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-rw-r--r--thirdparty/bullet/Bullet3Geometry/b3AabbUtil.h189
1 files changed, 87 insertions, 102 deletions
diff --git a/thirdparty/bullet/Bullet3Geometry/b3AabbUtil.h b/thirdparty/bullet/Bullet3Geometry/b3AabbUtil.h
index 4c72d5bbfc..396a401450 100644
--- a/thirdparty/bullet/Bullet3Geometry/b3AabbUtil.h
+++ b/thirdparty/bullet/Bullet3Geometry/b3AabbUtil.h
@@ -12,8 +12,6 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
-
-
#ifndef B3_AABB_UTIL2
#define B3_AABB_UTIL2
@@ -21,20 +19,18 @@ subject to the following restrictions:
#include "Bullet3Common/b3Vector3.h"
#include "Bullet3Common/b3MinMax.h"
-
-
-B3_FORCE_INLINE void b3AabbExpand (b3Vector3& aabbMin,
- b3Vector3& aabbMax,
- const b3Vector3& expansionMin,
- const b3Vector3& expansionMax)
+B3_FORCE_INLINE void b3AabbExpand(b3Vector3& aabbMin,
+ b3Vector3& aabbMax,
+ const b3Vector3& expansionMin,
+ const b3Vector3& expansionMax)
{
aabbMin = aabbMin + expansionMin;
aabbMax = aabbMax + expansionMax;
}
/// conservative test for overlap between two aabbs
-B3_FORCE_INLINE bool b3TestPointAgainstAabb2(const b3Vector3 &aabbMin1, const b3Vector3 &aabbMax1,
- const b3Vector3 &point)
+B3_FORCE_INLINE bool b3TestPointAgainstAabb2(const b3Vector3& aabbMin1, const b3Vector3& aabbMax1,
+ const b3Vector3& point)
{
bool overlap = true;
overlap = (aabbMin1.getX() > point.getX() || aabbMax1.getX() < point.getX()) ? false : overlap;
@@ -43,10 +39,9 @@ B3_FORCE_INLINE bool b3TestPointAgainstAabb2(const b3Vector3 &aabbMin1, const b3
return overlap;
}
-
/// conservative test for overlap between two aabbs
-B3_FORCE_INLINE bool b3TestAabbAgainstAabb2(const b3Vector3 &aabbMin1, const b3Vector3 &aabbMax1,
- const b3Vector3 &aabbMin2, const b3Vector3 &aabbMax2)
+B3_FORCE_INLINE bool b3TestAabbAgainstAabb2(const b3Vector3& aabbMin1, const b3Vector3& aabbMax1,
+ const b3Vector3& aabbMin2, const b3Vector3& aabbMax2)
{
bool overlap = true;
overlap = (aabbMin1.getX() > aabbMax2.getX() || aabbMax1.getX() < aabbMin2.getX()) ? false : overlap;
@@ -56,52 +51,49 @@ B3_FORCE_INLINE bool b3TestAabbAgainstAabb2(const b3Vector3 &aabbMin1, const b3V
}
/// conservative test for overlap between triangle and aabb
-B3_FORCE_INLINE bool b3TestTriangleAgainstAabb2(const b3Vector3 *vertices,
- const b3Vector3 &aabbMin, const b3Vector3 &aabbMax)
+B3_FORCE_INLINE bool b3TestTriangleAgainstAabb2(const b3Vector3* vertices,
+ const b3Vector3& aabbMin, const b3Vector3& aabbMax)
{
- const b3Vector3 &p1 = vertices[0];
- const b3Vector3 &p2 = vertices[1];
- const b3Vector3 &p3 = vertices[2];
+ const b3Vector3& p1 = vertices[0];
+ const b3Vector3& p2 = vertices[1];
+ const b3Vector3& p3 = vertices[2];
if (b3Min(b3Min(p1[0], p2[0]), p3[0]) > aabbMax[0]) return false;
if (b3Max(b3Max(p1[0], p2[0]), p3[0]) < aabbMin[0]) return false;
if (b3Min(b3Min(p1[2], p2[2]), p3[2]) > aabbMax[2]) return false;
if (b3Max(b3Max(p1[2], p2[2]), p3[2]) < aabbMin[2]) return false;
-
+
if (b3Min(b3Min(p1[1], p2[1]), p3[1]) > aabbMax[1]) return false;
if (b3Max(b3Max(p1[1], p2[1]), p3[1]) < aabbMin[1]) return false;
return true;
}
-
-B3_FORCE_INLINE int b3Outcode(const b3Vector3& p,const b3Vector3& halfExtent)
+B3_FORCE_INLINE int b3Outcode(const b3Vector3& p, const b3Vector3& halfExtent)
{
- return (p.getX() < -halfExtent.getX() ? 0x01 : 0x0) |
- (p.getX() > halfExtent.getX() ? 0x08 : 0x0) |
- (p.getY() < -halfExtent.getY() ? 0x02 : 0x0) |
- (p.getY() > halfExtent.getY() ? 0x10 : 0x0) |
- (p.getZ() < -halfExtent.getZ() ? 0x4 : 0x0) |
- (p.getZ() > halfExtent.getZ() ? 0x20 : 0x0);
