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Diffstat (limited to 'thirdparty/bullet/src/BulletCollision/Gimpact/btBoxCollision.h')
| -rw-r--r-- | thirdparty/bullet/src/BulletCollision/Gimpact/btBoxCollision.h | 645 |
1 files changed, 0 insertions, 645 deletions
diff --git a/thirdparty/bullet/src/BulletCollision/Gimpact/btBoxCollision.h b/thirdparty/bullet/src/BulletCollision/Gimpact/btBoxCollision.h deleted file mode 100644 index 0a0357e5a8..0000000000 --- a/thirdparty/bullet/src/BulletCollision/Gimpact/btBoxCollision.h +++ /dev/null @@ -1,645 +0,0 @@ -#ifndef BT_BOX_COLLISION_H_INCLUDED -#define BT_BOX_COLLISION_H_INCLUDED - -/*! \file gim_box_collision.h -\author Francisco Leon Najera -*/ -/* -This source file is part of GIMPACT Library. - -For the latest info, see http://gimpact.sourceforge.net/ - -Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. -email: projectileman@yahoo.com - - -This software is provided 'as-is', without any express or implied warranty. -In no event will the authors be held liable for any damages arising from the use of this software. -Permission is granted to anyone to use this software for any purpose, -including commercial applications, and to alter it and redistribute it freely, -subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. -2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. -3. This notice may not be removed or altered from any source distribution. -*/ - -#include "LinearMath/btTransform.h" - - -///Swap numbers -#define BT_SWAP_NUMBERS(a,b){ \ - a = a+b; \ - b = a-b; \ - a = a-b; \ -}\ - - -#define BT_MAX(a,b) (a<b?b:a) -#define BT_MIN(a,b) (a>b?b:a) - -#define BT_GREATER(x, y) btFabs(x) > (y) - -#define BT_MAX3(a,b,c) BT_MAX(a,BT_MAX(b,c)) -#define BT_MIN3(a,b,c) BT_MIN(a,BT_MIN(b,c)) - - - - - - -enum eBT_PLANE_INTERSECTION_TYPE -{ - BT_CONST_BACK_PLANE = 0, - BT_CONST_COLLIDE_PLANE, - BT_CONST_FRONT_PLANE -}; - -//SIMD_FORCE_INLINE bool test_cross_edge_box( -// const btVector3 & edge, -// const btVector3 & absolute_edge, -// const btVector3 & pointa, -// const btVector3 & pointb, const btVector3 & extend, -// int dir_index0, -// int dir_index1 -// int component_index0, -// int component_index1) -//{ -// // dir coords are -z and y -// -// const btScalar dir0 = -edge[dir_index0]; -// const btScalar dir1 = edge[dir_index1]; -// btScalar pmin = pointa[component_index0]*dir0 + pointa[component_index1]*dir1; -// btScalar pmax = pointb[component_index0]*dir0 + pointb[component_index1]*dir1; -// //find minmax -// if(pmin>pmax) -// { -// BT_SWAP_NUMBERS(pmin,pmax); -// } -// //find extends -// const btScalar rad = extend[component_index0] * absolute_edge[dir_index0] + -// extend[component_index1] * absolute_edge[dir_index1]; -// -// if(pmin>rad || -rad>pmax) return false; -// return true; -//} -// -//SIMD_FORCE_INLINE bool test_cross_edge_box_X_axis( -// const btVector3 & edge, -// const btVector3 & absolute_edge, -// const btVector3 & pointa, -// const btVector3 & pointb, btVector3 & extend) -//{ -// -// return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,2,1,1,2); -//} -// -// -//SIMD_FORCE_INLINE bool test_cross_edge_box_Y_axis( -// const btVector3 & edge, -// const btVector3 & absolute_edge, -// const btVector3 & pointa, -// const btVector3 & pointb, btVector3 & extend) -//{ -// -// return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,0,2,2,0); -//} -// -//SIMD_FORCE_INLINE bool test_cross_edge_box_Z_axis( -// const btVector3 & edge, -// const btVector3 & absolute_edge, -// const btVector3 & pointa, -// const btVector3 & pointb, btVector3 & extend) -//{ -// -// return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,1,0,0,1); -//} - - -#define TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,i_dir_0,i_dir_1,i_comp_0,i_comp_1)\ -{\ - const btScalar dir0 = -edge[i_dir_0];\ - const btScalar dir1 = edge[i_dir_1];\ - btScalar pmin = pointa[i_comp_0]*dir0 + pointa[i_comp_1]*dir1;\ - btScalar pmax = pointb[i_comp_0]*dir0 + pointb[i_comp_1]*dir1;\ - if(pmin>pmax)\ - {\ - BT_SWAP_NUMBERS(pmin,pmax); \ - }\ - const btScalar abs_dir0 = absolute_edge[i_dir_0];\ - const btScalar abs_dir1 = absolute_edge[i_dir_1];\ - const btScalar rad = _extend[i_comp_0] * abs_dir0 + _extend[i_comp_1] * abs_dir1;\ - if(pmin>rad || -rad>pmax) return false;\ -}\ - - -#define TEST_CROSS_EDGE_BOX_X_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\ -{\ - TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,2,1,1,2);\ -}\ - -#define TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\ -{\ - TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,0,2,2,0);\ -}\ - -#define TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\ -{\ - TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,1,0,0,1);\ -}\ - - -//! Returns the dot product between a vec3f and the col of a matrix -SIMD_FORCE_INLINE btScalar bt_mat3_dot_col( -const btMatrix3x3 & mat, const btVector3 & vec3, int colindex) -{ - return vec3[0]*mat[0][colindex] + vec3[1]*mat[1][colindex] + vec3[2]*mat[2][colindex]; -} - - -//! Class for transforming a model1 to the space of model0 -ATTRIBUTE_ALIGNED16 (class) BT_BOX_BOX_TRANSFORM_CACHE -{ -public: - btVector3 m_T1to0;//!< Transforms translation of model1 to model 0 - btMatrix3x3 m_R1to0;//!< Transforms Rotation of model1 to model 0, equal to R0' * R1 - btMatrix3x3 m_AR;//!< Absolute value of m_R1to0 - - SIMD_FORCE_INLINE void calc_absolute_matrix() - { -// static const btVector3 vepsi(1e-6f,1e-6f,1e-6f); -// m_AR[0] = vepsi + m_R1to0[0].absolute(); -// m_AR[1] = vepsi + m_R1to0[1].absolute(); -// m_AR[2] = vepsi + m_R1to0[2].absolute(); - - int i,j; - - for(i=0;i<3;i++) - { - for(j=0;j<3;j++ ) - { - m_AR[i][j] = 1e-6f + btFabs(m_R1to0[i][j]); - } - } - - } - - BT_BOX_BOX_TRANSFORM_CACHE() - { - } - - - - //! Calc the transformation relative 1 to 0. Inverts matrics by transposing - SIMD_FORCE_INLINE void calc_from_homogenic(const btTransform & trans0,const btTransform & trans1) - { - - btTransform temp_trans = trans0.inverse(); - temp_trans = temp_trans * trans1; - - m_T1to0 = temp_trans.getOrigin(); - m_R1to0 = temp_trans.getBasis(); - - - calc_absolute_matrix(); - } - - //! Calcs the full invertion of the matrices. Useful for scaling matrices - SIMD_FORCE_INLINE void calc_from_full_invert(const btTransform & trans0,const btTransform & trans1) - { - m_R1to0 = trans0.getBasis().inverse(); - m_T1to0 = m_R1to0 * (-trans0.getOrigin()); - - m_T1to0 += m_R1to0*trans1.getOrigin(); - m_R1to0 *= trans1.getBasis(); - - calc_absolute_matrix(); - } - - SIMD_FORCE_INLINE btVector3 transform(const btVector3 & point) const - { - return point.dot3( m_R1to0[0], m_R1to0[1], m_R1to0[2] ) + m_T1to0; - } -}; - - -#define BOX_PLANE_EPSILON 0.000001f - -//! Axis aligned box -ATTRIBUTE_ALIGNED16 (class) btAABB -{ -public: - btVector3 m_min; - btVector3 m_max; - - btAABB() - {} - - - btAABB(const btVector3 & V1, - const btVector3 & V2, - const btVector3 & V3) - { - m_min[0] = BT_MIN3(V1[0],V2[0],V3[0]); - m_min[1] = BT_MIN3(V1[1],V2[1],V3[1]); - m_min[2] = BT_MIN3(V1[2],V2[2],V3[2]); - - m_max[0] = BT_MAX3(V1[0],V2[0],V3[0]); - m_max[1] = BT_MAX3(V1[1],V2[1],V3[1]); - m_max[2] = BT_MAX3(V1[2],V2[2],V3[2]); - } - - btAABB(const btVector3 & V1, - const btVector3 & V2, - const btVector3 & V3, - btScalar margin) - { - m_min[0] = BT_MIN3(V1[0],V2[0],V3[0]); - m_min[1] = BT_MIN3(V1[1],V2[1],V3[1]); - m_min[2] = BT_MIN3(V1[2],V2[2],V3[2]); - - m_max[0] = BT_MAX3(V1[0],V2[0],V3[0]); - m_max[1] = BT_MAX3(V1[1],V2[1],V3[1]); - m_max[2] = BT_MAX3(V1[2],V2[2],V3[2]); - - m_min[0] -= margin; - m_min[1] -= margin; - m_min[2] -= margin; - m_max[0] += margin; - m_max[1] += margin; - m_max[2] += margin; - } - - btAABB(const btAABB &other): - m_min(other.m_min),m_max(other.m_max) - { - } - - btAABB(const btAABB &other,btScalar margin ): - m_min(other.m_min),m_max(other.m_max) - { - m_min[0] -= margin; - m_min[1] -= margin; - m_min[2] -= margin; - m_max[0] += margin; - m_max[1] += margin; - m_max[2] += margin; - } - - SIMD_FORCE_INLINE void invalidate() - { - m_min[0] = SIMD_INFINITY; - m_min[1] = SIMD_INFINITY; - m_min[2] = SIMD_INFINITY; - m_max[0] = -SIMD_INFINITY; - m_max[1] = -SIMD_INFINITY; - m_max[2] = -SIMD_INFINITY; - } - - SIMD_FORCE_INLINE void increment_margin(btScalar margin) - { - m_min[0] -= margin; - m_min[1] -= margin; - m_min[2] -= margin; - m_max[0] += margin; - m_max[1] += margin; - m_max[2] += margin; - } - - SIMD_FORCE_INLINE void copy_with_margin(const btAABB &other, btScalar margin) - { - m_min[0] = other.m_min[0] - margin; - m_min[1] = other.m_min[1] - margin; - m_min[2] = other.m_min[2] - margin; - - m_max[0] = other.m_max[0] + margin; - m_max[1] = other.m_max[1] + margin; - m_max[2] = other.m_max[2] + margin; - } - - template<typename CLASS_POINT> - SIMD_FORCE_INLINE void calc_from_triangle( - const CLASS_POINT & V1, - const CLASS_POINT & V2, - const CLASS_POINT & V3) - { - m_min[0] = BT_MIN3(V1[0],V2[0],V3[0]); - m_min[1] = BT_MIN3(V1[1],V2[1],V3[1]); - m_min[2] = BT_MIN3(V1[2],V2[2],V3[2]); - - m_max[0] = BT_MAX3(V1[0],V2[0],V3[0]); - m_max[1] = BT_MAX3(V1[1],V2[1],V3[1]); - m_max[2] = BT_MAX3(V1[2],V2[2],V3[2]); - } - - template<typename