: - VEC_COPY(clipped1,s2); - VEC_COPY(clipped2,s1); - break; - case G_COLLIDE_PLANE_S1: - VEC_COPY(clipped2,s1); - break; - case G_COLLIDE_PLANE_S2: - VEC_COPY(clipped2,s2); - break; - } - return intersection_type; -} - - -//! Finds the 2 smallest cartesian coordinates of a plane normal -#define PLANE_MINOR_AXES(plane, i0, i1) VEC_MINOR_AXES(plane, i0, i1) - -//! Ray plane collision in one way -/*! -Intersects plane in one way only. The ray must face the plane (normals must be in opossite directions).<br/> -It uses the PLANEDIREPSILON constant. -*/ -template<typename T,typename CLASS_POINT,typename CLASS_PLANE> -SIMD_FORCE_INLINE bool RAY_PLANE_COLLISION( - const CLASS_PLANE & plane, - const CLASS_POINT & vDir, - const CLASS_POINT & vPoint, - CLASS_POINT & pout,T &tparam) -{ - GREAL _dis,_dotdir; - _dotdir = VEC_DOT(plane,vDir); - if(_dotdir<PLANEDIREPSILON) - { - return false; - } - _dis = DISTANCE_PLANE_POINT(plane,vPoint); - tparam = -_dis/_dotdir; - VEC_SCALE(pout,tparam,vDir); - VEC_SUM(pout,vPoint,pout); - return true; -} - -//! line collision -/*! -*\return - -0 if the ray never intersects - -1 if the ray collides in front - -2 if the ray collides in back -*/ -template<typename T,typename CLASS_POINT,typename CLASS_PLANE> -SIMD_FORCE_INLINE GUINT LINE_PLANE_COLLISION( - const CLASS_PLANE & plane, - const CLASS_POINT & vDir, - const CLASS_POINT & vPoint, - CLASS_POINT & pout, - T &tparam, - T tmin, T tmax) -{ - GREAL _dis,_dotdir; - _dotdir = VEC_DOT(plane,vDir); - if(btFabs(_dotdir)<PLANEDIREPSILON) - { - tparam = tmax; - return 0; - } - _dis = DISTANCE_PLANE_POINT(plane,vPoint); - char returnvalue = _dis<0.0f?2:1; - tparam = -_dis/_dotdir; - - if(tparam<tmin) - { - returnvalue = 0; - tparam = tmin; - } - else if(tparam>tmax) - { - returnvalue = 0; - tparam = tmax; - } - - VEC_SCALE(pout,tparam,vDir); - VEC_SUM(pout,vPoint,pout); - return returnvalue; -} - -/*! \brief Returns the Ray on which 2 planes intersect if they do. - Written by Rodrigo Hernandez on ODE convex collision - - \param p1 Plane 1 - \param p2 Plane 2 - \param p Contains the origin of the ray upon returning if planes intersect - \param d Contains the direction of the ray upon returning if planes intersect - \return true if the planes intersect, 0 if paralell. - -*/ -template<typename CLASS_POINT,typename CLASS_PLANE> -SIMD_FORCE_INLINE bool INTERSECT_PLANES( - const CLASS_PLANE &p1, - const CLASS_PLANE &p2, - CLASS_POINT &p, - CLASS_POINT &d) -{ - VEC_CROSS(d,p1,p2); - GREAL denom = VEC_DOT(d, d); - if(GIM_IS_ZERO(denom)) return false; - vec3f _n; - _n[0]=p1[3]*p2[0] - p2[3]*p1[0]; - _n[1]=p1[3]*p2[1] - p2[3]*p1[1]; - _n[2]=p1[3]*p2[2] - p2[3]*p1[2]; - VEC_CROSS(p,_n,d); - p[0]/=denom; - p[1]/=denom; - p[2]/=denom; - return true; -} - -//***************** SEGMENT and LINE FUNCTIONS **********************************/// - -/*! Finds the closest point(cp) to (v) on a segment (e1,e2) - */ -template<typename CLASS_POINT> -SIMD_FORCE_INLINE void CLOSEST_POINT_ON_SEGMENT( - CLASS_POINT & cp, const CLASS_POINT & v, - const CLASS_POINT &e1,const CLASS_POINT &e2) -{ - vec3f _n; - VEC_DIFF(_n,e2,e1); - VEC_DIFF(cp,v,e1); - GREAL _scalar = VEC_DOT(cp, _n); - _scalar/= VEC_DOT(_n, _n); - if(_scalar <0.0f) - { - VEC_COPY(cp,e1); - } - else if(_scalar >1.0f) - { - VEC_COPY(cp,e2); - } - else - { - VEC_SCALE(cp,_scalar,_n); - VEC_SUM(cp,cp,e1); - } -} - - -/*! \brief Finds the line params where these lines intersect. - -\param dir1 Direction of line 1 -\param point1 Point of line 1 -\param dir2 Direction of line 2 -\param point2 Point of line 2 -\param t1 Result Parameter for line 1 -\param t2 Result Parameter for line 2 -\param dointersect 0 if the lines won't intersect, else 1 - -*/ -template<typename