+ return (p.getX() < -halfExtent.getX() ? 0x01 : 0x0) |
+ (p.getX() > halfExtent.getX() ? 0x08 : 0x0) |
+ (p.getY() < -halfExtent.getY() ? 0x02 : 0x0) |
+ (p.getY() > halfExtent.getY() ? 0x10 : 0x0) |
+ (p.getZ() < -halfExtent.getZ() ? 0x4 : 0x0) |
+ (p.getZ() > halfExtent.getZ() ? 0x20 : 0x0);
}
-
-
B3_FORCE_INLINE bool b3RayAabb2(const b3Vector3& rayFrom,
- const b3Vector3& rayInvDirection,
- const unsigned int raySign[3],
- const b3Vector3 bounds[2],
- b3Scalar& tmin,
- b3Scalar lambda_min,
- b3Scalar lambda_max)
+ const b3Vector3& rayInvDirection,
+ const unsigned int raySign[3],
+ const b3Vector3 bounds[2],
+ b3Scalar& tmin,
+ b3Scalar lambda_min,
+ b3Scalar lambda_max)
{
b3Scalar tmax, tymin, tymax, tzmin, tzmax;
tmin = (bounds[raySign[0]].getX() - rayFrom.getX()) * rayInvDirection.getX();
- tmax = (bounds[1-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();
+ tymax = (bounds[1 - raySign[1]].getY() - rayFrom.getY()) * rayInvDirection.getY();
- if ( (tmin > tymax) || (tymin > tmax) )
+ if ((tmin > tymax) || (tymin > tmax))
return false;
if (tymin > tmin)
@@ -111,59 +103,59 @@ B3_FORCE_INLINE bool b3RayAabb2(const b3Vector3& rayFrom,
tmax = tymax;
tzmin = (bounds[raySign[2]].getZ() - rayFrom.getZ()) * rayInvDirection.getZ();
- tzmax = (bounds[1-raySign[2]].getZ() - rayFrom.getZ()) * rayInvDirection.getZ();
+ tzmax = (bounds[1 - raySign[2]].getZ() - rayFrom.getZ()) * rayInvDirection.getZ();
- if ( (tmin > tzmax) || (tzmin > tmax) )
+ if ((tmin > tzmax) || (tzmin > tmax))
return false;
if (tzmin > tmin)
tmin = tzmin;
if (tzmax < tmax)
tmax = tzmax;
- return ( (tmin < lambda_max) && (tmax > lambda_min) );
+ return ((tmin < lambda_max) && (tmax > lambda_min));
}
-B3_FORCE_INLINE bool b3RayAabb(const b3Vector3& rayFrom,
- const b3Vector3& rayTo,
- const b3Vector3& aabbMin,
- const b3Vector3& aabbMax,
- b3Scalar& param, b3Vector3& normal)
+B3_FORCE_INLINE bool b3RayAabb(const b3Vector3& rayFrom,
+ const b3Vector3& rayTo,
+ const b3Vector3& aabbMin,
+ const b3Vector3& aabbMax,
+ b3Scalar& param, b3Vector3& normal)
{
- b3Vector3 aabbHalfExtent = (aabbMax-aabbMin)* b3Scalar(0.5);
- b3Vector3 aabbCenter = (aabbMax+aabbMin)* b3Scalar(0.5);
- b3Vector3 source = rayFrom - aabbCenter;
- b3Vector3 target = rayTo - aabbCenter;
- int sourceOutcode = b3Outcode(source,aabbHalfExtent);
- int targetOutcode = b3Outcode(target,aabbHalfExtent);
+ b3Vector3 aabbHalfExtent = (aabbMax - aabbMin) * b3Scalar(0.5);
+ b3Vector3 aabbCenter = (aabbMax + aabbMin) * b3Scalar(0.5);
+ b3Vector3 source = rayFrom - aabbCenter;
+ b3Vector3 target = rayTo - aabbCenter;
+ int sourceOutcode = b3Outcode(source, aabbHalfExtent);
+ int targetOutcode = b3Outcode(target, aabbHalfExtent);
if ((sourceOutcode & targetOutcode) == 0x0)
{
b3Scalar lambda_enter = b3Scalar(0.0);
- b3Scalar lambda_exit = param;
+ b3Scalar lambda_exit = param;
b3Vector3 r = target - source;
int i;
- b3Scalar normSign = 1;
- b3Vector3 hitNormal = b3MakeVector3(0,0,0);
- int bit=1;
+ b3Scalar normSign = 1;
+ b3Vector3 hitNormal = b3MakeVector3(0, 0, 0);
+ int bit = 1;
- for (int j=0;j<2;j++)
+ for (int j = 0; j < 2; j++)
{
for (i = 0; i != 3; ++i)
{
if (sourceOutcode & bit)
{
- b3Scalar lambda = (-source[i] - aabbHalfExtent[i]*normSign) / r[i];
+ b3Scalar lambda = (-source[i] - aabbHalfExtent[i] * normSign) / r[i];
if (lambda_enter <= lambda)
{
lambda_enter = lambda;
- hitNormal.setValue(0,0,0);
+ hitNormal.setValue(0, 0, 0);
hitNormal[i] = normSign;
}
}
- else if (targetOutcode & bit)
+ else if (targetOutcode & bit)
{
- b3Scalar lambda = (-source[i] - aabbHalfExtent[i]*normSign) / r[i];
