128 lines
4.2 KiB
C
128 lines
4.2 KiB
C
/*
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Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef AABB_UTIL2
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#define AABB_UTIL2
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#include "btVector3.h"
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#include "btSimdMinMax.h"
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#define btMin(a,b) ((a < b ? a : b))
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#define btMax(a,b) ((a > b ? a : b))
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/// conservative test for overlap between two aabbs
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SIMD_FORCE_INLINE bool TestAabbAgainstAabb2(const btVector3 &aabbMin1, const btVector3 &aabbMax1,
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const btVector3 &aabbMin2, const btVector3 &aabbMax2)
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{
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bool overlap = true;
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overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? false : overlap;
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overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? false : overlap;
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overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? false : overlap;
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return overlap;
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}
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/// conservative test for overlap between triangle and aabb
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SIMD_FORCE_INLINE bool TestTriangleAgainstAabb2(const btVector3 *vertices,
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const btVector3 &aabbMin, const btVector3 &aabbMax)
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{
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const btVector3 &p1 = vertices[0];
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const btVector3 &p2 = vertices[1];
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const btVector3 &p3 = vertices[2];
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if (btMin(btMin(p1[0], p2[0]), p3[0]) > aabbMax[0]) return false;
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if (btMax(btMax(p1[0], p2[0]), p3[0]) < aabbMin[0]) return false;
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if (btMin(btMin(p1[2], p2[2]), p3[2]) > aabbMax[2]) return false;
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if (btMax(btMax(p1[2], p2[2]), p3[2]) < aabbMin[2]) return false;
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if (btMin(btMin(p1[1], p2[1]), p3[1]) > aabbMax[1]) return false;
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if (btMax(btMax(p1[1], p2[1]), p3[1]) < aabbMin[1]) return false;
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return true;
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}
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SIMD_FORCE_INLINE int btOutcode(const btVector3& p,const btVector3& halfExtent)
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{
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return (p.getX() < -halfExtent.getX() ? 0x01 : 0x0) |
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(p.getX() > halfExtent.getX() ? 0x08 : 0x0) |
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(p.getY() < -halfExtent.getY() ? 0x02 : 0x0) |
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(p.getY() > halfExtent.getY() ? 0x10 : 0x0) |
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(p.getZ() < -halfExtent.getZ() ? 0x4 : 0x0) |
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(p.getZ() > halfExtent.getZ() ? 0x20 : 0x0);
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}
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SIMD_FORCE_INLINE bool btRayAabb(const btVector3& rayFrom,
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const btVector3& rayTo,
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const btVector3& aabbMin,
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const btVector3& aabbMax,
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btScalar& param, btVector3& normal)
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{
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btVector3 aabbHalfExtent = (aabbMax-aabbMin)* btScalar(0.5);
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btVector3 aabbCenter = (aabbMax+aabbMin)* btScalar(0.5);
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btVector3 source = rayFrom - aabbCenter;
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btVector3 target = rayTo - aabbCenter;
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int sourceOutcode = btOutcode(source,aabbHalfExtent);
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int targetOutcode = btOutcode(target,aabbHalfExtent);
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if ((sourceOutcode & targetOutcode) == 0x0)
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{
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btScalar lambda_enter = btScalar(0.0);
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btScalar lambda_exit = param;
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btVector3 r = target - source;
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int i;
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btScalar normSign = 1;
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btVector3 hitNormal(0,0,0);
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int bit=1;
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for (int j=0;j<2;j++)
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{
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for (i = 0; i != 3; ++i)
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{
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if (sourceOutcode & bit)
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{
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btScalar lambda = (-source[i] - aabbHalfExtent[i]*normSign) / r[i];
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if (lambda_enter <= lambda)
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{
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lambda_enter = lambda;
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hitNormal.setValue(0,0,0);
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hitNormal[i] = normSign;
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}
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}
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else if (targetOutcode & bit)
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{
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btScalar lambda = (-source[i] - aabbHalfExtent[i]*normSign) / r[i];
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btSetMin(lambda_exit, lambda);
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}
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bit<<=1;
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}
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normSign = btScalar(-1.);
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}
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if (lambda_enter <= lambda_exit)
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{
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param = lambda_enter;
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normal = hitNormal;
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return true;
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}
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}
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return false;
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}
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#endif
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