diff options
Diffstat (limited to 'thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3QuantizedBvhNodeData.h')
| -rw-r--r-- | thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3QuantizedBvhNodeData.h | 52 |
1 files changed, 25 insertions, 27 deletions
diff --git a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3QuantizedBvhNodeData.h b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3QuantizedBvhNodeData.h index 3661e43cf1..ba796eac72 100644 --- a/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3QuantizedBvhNodeData.h +++ b/thirdparty/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3QuantizedBvhNodeData.h @@ -14,57 +14,56 @@ typedef struct b3QuantizedBvhNodeData b3QuantizedBvhNodeData_t; struct b3QuantizedBvhNodeData { //12 bytes - unsigned short int m_quantizedAabbMin[3]; - unsigned short int m_quantizedAabbMax[3]; + unsigned short int m_quantizedAabbMin[3]; + unsigned short int m_quantizedAabbMax[3]; //4 bytes - int m_escapeIndexOrTriangleIndex; + int m_escapeIndexOrTriangleIndex; }; -inline int b3GetTriangleIndex(const b3QuantizedBvhNodeData* rootNode) +inline int b3GetTriangleIndex(const b3QuantizedBvhNodeData* rootNode) { - unsigned int x=0; - unsigned int y = (~(x&0))<<(31-B3_MAX_NUM_PARTS_IN_BITS); + unsigned int x = 0; + unsigned int y = (~(x & 0)) << (31 - B3_MAX_NUM_PARTS_IN_BITS); // Get only the lower bits where the triangle index is stored - return (rootNode->m_escapeIndexOrTriangleIndex&~(y)); + return (rootNode->m_escapeIndexOrTriangleIndex & ~(y)); } inline int b3IsLeaf(const b3QuantizedBvhNodeData* rootNode) { //skipindex is negative (internal node), triangleindex >=0 (leafnode) - return (rootNode->m_escapeIndexOrTriangleIndex >= 0)? 1 : 0; + return (rootNode->m_escapeIndexOrTriangleIndex >= 0) ? 1 : 0; } - + inline int b3GetEscapeIndex(const b3QuantizedBvhNodeData* rootNode) { return -rootNode->m_escapeIndexOrTriangleIndex; } -inline void b3QuantizeWithClamp(unsigned short* out, b3Float4ConstArg point2,int isMax, b3Float4ConstArg bvhAabbMin, b3Float4ConstArg bvhAabbMax, b3Float4ConstArg bvhQuantization) +inline void b3QuantizeWithClamp(unsigned short* out, b3Float4ConstArg point2, int isMax, b3Float4ConstArg bvhAabbMin, b3Float4ConstArg bvhAabbMax, b3Float4ConstArg bvhQuantization) { - b3Float4 clampedPoint = b3MaxFloat4(point2,bvhAabbMin); - clampedPoint = b3MinFloat4 (clampedPoint, bvhAabbMax); + b3Float4 clampedPoint = b3MaxFloat4(point2, bvhAabbMin); + clampedPoint = b3MinFloat4(clampedPoint, bvhAabbMax); b3Float4 v = (clampedPoint - bvhAabbMin) * bvhQuantization; if (isMax) { - out[0] = (unsigned short) (((unsigned short)(v.x+1.f) | 1)); - out[1] = (unsigned short) (((unsigned short)(v.y+1.f) | 1)); - out[2] = (unsigned short) (((unsigned short)(v.z+1.f) | 1)); - } else + out[0] = (unsigned short)(((unsigned short)(v.x + 1.f) | 1)); + out[1] = (unsigned short)(((unsigned short)(v.y + 1.f) | 1)); + out[2] = (unsigned short)(((unsigned short)(v.z + 1.f) | 1)); + } + else { - out[0] = (unsigned short) (((unsigned short)(v.x) & 0xfffe)); - out[1] = (unsigned short) (((unsigned short)(v.y) & 0xfffe)); - out[2] = (unsigned short) (((unsigned short)(v.z) & 0xfffe)); + out[0] = (unsigned short)(((unsigned short)(v.x) & 0xfffe)); + out[1] = (unsigned short)(((unsigned short)(v.y) & 0xfffe)); + out[2] = (unsigned short)(((unsigned short)(v.z) & 0xfffe)); } - } - inline int b3TestQuantizedAabbAgainstQuantizedAabbSlow( - const unsigned short int* aabbMin1, - const unsigned short int* aabbMax1, - const unsigned short int* aabbMin2, - const unsigned short int* aabbMax2) + const unsigned short int* aabbMin1, + const unsigned short int* aabbMax1, + const unsigned short int* aabbMin2, + const unsigned short int* aabbMax2) { //int overlap = 1; if (aabbMin1[0] > aabbMax2[0]) @@ -86,5 +85,4 @@ inline int b3TestQuantizedAabbAgainstQuantizedAabbSlow( //return overlap; } - -#endif //B3_QUANTIZED_BVH_NODE_H +#endif //B3_QUANTIZED_BVH_NODE_H |