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Diffstat (limited to 'extern/bullet2/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/Box.h')
| -rw-r--r-- | extern/bullet2/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/Box.h | 172 |
1 files changed, 172 insertions, 0 deletions
diff --git a/extern/bullet2/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/Box.h b/extern/bullet2/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/Box.h new file mode 100644 index 00000000000..9bc2ebf51ec --- /dev/null +++ b/extern/bullet2/BulletMultiThreaded/SpuNarrowPhaseCollisionTask/Box.h @@ -0,0 +1,172 @@ +/* + Copyright (C) 2006, 2008 Sony Computer Entertainment Inc. + All rights reserved. + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. + +*/ + +#ifndef __BOX_H__ +#define __BOX_H__ + + +#ifndef PE_REF +#define PE_REF(a) a& +#endif + +#include <math.h> + +///only use a system-wide vectormath_aos.h on CELLOS_LV2 or if USE_SYSTEM_VECTORMATH +#if defined(__CELLOS_LV2__) || defined (USE_SYSTEM_VECTORMATH) +#include <vectormath_aos.h> +#else +#include "BulletMultiThreaded/vectormath/scalar/cpp/vectormath_aos.h" +#endif + + + +using namespace Vectormath::Aos; + +enum FeatureType { F, E, V }; + +//---------------------------------------------------------------------------- +// Box +//---------------------------------------------------------------------------- +///The Box is an internal class used by the boxBoxDistance calculation. +class Box +{ +public: + Vector3 half; + + inline Box() + {} + inline Box(PE_REF(Vector3) half_); + inline Box(float hx, float hy, float hz); + + inline void Set(PE_REF(Vector3) half_); + inline void Set(float hx, float hy, float hz); + + inline Vector3 GetAABB(const Matrix3& rotation) const; +}; + +inline +Box::Box(PE_REF(Vector3) half_) +{ + Set(half_); +} + +inline +Box::Box(float hx, float hy, float hz) +{ + Set(hx, hy, hz); +} + +inline +void +Box::Set(PE_REF(Vector3) half_) +{ + half = half_; +} + +inline +void +Box::Set(float hx, float hy, float hz) +{ + half = Vector3(hx, hy, hz); +} + +inline +Vector3 +Box::GetAABB(const Matrix3& rotation) const +{ + return absPerElem(rotation) * half; +} + +//------------------------------------------------------------------------------------------------- +// BoxPoint +//------------------------------------------------------------------------------------------------- + +///The BoxPoint class is an internally used class to contain feature information for boxBoxDistance calculation. +class BoxPoint +{ +public: + BoxPoint() : localPoint(0.0f) {} + + Point3 localPoint; + FeatureType featureType; + int featureIdx; + + inline void setVertexFeature(int plusX, int plusY, int plusZ); + inline void setEdgeFeature(int dim0, int plus0, int dim1, int plus1); + inline void setFaceFeature(int dim, int plus); + + inline void getVertexFeature(int & plusX, int & plusY, int & plusZ) const; + inline void getEdgeFeature(int & dim0, int & plus0, int & dim1, int & plus1) const; + inline void getFaceFeature(int & dim, int & plus) const; +}; + +inline +void +BoxPoint::setVertexFeature(int plusX, int plusY, int plusZ) +{ + featureType = V; + featureIdx = plusX << 2 | plusY << 1 | plusZ; +} + +inline +void +BoxPoint::setEdgeFeature(int dim0, int plus0, int dim1, int plus1) +{ + featureType = E; + + if (dim0 > dim1) { + featureIdx = plus1 << 5 | dim1 << 3 | plus0 << 2 | dim0; + } else { + featureIdx = plus0 << 5 | dim0 << 3 | plus1 << 2 | dim1; + } +} + +inline +void +BoxPoint::setFaceFeature(int dim, int plus) +{ + featureType = F; + featureIdx = plus << 2 | dim; +} + +inline +void +BoxPoint::getVertexFeature(int & plusX, int & plusY, int & plusZ) const +{ + plusX = featureIdx >> 2; + plusY = featureIdx >> 1 & 1; + plusZ = featureIdx & 1; +} + +inline +void +BoxPoint::getEdgeFeature(int & dim0, int & plus0, int & dim1, int & plus1) const +{ + plus0 = featureIdx >> 5; + dim0 = featureIdx >> 3 & 3; + plus1 = featureIdx >> 2 & 1; + dim1 = featureIdx & 3; +} + +inline +void +BoxPoint::getFaceFeature(int & dim, int & plus) const +{ + plus = featureIdx >> 2; + dim = featureIdx & 3; +} + +#endif /* __BOX_H__ */ |