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Diffstat (limited to 'extern/recastnavigation/Detour/Include/DetourCommon.h')
-rw-r--r-- | extern/recastnavigation/Detour/Include/DetourCommon.h | 167 |
1 files changed, 167 insertions, 0 deletions
diff --git a/extern/recastnavigation/Detour/Include/DetourCommon.h b/extern/recastnavigation/Detour/Include/DetourCommon.h new file mode 100644 index 00000000000..d824efc06e4 --- /dev/null +++ b/extern/recastnavigation/Detour/Include/DetourCommon.h @@ -0,0 +1,167 @@ +// +// Copyright (c) 2009 Mikko Mononen memon@inside.org +// +// 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 DETOURCOMMON_H +#define DETOURCOMMON_H + +////////////////////////////////////////////////////////////////////////////////////////// + +template<class T> inline void swap(T& a, T& b) { T t = a; a = b; b = t; } +template<class T> inline T min(T a, T b) { return a < b ? a : b; } +template<class T> inline T max(T a, T b) { return a > b ? a : b; } +template<class T> inline T abs(T a) { return a < 0 ? -a : a; } +template<class T> inline T sqr(T a) { return a*a; } +template<class T> inline T clamp(T v, T mn, T mx) { return v < mn ? mn : (v > mx ? mx : v); } + +inline void vcross(float* dest, const float* v1, const float* v2) +{ + dest[0] = v1[1]*v2[2] - v1[2]*v2[1]; + dest[1] = v1[2]*v2[0] - v1[0]*v2[2]; + dest[2] = v1[0]*v2[1] - v1[1]*v2[0]; +} + +inline float vdot(const float* v1, const float* v2) +{ + return v1[0]*v2[0] + v1[1]*v2[1] + v1[2]*v2[2]; +} + +inline void vmad(float* dest, const float* v1, const float* v2, const float s) +{ + dest[0] = v1[0]+v2[0]*s; + dest[1] = v1[1]+v2[1]*s; + dest[2] = v1[2]+v2[2]*s; +} + +inline void vadd(float* dest, const float* v1, const float* v2) +{ + dest[0] = v1[0]+v2[0]; + dest[1] = v1[1]+v2[1]; + dest[2] = v1[2]+v2[2]; +} + +inline void vsub(float* dest, const float* v1, const float* v2) +{ + dest[0] = v1[0]-v2[0]; + dest[1] = v1[1]-v2[1]; + dest[2] = v1[2]-v2[2]; +} + +inline void vmin(float* mn, const float* v) +{ + mn[0] = min(mn[0], v[0]); + mn[1] = min(mn[1], v[1]); + mn[2] = min(mn[2], v[2]); +} + +inline void vmax(float* mx, const float* v) +{ + mx[0] = max(mx[0], v[0]); + mx[1] = max(mx[1], v[1]); + mx[2] = max(mx[2], v[2]); +} + +inline void vcopy(float* dest, const float* a) +{ + dest[0] = a[0]; + dest[1] = a[1]; + dest[2] = a[2]; +} + +inline float vdist(const float* v1, const float* v2) +{ + float dx = v2[0] - v1[0]; + float dy = v2[1] - v1[1]; + float dz = v2[2] - v1[2]; + return sqrtf(dx*dx + dy*dy + dz*dz); +} + +inline float vdistSqr(const float* v1, const float* v2) +{ + float dx = v2[0] - v1[0]; + float dy = v2[1] - v1[1]; + float dz = v2[2] - v1[2]; + return dx*dx + dy*dy + dz*dz; +} + +inline void vnormalize(float* v) +{ + float d = 1.0f / sqrtf(sqr(v[0]) + sqr(v[1]) + sqr(v[2])); + v[0] *= d; + v[1] *= d; + v[2] *= d; +} + +inline bool vequal(const float* p0, const float* p1) +{ + static const float thr = sqr(1.0f/16384.0f); + const float d = vdistSqr(p0, p1); + return d < thr; +} + +inline int nextPow2(int v) +{ + v--; + v |= v >> 1; + v |= v >> 2; + v |= v >> 4; + v |= v >> 8; + v |= v >> 16; + v++; + return v; +} + +inline float vdot2D(const float* u, const float* v) +{ + return u[0]*v[0] + u[2]*v[2]; +} + +inline float vperp2D(const float* u, const float* v) +{ + return u[2]*v[0] - u[0]*v[2]; +} + +inline float triArea2D(const float* a, const float* b, const float* c) +{ + return ((b[0]*a[2] - a[0]*b[2]) + (c[0]*b[2] - b[0]*c[2]) + (a[0]*c[2] - c[0]*a[2])) * 0.5f; +} + +inline bool checkOverlapBox(const unsigned short amin[3], const unsigned short amax[3], + const unsigned short bmin[3], const unsigned short bmax[3]) +{ + bool overlap = true; + overlap = (amin[0] > bmax[0] || amax[0] < bmin[0]) ? false : overlap; + overlap = (amin[1] > bmax[1] || amax[1] < bmin[1]) ? false : overlap; + overlap = (amin[2] > bmax[2] || amax[2] < bmin[2]) ? false : overlap; + return overlap; +} + +void closestPtPointTriangle(float* closest, const float* p, + const float* a, const float* b, const float* c); + +bool closestHeightPointTriangle(const float* p, const float* a, const float* b, const float* c, float& h); + +bool intersectSegmentPoly2D(const float* p0, const float* p1, + const float* verts, int nverts, + float& tmin, float& tmax, + int& segMin, int& segMax); + +float distancePtSegSqr2D(const float* pt, const float* p, const float* q, float& t); + +void calcPolyCenter(float* tc, const unsigned short* idx, int nidx, const float* verts); + +#endif // DETOURCOMMON_H
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