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-rw-r--r--thirdparty/bullet/LinearMath/btAabbUtil2.h175
1 files changed, 80 insertions, 95 deletions
diff --git a/thirdparty/bullet/LinearMath/btAabbUtil2.h b/thirdparty/bullet/LinearMath/btAabbUtil2.h
index d2997b4e65..eea49dd33f 100644
--- a/thirdparty/bullet/LinearMath/btAabbUtil2.h
+++ b/thirdparty/bullet/LinearMath/btAabbUtil2.h
@@ -12,8 +12,6 @@ subject to the following restrictions:
3. This notice may not be removed or altered from any source distribution.
*/
-
-
#ifndef BT_AABB_UTIL2
#define BT_AABB_UTIL2
@@ -21,20 +19,18 @@ subject to the following restrictions:
#include "btVector3.h"
#include "btMinMax.h"
-
-
-SIMD_FORCE_INLINE void AabbExpand (btVector3& aabbMin,
- btVector3& aabbMax,
- const btVector3& expansionMin,
- const btVector3& expansionMax)
+SIMD_FORCE_INLINE void AabbExpand(btVector3& aabbMin,
+ btVector3& aabbMax,
+ const btVector3& expansionMin,
+ const btVector3& expansionMax)
{
aabbMin = aabbMin + expansionMin;
aabbMax = aabbMax + expansionMax;
}
/// conservative test for overlap between two aabbs
-SIMD_FORCE_INLINE bool TestPointAgainstAabb2(const btVector3 &aabbMin1, const btVector3 &aabbMax1,
- const btVector3 &point)
+SIMD_FORCE_INLINE bool TestPointAgainstAabb2(const btVector3& aabbMin1, const btVector3& aabbMax1,
+ const btVector3& point)
{
bool overlap = true;
overlap = (aabbMin1.getX() > point.getX() || aabbMax1.getX() < point.getX()) ? false : overlap;
@@ -43,10 +39,9 @@ SIMD_FORCE_INLINE bool TestPointAgainstAabb2(const btVector3 &aabbMin1, const bt
return overlap;
}
-
/// conservative test for overlap between two aabbs
-SIMD_FORCE_INLINE bool TestAabbAgainstAabb2(const btVector3 &aabbMin1, const btVector3 &aabbMax1,
- const btVector3 &aabbMin2, const btVector3 &aabbMax2)
+SIMD_FORCE_INLINE bool TestAabbAgainstAabb2(const btVector3& aabbMin1, const btVector3& aabbMax1,
+ const btVector3& aabbMin2, const btVector3& aabbMax2)
{
bool overlap = true;
overlap = (aabbMin1.getX() > aabbMax2.getX() || aabbMax1.getX() < aabbMin2.getX()) ? false : overlap;
@@ -56,37 +51,34 @@ SIMD_FORCE_INLINE bool TestAabbAgainstAabb2(const btVector3 &aabbMin1, const btV
}
/// conservative test for overlap between triangle and aabb
-SIMD_FORCE_INLINE bool TestTriangleAgainstAabb2(const btVector3 *vertices,
- const btVector3 &aabbMin, const btVector3 &aabbMax)
+SIMD_FORCE_INLINE bool TestTriangleAgainstAabb2(const btVector3* vertices,
+ const btVector3& aabbMin, const btVector3& aabbMax)
{
- const btVector3 &p1 = vertices[0];
- const btVector3 &p2 = vertices[1];
- const btVector3 &p3 = vertices[2];
+ const btVector3& p1 = vertices[0];
+ const btVector3& p2 = vertices[1];
+ const btVector3& p3 = vertices[2];
if (btMin(btMin(p1[0], p2[0]), p3[0]) > aabbMax[0]) return false;
if (btMax(btMax(p1[0], p2[0]), p3[0]) < aabbMin[0]) return false;
if (btMin(btMin(p1[2], p2[2]), p3[2]) > aabbMax[2]) return false;
if (btMax(btMax(p1[2], p2[2]), p3[2]) < aabbMin[2]) return false;
-
+
if (btMin(btMin(p1[1], p2[1]), p3[1]) > aabbMax[1]) return false;
if (btMax(btMax(p1[1], p2[1]), p3[1]) < aabbMin[1]) return false;
return true;
}
-
-SIMD_FORCE_INLINE int btOutcode(const btVector3& p,const btVector3& halfExtent)
+SIMD_FORCE_INLINE int btOutcode(const btVector3& p, const btVector3& 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);
}
-
-
SIMD_FORCE_INLINE bool btRayAabb2(const btVector3& rayFrom,
const btVector3& rayInvDirection,
const unsigned int raySign[3],
@@ -97,11 +89,11 @@ SIMD_FORCE_INLINE bool btRayAabb2(const btVector3& rayFrom,
{
btScalar 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 @@ SIMD_FORCE_INLINE bool btRayAabb2(const btVector3& 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));
}
-SIMD_FORCE_INLINE bool btRayAabb(const btVector3& rayFrom,
- const btVector3& rayTo,
- const btVector3& aabbMin,
+SIMD_FORCE_INLINE bool btRayAabb(const btVector3& rayFrom,
+ const btVector3& rayTo,
+ const btVector3& aabbMin,
const btVector3& aabbMax,
- btScalar& param, btVector3& normal)
+ btScalar& param, btVector3& normal)
{
- btVector3 aabbHalfExtent = (aabbMax-aabbMin)* btScalar(0.5);
- btVector3 aabbCenter = (aabbMax+aabbMin)* btScalar(0.5);
- btVector3 source = rayFrom - aabbCenter;
- btVector3 target = rayTo - aabbCenter;
- int sourceOutcode = btOutcode(source,aabbHalfExtent);
- int targetOutcode = btOutcode(target,aabbHalfExtent);
