1 files changed, 43 insertions, 9 deletions

diff --git a/extern/bullet2/src/LinearMath/btAabbUtil2.h b/extern/bullet2/src/LinearMath/btAabbUtil2.h
index 275c4914628..532ce1bf633 100644
--- a/extern/bullet2/src/LinearMath/btAabbUtil2.h
+++ b/extern/bullet2/src/LinearMath/btAabbUtil2.h
@@ -21,6 +21,8 @@ subject to the following restrictions:
 #include "btVector3.h"
 #include "btMinMax.h"
 
+
+
 SIMD_FORCE_INLINE void AabbExpand (btVector3& aabbMin,
 								   btVector3& aabbMax,
 								   const btVector3& expansionMin,
@@ -30,15 +32,26 @@ SIMD_FORCE_INLINE void AabbExpand (btVector3& aabbMin,
 	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[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;
+	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;
 }
 
@@ -73,6 +86,7 @@ SIMD_FORCE_INLINE int	btOutcode(const btVector3& p,const btVector3& halfExtent)
 }
 
 
+
 SIMD_FORCE_INLINE bool btRayAabb2(const btVector3& rayFrom,
 								  const btVector3& rayInvDirection,
 								  const unsigned int raySign[3],
@@ -82,10 +96,10 @@ SIMD_FORCE_INLINE bool btRayAabb2(const btVector3& rayFrom,
 								  btScalar lambda_max)
 {
 	btScalar tmax, tymin, tymax, tzmin, tzmax;
-	tmin = (bounds[raySign[0]][0] - rayFrom[0]) * rayInvDirection[0];
-	tmax = (bounds[1-raySign[0]][0] - rayFrom[0]) * rayInvDirection[0];
-	tymin = (bounds[raySign[1]][1] - rayFrom[1]) * rayInvDirection[1];
-	tymax = (bounds[1-raySign[1]][1] - rayFrom[1]) * rayInvDirection[1];
+	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;
@@ -96,8 +110,8 @@ SIMD_FORCE_INLINE bool btRayAabb2(const btVector3& rayFrom,
 	if (tymax < tmax)
 		tmax = tymax;
 
-	tzmin = (bounds[raySign[2]][2] - rayFrom[2]) * rayInvDirection[2];
-	tzmax = (bounds[1-raySign[2]][2] - rayFrom[2]) * rayInvDirection[2];
+	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;
@@ -196,6 +210,26 @@ SIMD_FORCE_INLINE	void btTransformAabb(const btVector3& localAabbMin,const btVec
 		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