T,typename CLASS_POINT> -SIMD_FORCE_INLINE bool LINE_INTERSECTION_PARAMS( - const CLASS_POINT & dir1, - CLASS_POINT & point1, - const CLASS_POINT & dir2, - CLASS_POINT & point2, - T& t1,T& t2) -{ - GREAL det; - GREAL e1e1 = VEC_DOT(dir1,dir1); - GREAL e1e2 = VEC_DOT(dir1,dir2); - GREAL e2e2 = VEC_DOT(dir2,dir2); - vec3f p1p2; - VEC_DIFF(p1p2,point1,point2); - GREAL p1p2e1 = VEC_DOT(p1p2,dir1); - GREAL p1p2e2 = VEC_DOT(p1p2,dir2); - det = e1e2*e1e2 - e1e1*e2e2; - if(GIM_IS_ZERO(det)) return false; - t1 = (e1e2*p1p2e2 - e2e2*p1p2e1)/det; - t2 = (e1e1*p1p2e2 - e1e2*p1p2e1)/det; - return true; -} - -//! Find closest points on segments -template<typename CLASS_POINT> -SIMD_FORCE_INLINE void SEGMENT_COLLISION( - const CLASS_POINT & vA1, - const CLASS_POINT & vA2, - const CLASS_POINT & vB1, - const CLASS_POINT & vB2, - CLASS_POINT & vPointA, - CLASS_POINT & vPointB) -{ - CLASS_POINT _AD,_BD,_N; - vec4f _M;//plane - VEC_DIFF(_AD,vA2,vA1); - VEC_DIFF(_BD,vB2,vB1); - VEC_CROSS(_N,_AD,_BD); - GREAL _tp = VEC_DOT(_N,_N); - if(_tp<G_EPSILON)//ARE PARALELE - { - //project B over A - bool invert_b_order = false; - _M[0] = VEC_DOT(vB1,_AD); - _M[1] = VEC_DOT(vB2,_AD); - if(_M[0]>_M[1]) - { - invert_b_order = true; - GIM_SWAP_NUMBERS(_M[0],_M[1]); - } - _M[2] = VEC_DOT(vA1,_AD); - _M[3] = VEC_DOT(vA2,_AD); - //mid points - _N[0] = (_M[0]+_M[1])*0.5f; - _N[1] = (_M[2]+_M[3])*0.5f; - - if(_N[0]<_N[1]) - { - if(_M[1]<_M[2]) - { - vPointB = invert_b_order?vB1:vB2; - vPointA = vA1; - } - else if(_M[1]<_M[3]) - { - vPointB = invert_b_order?vB1:vB2; - CLOSEST_POINT_ON_SEGMENT(vPointA,vPointB,vA1,vA2); - } - else - { - vPointA = vA2; - CLOSEST_POINT_ON_SEGMENT(vPointB,vPointA,vB1,vB2); - } - } - else - { - if(_M[3]<_M[0]) - { - vPointB = invert_b_order?vB2:vB1; - vPointA = vA2; - } - else if(_M[3]<_M[1]) - { - vPointA = vA2; - CLOSEST_POINT_ON_SEGMENT(vPointB,vPointA,vB1,vB2); - } - else - { - vPointB = invert_b_order?vB1:vB2; - CLOSEST_POINT_ON_SEGMENT(vPointA,vPointB,vA1,vA2); - } - } - return; - } - - - VEC_CROSS(_M,_N,_BD); - _M[3] = VEC_DOT(_M,vB1); - - LINE_PLANE_COLLISION(_M,_AD,vA1,vPointA,_tp,btScalar(0), btScalar(1)); - /*Closest point on segment*/ - VEC_DIFF(vPointB,vPointA,vB1); - _tp = VEC_DOT(vPointB, _BD); - _tp/= VEC_DOT(_BD, _BD); - _tp = GIM_CLAMP(_tp,0.0f,1.0f); - VEC_SCALE(vPointB,_tp,_BD); - VEC_SUM(vPointB,vPointB,vB1); -} - - - - -//! Line box intersection in one dimension -/*! - -*\param pos Position of the ray -*\param dir Projection of the Direction of the ray -*\param bmin Minimum bound of the box -*\param bmax Maximum bound of the box -*\param tfirst the minimum projection. Assign to 0 at first. -*\param tlast the maximum projection. Assign to INFINITY at first. -*\return true if there is an intersection. -*/ -template<typename T> -SIMD_FORCE_INLINE bool BOX_AXIS_INTERSECT(T pos, T dir,T bmin, T bmax, T & tfirst, T & tlast) -{ - if(GIM_IS_ZERO(dir)) - { - return !(pos < bmin || pos > bmax); - } - GREAL a0 = (bmin - pos) / dir; - GREAL a1 = (bmax - pos) / dir; - if(a0 > a1) GIM_SWAP_NUMBERS(a0, a1); - tfirst = GIM_MAX(a0, tfirst); - tlast = GIM_MIN(a1, tlast); - if (tlast < tfirst) return false; - return true; -} - - -//! Sorts 3 componets -template<typename T> -SIMD_FORCE_INLINE void SORT_3_INDICES( - const T * values, - GUINT * order_indices) -{ - //get minimum - order_indices[0] = values[0] < values[1] ? (values[0] < values[2] ? 0 : 2) : (values[1] < values[2] ? 1 : 2); - - //get second and third - GUINT i0 = (order_indices[0] + 1)%3; - GUINT i1 = (i0 + 1)%3; - - if(values[i0] < values[i1]) - { - order_indices[1] = i0; - order_indices[2] = i1; - } - else - { - order_indices[1] = i1; - order_indices[2] = i0; - } -} - - - - - -#endif // GIM_VECTOR_H_INCLUDED |