1 files changed, 59 insertions, 0 deletions
diff --git a/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h b/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h
new file mode 100644
index 0000000000..7f9bf990bf
--- /dev/null
+++ b/thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h
@@ -0,0 +1,59 @@
+
+#ifndef B3_AABB_H
+#define B3_AABB_H
+
+
+#include "Bullet3Common/shared/b3Float4.h"
+#include "Bullet3Common/shared/b3Mat3x3.h"
+
+typedef struct b3Aabb b3Aabb_t;
+
+struct b3Aabb
+{
+	union
+	{
+		float m_min[4];
+		b3Float4 m_minVec;
+		int m_minIndices[4];
+	};
+	union
+	{
+		float	m_max[4];
+		b3Float4 m_maxVec;
+		int m_signedMaxIndices[4];
+	};
+};
+
+inline void b3TransformAabb2(b3Float4ConstArg localAabbMin,b3Float4ConstArg localAabbMax, float margin,
+						b3Float4ConstArg pos,
+						b3QuatConstArg orn,
+						b3Float4* aabbMinOut,b3Float4* aabbMaxOut)
+{
+		b3Float4 localHalfExtents = 0.5f*(localAabbMax-localAabbMin);
+		localHalfExtents+=b3MakeFloat4(margin,margin,margin,0.f);
+		b3Float4 localCenter = 0.5f*(localAabbMax+localAabbMin);
+		b3Mat3x3 m;
+		m = b3QuatGetRotationMatrix(orn);
+		b3Mat3x3 abs_b = b3AbsoluteMat3x3(m);
+		b3Float4 center = b3TransformPoint(localCenter,pos,orn);
+		
+		b3Float4 extent = b3MakeFloat4(b3Dot3F4(localHalfExtents,b3GetRow(abs_b,0)),
+										 b3Dot3F4(localHalfExtents,b3GetRow(abs_b,1)),
+										 b3Dot3F4(localHalfExtents,b3GetRow(abs_b,2)),
+										 0.f);
+		*aabbMinOut = center-extent;
+		*aabbMaxOut = center+extent;
+}
+
+/// conservative test for overlap between two aabbs
+inline bool b3TestAabbAgainstAabb(b3Float4ConstArg aabbMin1,b3Float4ConstArg aabbMax1,
+								b3Float4ConstArg aabbMin2, b3Float4ConstArg aabbMax2)
+{
+	bool overlap = true;
+	overlap = (aabbMin1.x > aabbMax2.x || aabbMax1.x < aabbMin2.x) ? false : overlap;
+	overlap = (aabbMin1.z > aabbMax2.z || aabbMax1.z < aabbMin2.z) ? false : overlap;
+	overlap = (aabbMin1.y > aabbMax2.y || aabbMax1.y < aabbMin2.y) ? false : overlap;
+	return overlap;
+}
+
+#endif //B3_AABB_H