+ b3Scalar lambda = (-source[i] - aabbHalfExtent[i] * normSign) / r[i];
b3SetMin(lambda_exit, lambda);
}
- bit<<=1;
+ bit <<= 1;
}
normSign = b3Scalar(-1.);
}
@@ -177,56 +169,49 @@ B3_FORCE_INLINE bool b3RayAabb(const b3Vector3& rayFrom,
return false;
}
-
-
-B3_FORCE_INLINE void b3TransformAabb(const b3Vector3& halfExtents, b3Scalar margin,const b3Transform& t,b3Vector3& aabbMinOut,b3Vector3& aabbMaxOut)
+B3_FORCE_INLINE void b3TransformAabb(const b3Vector3& halfExtents, b3Scalar margin, const b3Transform& t, b3Vector3& aabbMinOut, b3Vector3& aabbMaxOut)
{
- b3Vector3 halfExtentsWithMargin = halfExtents+b3MakeVector3(margin,margin,margin);
- b3Matrix3x3 abs_b = t.getBasis().absolute();
+ b3Vector3 halfExtentsWithMargin = halfExtents + b3MakeVector3(margin, margin, margin);
+ b3Matrix3x3 abs_b = t.getBasis().absolute();
b3Vector3 center = t.getOrigin();
- b3Vector3 extent = halfExtentsWithMargin.dot3( abs_b[0], abs_b[1], abs_b[2] );
+ b3Vector3 extent = halfExtentsWithMargin.dot3(abs_b[0], abs_b[1], abs_b[2]);
aabbMinOut = center - extent;
aabbMaxOut = center + extent;
}
-
-B3_FORCE_INLINE void b3TransformAabb(const b3Vector3& localAabbMin,const b3Vector3& localAabbMax, b3Scalar margin,const b3Transform& trans,b3Vector3& aabbMinOut,b3Vector3& aabbMaxOut)
+B3_FORCE_INLINE void b3TransformAabb(const b3Vector3& localAabbMin, const b3Vector3& localAabbMax, b3Scalar margin, const b3Transform& trans, b3Vector3& aabbMinOut, b3Vector3& aabbMaxOut)
{
- //b3Assert(localAabbMin.getX() <= localAabbMax.getX());
- //b3Assert(localAabbMin.getY() <= localAabbMax.getY());
- //b3Assert(localAabbMin.getZ() <= localAabbMax.getZ());
- b3Vector3 localHalfExtents = b3Scalar(0.5)*(localAabbMax-localAabbMin);
- localHalfExtents+=b3MakeVector3(margin,margin,margin);
-
- b3Vector3 localCenter = b3Scalar(0.5)*(localAabbMax+localAabbMin);
- b3Matrix3x3 abs_b = trans.getBasis().absolute();
- b3Vector3 center = trans(localCenter);
- b3Vector3 extent = localHalfExtents.dot3( abs_b[0], abs_b[1], abs_b[2] );
- aabbMinOut = center-extent;
- aabbMaxOut = center+extent;
+ //b3Assert(localAabbMin.getX() <= localAabbMax.getX());
+ //b3Assert(localAabbMin.getY() <= localAabbMax.getY());
+ //b3Assert(localAabbMin.getZ() <= localAabbMax.getZ());
+ b3Vector3 localHalfExtents = b3Scalar(0.5) * (localAabbMax - localAabbMin);
+ localHalfExtents += b3MakeVector3(margin, margin, margin);
+
+ b3Vector3 localCenter = b3Scalar(0.5) * (localAabbMax + localAabbMin);
+ b3Matrix3x3 abs_b = trans.getBasis().absolute();
+ b3Vector3 center = trans(localCenter);
+ b3Vector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
+ aabbMinOut = center - extent;
+ aabbMaxOut = center + extent;
}
#define B3_USE_BANCHLESS 1
#ifdef B3_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)
- B3_FORCE_INLINE unsigned b3TestQuantizedAabbAgainstQuantizedAabb(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>(b3Select((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));
- }
+//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)
+B3_FORCE_INLINE unsigned b3TestQuantizedAabbAgainstQuantizedAabb(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>(b3Select((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
- B3_FORCE_INLINE bool b3TestQuantizedAabbAgainstQuantizedAabb(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 //B3_USE_BANCHLESS
-
-#endif //B3_AABB_UTIL2
-
+B3_FORCE_INLINE bool b3TestQuantizedAabbAgainstQuantizedAabb(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 //B3_USE_BANCHLESS
+#endif //B3_AABB_UTIL2
generated by cgit v1.2.3 (git 2.25.1) at 2024-12-11 23:29:42 +0000