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#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
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