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+/*
+Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/
+
+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 AABB_UTIL2
+#define AABB_UTIL2
+
+#include "btTransform.h"
+#include "btVector3.h"
+#include "btMinMax.h"
+
+
+
+SIMD_FORCE_INLINE void AabbExpand (btVector3& aabbMin,
+ btVector3& aabbMax,
+ const btVector3& expansionMin,
+ const btVector3& expansionMax)
+{
+ aabbMin = aabbMin + expansionMin;
+ aabbMax = aabbMax + expansionMax;
+}
+
+/// conservative test for overlap between two aabbs
+SIMD_FORCE_INLINE bool TestPointAgainstAabb2(const btVector3 &aabbMin1, const btVector3 &aabbMax1,
+ const btVector3 &point)
+{
+ bool overlap = true;
+ overlap = (aabbMin1.getX() > point.getX() || aabbMax1.getX() < point.getX()) ? false : overlap;
+ overlap = (aabbMin1.getZ() > point.getZ() || aabbMax1.getZ() < point.getZ()) ? false : overlap;
+ overlap = (aabbMin1.getY() > point.getY() || aabbMax1.getY() < point.getY()) ? false : overlap;
+ return overlap;
+}
+
+
+/// conservative test for overlap between two aabbs
+SIMD_FORCE_INLINE bool TestAabbAgainstAabb2(const btVector3 &aabbMin1, const btVector3 &aabbMax1,
+ const btVector3 &aabbMin2, const btVector3 &aabbMax2)
+{
+ bool overlap = true;
+ overlap = (aabbMin1.getX() > aabbMax2.getX() || aabbMax1.getX() < aabbMin2.getX()) ? false : overlap;
+ overlap = (aabbMin1.getZ() > aabbMax2.getZ() || aabbMax1.getZ() < aabbMin2.getZ()) ? false : overlap;
+ overlap = (aabbMin1.getY() > aabbMax2.getY() || aabbMax1.getY() < aabbMin2.getY()) ? false : overlap;
+ return overlap;
+}
+
+/// conservative test for overlap between triangle and aabb
+SIMD_FORCE_INLINE bool TestTriangleAgainstAabb2(const btVector3 *vertices,
+ const btVector3 &aabbMin, const btVector3 &aabbMax)
+{
+ const btVector3 &p1 = vertices[0];
+ const btVector3 &p2 = vertices[1];
+ const btVector3 &p3 = vertices[2];
+
+ if (btMin(btMin(p1[0], p2[0]), p3[0]) > aabbMax[0]) return false;
+ if (btMax(btMax(p1[0], p2[0]), p3[0]) < aabbMin[0]) return false;
+
+ if (btMin(btMin(p1[2], p2[2]), p3[2]) > aabbMax[2]) return false;
+ if (btMax(btMax(p1[2], p2[2]), p3[2]) < aabbMin[2]) return false;
+
+ if (btMin(btMin(p1[1], p2[1]), p3[1]) > aabbMax[1]) return false;
+ if (btMax(btMax(p1[1], p2[1]), p3[1]) < aabbMin[1]) return false;
+ return true;
+}
+
+
+SIMD_FORCE_INLINE int btOutcode(const btVector3& p,const btVector3& halfExtent)
+{
+ return (p.getX() < -halfExtent.getX() ? 0x01 : 0x0) |
+ (p.getX() > halfExtent.getX() ? 0x08 : 0x0) |
+ (p.getY() < -halfExtent.getY() ? 0x02 : 0x0) |
+ (p.getY() > halfExtent.getY() ? 0x10 : 0x0) |
+ (p.getZ() < -halfExtent.getZ() ? 0x4 : 0x0) |
+ (p.getZ() > halfExtent.getZ() ? 0x20 : 0x0);
+}
+
+
+
+SIMD_FORCE_INLINE bool btRayAabb2(const btVector3& rayFrom,
+ const btVector3& rayInvDirection,
+ const unsigned int raySign[3],
+ const btVector3 bounds[2],
+ btScalar& tmin,
+ btScalar lambda_min,
+ btScalar lambda_max)
+{
+ btScalar tmax, tymin, tymax, tzmin, tzmax;
+ tmin = (bounds[raySign[0]].getX() - rayFrom.getX()) * rayInvDirection.getX();
+ tmax = (bounds[1-raySign[0]].getX() - rayFrom.getX()) * rayInvDirection.getX();
+ tymin = (bounds[raySign[1]].getY() - rayFrom.getY()) * rayInvDirection.getY();