CLASS_POINT> - SIMD_FORCE_INLINE void calc_from_triangle_margin( - const CLASS_POINT & V1, - const CLASS_POINT & V2, - const CLASS_POINT & V3, btScalar margin) - { - m_min[0] = BT_MIN3(V1[0],V2[0],V3[0]); - m_min[1] = BT_MIN3(V1[1],V2[1],V3[1]); - m_min[2] = BT_MIN3(V1[2],V2[2],V3[2]); - - m_max[0] = BT_MAX3(V1[0],V2[0],V3[0]); - m_max[1] = BT_MAX3(V1[1],V2[1],V3[1]); - m_max[2] = BT_MAX3(V1[2],V2[2],V3[2]); - - m_min[0] -= margin; - m_min[1] -= margin; - m_min[2] -= margin; - m_max[0] += margin; - m_max[1] += margin; - m_max[2] += margin; - } - - //! Apply a transform to an AABB - SIMD_FORCE_INLINE void appy_transform(const btTransform & trans) - { - btVector3 center = (m_max+m_min)*0.5f; - btVector3 extends = m_max - center; - // Compute new center - center = trans(center); - - btVector3 textends = extends.dot3(trans.getBasis().getRow(0).absolute(), - trans.getBasis().getRow(1).absolute(), - trans.getBasis().getRow(2).absolute()); - - m_min = center - textends; - m_max = center + textends; - } - - - //! Apply a transform to an AABB - SIMD_FORCE_INLINE void appy_transform_trans_cache(const BT_BOX_BOX_TRANSFORM_CACHE & trans) - { - btVector3 center = (m_max+m_min)*0.5f; - btVector3 extends = m_max - center; - // Compute new center - center = trans.transform(center); - - btVector3 textends = extends.dot3(trans.m_R1to0.getRow(0).absolute(), - trans.m_R1to0.getRow(1).absolute(), - trans.m_R1to0.getRow(2).absolute()); - - m_min = center - textends; - m_max = center + textends; - } - - //! Merges a Box - SIMD_FORCE_INLINE void merge(const btAABB & box) - { - m_min[0] = BT_MIN(m_min[0],box.m_min[0]); - m_min[1] = BT_MIN(m_min[1],box.m_min[1]); - m_min[2] = BT_MIN(m_min[2],box.m_min[2]); - - m_max[0] = BT_MAX(m_max[0],box.m_max[0]); - m_max[1] = BT_MAX(m_max[1],box.m_max[1]); - m_max[2] = BT_MAX(m_max[2],box.m_max[2]); - } - - //! Merges a point - template<typename CLASS_POINT> - SIMD_FORCE_INLINE void merge_point(const CLASS_POINT & point) - { - m_min[0] = BT_MIN(m_min[0],point[0]); - m_min[1] = BT_MIN(m_min[1],point[1]); - m_min[2] = BT_MIN(m_min[2],point[2]); - - m_max[0] = BT_MAX(m_max[0],point[0]); - m_max[1] = BT_MAX(m_max[1],point[1]); - m_max[2] = BT_MAX(m_max[2],point[2]); - } - - //! Gets the extend and center - SIMD_FORCE_INLINE void get_center_extend(btVector3 & center,btVector3 & extend) const - { - center = (m_max+m_min)*0.5f; - extend = m_max - center; - } - - //! Finds the intersecting box between this box and the other. - SIMD_FORCE_INLINE void find_intersection(const btAABB & other, btAABB & intersection) const - { - intersection.m_min[0] = BT_MAX(other.m_min[0],m_min[0]); - intersection.m_min[1] = BT_MAX(other.m_min[1],m_min[1]); - intersection.m_min[2] = BT_MAX(other.m_min[2],m_min[2]); - - intersection.m_max[0] = BT_MIN(other.m_max[0],m_max[0]); - intersection.m_max[1] = BT_MIN(other.m_max[1],m_max[1]); - intersection.m_max[2] = BT_MIN(other.m_max[2],m_max[2]); - } - - - SIMD_FORCE_INLINE bool