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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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