diff options
Diffstat (limited to 'thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/shared')
-rw-r--r-- | thirdparty/bullet/Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h | 59 |
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 |