+ tymax = (bounds[1-raySign[1]].getY() - rayFrom.getY()) * rayInvDirection.getY();
+
+ if ( (tmin > tymax) || (tymin > tmax) )
+ return false;
+
+ if (tymin > tmin)
+ tmin = tymin;
+
+ if (tymax < tmax)
+ tmax = tymax;
+
+ tzmin = (bounds[raySign[2]].getZ() - rayFrom.getZ()) * rayInvDirection.getZ();
+ tzmax = (bounds[1-raySign[2]].getZ() - rayFrom.getZ()) * rayInvDirection.getZ();
+
+ if ( (tmin > tzmax) || (tzmin > tmax) )
+ return false;
+ if (tzmin > tmin)
+ tmin = tzmin;
+ if (tzmax < tmax)
+ tmax = tzmax;
+ return ( (tmin < lambda_max) && (tmax > lambda_min) );
+}
+
+SIMD_FORCE_INLINE bool btRayAabb(const btVector3& rayFrom,
+ const btVector3& rayTo,
+ const btVector3& aabbMin,
+ const btVector3& aabbMax,
+ btScalar& param, btVector3& normal)
+{
+ btVector3 aabbHalfExtent = (aabbMax-aabbMin)* btScalar(0.5);
+ btVector3 aabbCenter = (aabbMax+aabbMin)* btScalar(0.5);
+ btVector3 source = rayFrom - aabbCenter;
+ btVector3 target = rayTo - aabbCenter;
+ int sourceOutcode = btOutcode(source,aabbHalfExtent);
+ int targetOutcode = btOutcode(target,aabbHalfExtent);
+ if ((sourceOutcode & targetOutcode) == 0x0)
+ {
+ btScalar lambda_enter = btScalar(0.0);
+ btScalar lambda_exit = param;
+ btVector3 r = target - source;
+ int i;
+ btScalar normSign = 1;
+ btVector3 hitNormal(0,0,0);
+ int bit=1;
+
+ for (int j=0;j<2;j++)
+ {
+ for (i = 0; i != 3; ++i)
+ {
+ if (sourceOutcode & bit)
+ {
+ btScalar lambda = (-source[i] - aabbHalfExtent[i]*normSign) / r[i];
+ if (lambda_enter <= lambda)
+ {
+ lambda_enter = lambda;
+ hitNormal.setValue(0,0,0);
+ hitNormal[i] = normSign;
+ }
+ }
+ else if (targetOutcode & bit)
+ {
+ btScalar lambda = (-source[i] - aabbHalfExtent[i]*normSign) / r[i];
+ btSetMin(lambda_exit, lambda);
+ }
+ bit<<=1;
+ }
+ normSign = btScalar(-1.);
+ }
+ if (lambda_enter <= lambda_exit)
+ {
+ param = lambda_enter;
+ normal = hitNormal;
+ return true;
+ }
+ }
+ return false;
+}
+
+
+
+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;
+}
+
+#define USE_BANCHLESS 1
+#ifdef USE_BANCHLESS
+ //This block replaces the block below and uses no branches, and replaces the 8 bit return with a 32 bit return for improved performance (~3x on XBox 360)
+ SIMD_FORCE_INLINE unsigned testQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1,const unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2)
+ {
+ return static_cast<unsigned int>(btSelect((unsigned)((aabbMin1[0] <= aabbMax2[0]) & (aabbMax1[0] >= aabbMin2[0])
+ & (aabbMin1[2] <= aabbMax2[2]) & (aabbMax1[2] >= aabbMin2[2])
+ & (aabbMin1[1] <= aabbMax2[1]) & (aabbMax1[1] >= aabbMin2[1])),
+ 1, 0));
+ }
+#else
+ SIMD_FORCE_INLINE bool testQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1,const unsigned short int* aabbMax1,const unsigned short int* aabbMin2,const unsigned short int* aabbMax2)
+ {
+ bool overlap = true;
+ overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? false : overlap;
+ overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? false : overlap;
+ overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? false : overlap;
+ return overlap;
+ }
+#endif //USE_BANCHLESS
+
+#endif
+
+
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