+ btVector3 aabbHalfExtent = (aabbMax - aabbMin) * btScalar(0.5);
+ btVector3 aabbCenter = (aabbMax + aabbMin) * btScalar(0.5);
+ btVector3 source = rayFrom - aabbCenter;
+ btVector3 target = rayTo - aabbCenter;
+ int sourceOutcode = btOutcode(source, aabbHalfExtent);
+ int targetOutcode = btOutcode(target, aabbHalfExtent);
if ((sourceOutcode & targetOutcode) == 0x0)
{
btScalar lambda_enter = btScalar(0.0);
- btScalar lambda_exit = param;
+ btScalar lambda_exit = param;
btVector3 r = target - source;
int i;
- btScalar normSign = 1;
- btVector3 hitNormal(0,0,0);
- int bit=1;
+ btScalar normSign = 1;
+ btVector3 hitNormal(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)
{
- btScalar lambda = (-source[i] - aabbHalfExtent[i]*normSign) / r[i];
+ btScalar 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)
{
- btScalar lambda = (-source[i] - aabbHalfExtent[i]*normSign) / r[i];
+ btScalar lambda = (-source[i] - aabbHalfExtent[i] * normSign) / r[i];
btSetMin(lambda_exit, lambda);
}
- bit<<=1;
+ bit <<= 1;
}
normSign = btScalar(-1.);
}
@@ -177,56 +169,49 @@ SIMD_FORCE_INLINE bool btRayAabb(const btVector3& rayFrom,
return false;
}
-
-
-SIMD_FORCE_INLINE void btTransformAabb(const btVector3& halfExtents, btScalar margin,const btTransform& t,btVector3& aabbMinOut,btVector3& aabbMaxOut)
+SIMD_FORCE_INLINE void btTransformAabb(const btVector3& halfExtents, btScalar margin, const btTransform& t, btVector3& aabbMinOut, btVector3& aabbMaxOut)
{
- btVector3 halfExtentsWithMargin = halfExtents+btVector3(margin,margin,margin);
- btMatrix3x3 abs_b = t.getBasis().absolute();
+ btVector3 halfExtentsWithMargin = halfExtents + btVector3(margin, margin, margin);
+ btMatrix3x3 abs_b = t.getBasis().absolute();
btVector3 center = t.getOrigin();
- btVector3 extent = halfExtentsWithMargin.dot3( abs_b[0], abs_b[1], abs_b[2] );
+ btVector3 extent = halfExtentsWithMargin.dot3(abs_b[0], abs_b[1], abs_b[2]);
aabbMinOut = center - extent;
aabbMaxOut = center + extent;
}
-
-SIMD_FORCE_INLINE void btTransformAabb(const btVector3& localAabbMin,const btVector3& localAabbMax, btScalar margin,const btTransform& trans,btVector3& aabbMinOut,btVector3& aabbMaxOut)
+SIMD_FORCE_INLINE void btTransformAabb(const btVector3& localAabbMin, const btVector3& localAabbMax, btScalar margin, const btTransform& trans, btVector3& aabbMinOut, btVector3& aabbMaxOut)
{
- btAssert(localAabbMin.getX() <= localAabbMax.getX());
- btAssert(localAabbMin.getY() <= localAabbMax.getY());
- btAssert(localAabbMin.getZ() <= localAabbMax.getZ());
- btVector3 localHalfExtents = btScalar(0.5)*(localAabbMax-localAabbMin);
- localHalfExtents+=btVector3(margin,margin,margin);
-
- btVector3 localCenter = btScalar(0.5)*(localAabbMax+localAabbMin);
- btMatrix3x3 abs_b = trans.getBasis().absolute();
- btVector3 center = trans(localCenter);
- btVector3 extent = localHalfExtents.dot3( abs_b[0], abs_b[1], abs_b[2] );
- aabbMinOut = center-extent;
- aabbMaxOut = center+extent;
+ btAssert(localAabbMin.getX() <= localAabbMax.getX());
+ btAssert(localAabbMin.getY() <= localAabbMax.getY());
+ btAssert(localAabbMin.getZ() <= localAabbMax.getZ());
+ btVector3 localHalfExtents = btScalar(0.5) * (localAabbMax - localAabbMin);
+ localHalfExtents += btVector3(margin, margin, margin);
+
+ btVector3 localCenter = btScalar(0.5) * (localAabbMax + localAabbMin);
+ btMatrix3x3 abs_b = trans.getBasis().absolute();
+ btVector3 center = trans(localCenter);
+ btVector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
+ aabbMinOut = center - extent;
+ aabbMaxOut = center + extent;
}
#define USE_BANCHLESS 1
#ifdef 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)
- SIMD_FORCE_INLINE unsigned testQuantizedAabbAgainstQuantizedAabb(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>(btSelect((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)
+SIMD_FORCE_INLINE unsigned testQuantizedAabbAgainstQuantizedAabb(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>(btSelect((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
- SIMD_FORCE_INLINE bool testQuantizedAabbAgainstQuantizedAabb(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 //USE_BANCHLESS
-
-#endif //BT_AABB_UTIL2
-
+SIMD_FORCE_INLINE bool testQuantizedAabbAgainstQuantizedAabb(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 //USE_BANCHLESS
+#endif //BT_AABB_UTIL2
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-06 19:34:03 +0000