has_collision(const btAABB & other) const - { - if(m_min[0] > other.m_max[0] || - m_max[0] < other.m_min[0] || - m_min[1] > other.m_max[1] || - m_max[1] < other.m_min[1] || - m_min[2] > other.m_max[2] || - m_max[2] < other.m_min[2]) - { - return false; - } - return true; - } - - /*! \brief Finds the Ray intersection parameter. - \param aabb Aligned box - \param vorigin A vec3f with the origin of the ray - \param vdir A vec3f with the direction of the ray - */ - SIMD_FORCE_INLINE bool collide_ray(const btVector3 & vorigin,const btVector3 & vdir) const - { - btVector3 extents,center; - this->get_center_extend(center,extents);; - - btScalar Dx = vorigin[0] - center[0]; - if(BT_GREATER(Dx, extents[0]) && Dx*vdir[0]>=0.0f) return false; - btScalar Dy = vorigin[1] - center[1]; - if(BT_GREATER(Dy, extents[1]) && Dy*vdir[1]>=0.0f) return false; - btScalar Dz = vorigin[2] - center[2]; - if(BT_GREATER(Dz, extents[2]) && Dz*vdir[2]>=0.0f) return false; - - - btScalar f = vdir[1] * Dz - vdir[2] * Dy; - if(btFabs(f) > extents[1]*btFabs(vdir[2]) + extents[2]*btFabs(vdir[1])) return false; - f = vdir[2] * Dx - vdir[0] * Dz; - if(btFabs(f) > extents[0]*btFabs(vdir[2]) + extents[2]*btFabs(vdir[0]))return false; - f = vdir[0] * Dy - vdir[1] * Dx; - if(btFabs(f) > extents[0]*btFabs(vdir[1]) + extents[1]*btFabs(vdir[0]))return false; - return true; - } - - - SIMD_FORCE_INLINE void projection_interval(const btVector3 & direction, btScalar &vmin, btScalar &vmax) const - { - btVector3 center = (m_max+m_min)*0.5f; - btVector3 extend = m_max-center; - - btScalar _fOrigin = direction.dot(center); - btScalar _fMaximumExtent = extend.dot(direction.absolute()); - vmin = _fOrigin - _fMaximumExtent; - vmax = _fOrigin + _fMaximumExtent; - } - - SIMD_FORCE_INLINE eBT_PLANE_INTERSECTION_TYPE plane_classify(const btVector4 &plane) const - { - btScalar _fmin,_fmax; - this->projection_interval(plane,_fmin,_fmax); - - if(plane[3] > _fmax + BOX_PLANE_EPSILON) - { - return BT_CONST_BACK_PLANE; // 0 - } - - if(plane[3]+BOX_PLANE_EPSILON >=_fmin) - { - return BT_CONST_COLLIDE_PLANE; //1 - } - return BT_CONST_FRONT_PLANE;//2 - } - - SIMD_FORCE_INLINE bool overlapping_trans_conservative(const btAABB & box, btTransform & trans1_to_0) const - { - btAABB tbox = box; - tbox.appy_transform(trans1_to_0); - return has_collision(tbox); - } - - SIMD_FORCE_INLINE bool overlapping_trans_conservative2(const btAABB & box, - const BT_BOX_BOX_TRANSFORM_CACHE & trans1_to_0) const - { - btAABB tbox = box; - tbox.appy_transform_trans_cache(trans1_to_0); - return has_collision(tbox); - } - - //! transcache is the transformation cache from box to this AABB - SIMD_FORCE_INLINE bool overlapping_trans_cache( - const btAABB & box,const BT_BOX_BOX_TRANSFORM_CACHE & transcache, bool fulltest) const - { - - //Taken from OPCODE - btVector3 ea,eb;//extends - btVector3 ca,cb;//extends - get_center_extend(ca,ea); - box.get_center_extend(cb,eb); - - - btVector3 T; - btScalar t,t2; - int i; - - // Class I : A's basis vectors - for(i=0;i<3;i++) - { - T[i] = transcache.m_R1to0[i].dot(cb) + transcache.m_T1to0[i] - ca[i]; - t = transcache.m_AR[i].dot(eb) + ea[i]; - if(BT_GREATER(T[i], t)) return false; - } - // Class II : B's basis vectors - for(i=0;i<3;i++) - { - t = bt_mat3_dot_col(transcache.m_R1to0,T,i); - t2 = bt_mat3_dot_col(transcache.m_AR,ea,i) + eb[i]; - if(BT_GREATER(t,t2)) return false; - } - // Class III : 9 cross products - if(fulltest) - { - int j,m,n,o,p,q,r; - for(i=0;i<3;i++) - { - m = (i+1)%3; - n = (i+2)%3; - o = i==0?1:0; - p = i==2?1:2; - for(j=0;j<3;j++) - { - q = j==2?1:2; - r = j==0?1:0; - t = T[n]*transcache.m_R1to0[m][j] - T[m]*transcache.m_R1to0[n][j]; - t2 = ea[o]*transcache.m_AR[p][j] + ea[p]*transcache.m_AR[o][j] + - eb[r]*transcache.m_AR[i][q] + eb[q]*transcache.m_AR[i][r]; - if(BT_GREATER(t,t2)) return false; - } - } - } - return true; - } - - //! Simple test for planes. - SIMD_FORCE_INLINE bool collide_plane( - const btVector4 & plane) const - { - eBT_PLANE_INTERSECTION_TYPE classify = plane_classify(plane); - return (classify == BT_CONST_COLLIDE_PLANE); - } - - //! test for a triangle, with edges - SIMD_FORCE_INLINE bool collide_triangle_exact( - const btVector3 & p1, - const btVector3 & p2, - const btVector3 & p3, - const btVector4 & triangle_plane) const - { - if(!collide_plane(triangle_plane)) return false; - - btVector3 center,extends; - this->get_center_extend(center,extends); - - const btVector3 v1(p1 - center); - const btVector3 v2(p2 - center); - const btVector3 v3(p3 - center); - - //First axis - btVector3 diff(v2 - v1); - btVector3 abs_diff = diff.absolute(); - //Test With X axis - TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v1,v3,extends); - //Test With Y axis - TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v1,v3,extends); - //Test With Z axis - TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v1,v3,extends); - - - diff = v3 - v2; - abs_diff = diff.absolute(); - //Test With X axis - TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v2,v1,extends); - //Test With Y axis - TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v2,v1,extends); - //Test With Z axis - TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v2,v1,extends); - - diff = v1 - v3; - abs_diff = diff.absolute(); - //Test With X axis - TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v3,v2,extends); - //Test With Y axis - TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v3,v2,extends); - //Test With Z axis - TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v3,v2,extends); - - return true; - } -}; - - -//! Compairison of transformation objects -SIMD_FORCE_INLINE bool btCompareTransformsEqual(const btTransform & t1,const btTransform & t2) -{ - if(!(t1.getOrigin() == t2.getOrigin()) ) return false; - - if(!(t1.getBasis().getRow(0) == t2.getBasis().getRow(0)) ) return false; - if(!(t1.getBasis().getRow(1) == t2.getBasis().getRow(1)) ) return false; - if(!(t1.getBasis().getRow(2) == t2.getBasis().getRow(2)) ) return false; - return true; -} - - - -#endif // GIM_BOX_COLLISION_H_INCLUDED |