646 lines
18 KiB
C++
646 lines
18 KiB
C++
#ifndef BT_BOX_COLLISION_H_INCLUDED
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#define BT_BOX_COLLISION_H_INCLUDED
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/*! \file gim_box_collision.h
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\author Francisco Leon Najera
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*/
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/*
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This source file is part of GIMPACT Library.
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For the latest info, see http://gimpact.sourceforge.net/
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Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
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email: projectileman@yahoo.com
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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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#include "LinearMath/btTransform.h"
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///Swap numbers
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#define BT_SWAP_NUMBERS(a,b){ \
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a = a+b; \
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b = a-b; \
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a = a-b; \
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}\
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#define BT_MAX(a,b) (a<b?b:a)
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#define BT_MIN(a,b) (a>b?b:a)
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#define BT_GREATER(x, y) btFabs(x) > (y)
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#define BT_MAX3(a,b,c) BT_MAX(a,BT_MAX(b,c))
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#define BT_MIN3(a,b,c) BT_MIN(a,BT_MIN(b,c))
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enum eBT_PLANE_INTERSECTION_TYPE
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{
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BT_CONST_BACK_PLANE = 0,
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BT_CONST_COLLIDE_PLANE,
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BT_CONST_FRONT_PLANE
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};
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//SIMD_FORCE_INLINE bool test_cross_edge_box(
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// const btVector3 & edge,
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// const btVector3 & absolute_edge,
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// const btVector3 & pointa,
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// const btVector3 & pointb, const btVector3 & extend,
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// int dir_index0,
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// int dir_index1
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// int component_index0,
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// int component_index1)
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//{
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// // dir coords are -z and y
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//
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// const btScalar dir0 = -edge[dir_index0];
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// const btScalar dir1 = edge[dir_index1];
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// btScalar pmin = pointa[component_index0]*dir0 + pointa[component_index1]*dir1;
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// btScalar pmax = pointb[component_index0]*dir0 + pointb[component_index1]*dir1;
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// //find minmax
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// if(pmin>pmax)
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// {
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// BT_SWAP_NUMBERS(pmin,pmax);
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// }
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// //find extends
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// const btScalar rad = extend[component_index0] * absolute_edge[dir_index0] +
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// extend[component_index1] * absolute_edge[dir_index1];
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//
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// if(pmin>rad || -rad>pmax) return false;
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// return true;
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//}
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//
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//SIMD_FORCE_INLINE bool test_cross_edge_box_X_axis(
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// const btVector3 & edge,
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// const btVector3 & absolute_edge,
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// const btVector3 & pointa,
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// const btVector3 & pointb, btVector3 & extend)
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//{
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//
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// return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,2,1,1,2);
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//}
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//
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//
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//SIMD_FORCE_INLINE bool test_cross_edge_box_Y_axis(
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// const btVector3 & edge,
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// const btVector3 & absolute_edge,
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// const btVector3 & pointa,
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// const btVector3 & pointb, btVector3 & extend)
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//{
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//
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// return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,0,2,2,0);
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//}
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//
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//SIMD_FORCE_INLINE bool test_cross_edge_box_Z_axis(
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// const btVector3 & edge,
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// const btVector3 & absolute_edge,
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// const btVector3 & pointa,
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// const btVector3 & pointb, btVector3 & extend)
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//{
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//
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// return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,1,0,0,1);
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//}
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#define TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,i_dir_0,i_dir_1,i_comp_0,i_comp_1)\
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{\
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const btScalar dir0 = -edge[i_dir_0];\
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const btScalar dir1 = edge[i_dir_1];\
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btScalar pmin = pointa[i_comp_0]*dir0 + pointa[i_comp_1]*dir1;\
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btScalar pmax = pointb[i_comp_0]*dir0 + pointb[i_comp_1]*dir1;\
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if(pmin>pmax)\
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{\
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BT_SWAP_NUMBERS(pmin,pmax); \
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}\
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const btScalar abs_dir0 = absolute_edge[i_dir_0];\
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const btScalar abs_dir1 = absolute_edge[i_dir_1];\
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const btScalar rad = _extend[i_comp_0] * abs_dir0 + _extend[i_comp_1] * abs_dir1;\
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if(pmin>rad || -rad>pmax) return false;\
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}\
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#define TEST_CROSS_EDGE_BOX_X_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\
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{\
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TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,2,1,1,2);\
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}\
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#define TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\
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{\
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TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,0,2,2,0);\
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}\
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#define TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\
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{\
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TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,1,0,0,1);\
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}\
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//! Returns the dot product between a vec3f and the col of a matrix
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SIMD_FORCE_INLINE btScalar bt_mat3_dot_col(
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const btMatrix3x3 & mat, const btVector3 & vec3, int colindex)
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{
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return vec3[0]*mat[0][colindex] + vec3[1]*mat[1][colindex] + vec3[2]*mat[2][colindex];
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}
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//! Class for transforming a model1 to the space of model0
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ATTRIBUTE_ALIGNED16 (class) BT_BOX_BOX_TRANSFORM_CACHE
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{
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public:
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btVector3 m_T1to0;//!< Transforms translation of model1 to model 0
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btMatrix3x3 m_R1to0;//!< Transforms Rotation of model1 to model 0, equal to R0' * R1
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btMatrix3x3 m_AR;//!< Absolute value of m_R1to0
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SIMD_FORCE_INLINE void calc_absolute_matrix()
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{
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// static const btVector3 vepsi(1e-6f,1e-6f,1e-6f);
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// m_AR[0] = vepsi + m_R1to0[0].absolute();
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// m_AR[1] = vepsi + m_R1to0[1].absolute();
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// m_AR[2] = vepsi + m_R1to0[2].absolute();
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int i,j;
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for(i=0;i<3;i++)
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{
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for(j=0;j<3;j++ )
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{
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m_AR[i][j] = 1e-6f + btFabs(m_R1to0[i][j]);
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}
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}
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}
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BT_BOX_BOX_TRANSFORM_CACHE()
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{
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}
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//! Calc the transformation relative 1 to 0. Inverts matrics by transposing
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SIMD_FORCE_INLINE void calc_from_homogenic(const btTransform & trans0,const btTransform & trans1)
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{
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btTransform temp_trans = trans0.inverse();
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temp_trans = temp_trans * trans1;
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m_T1to0 = temp_trans.getOrigin();
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m_R1to0 = temp_trans.getBasis();
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calc_absolute_matrix();
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}
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//! Calcs the full invertion of the matrices. Useful for scaling matrices
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SIMD_FORCE_INLINE void calc_from_full_invert(const btTransform & trans0,const btTransform & trans1)
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{
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m_R1to0 = trans0.getBasis().inverse();
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m_T1to0 = m_R1to0 * (-trans0.getOrigin());
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m_T1to0 += m_R1to0*trans1.getOrigin();
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m_R1to0 *= trans1.getBasis();
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calc_absolute_matrix();
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}
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SIMD_FORCE_INLINE btVector3 transform(const btVector3 & point) const
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{
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return point.dot3( m_R1to0[0], m_R1to0[1], m_R1to0[2] ) + m_T1to0;
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}
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};
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#define BOX_PLANE_EPSILON 0.000001f
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//! Axis aligned box
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ATTRIBUTE_ALIGNED16 (class) btAABB
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{
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public:
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btVector3 m_min;
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btVector3 m_max;
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btAABB()
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{}
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btAABB(const btVector3 & V1,
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const btVector3 & V2,
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const btVector3 & V3)
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{
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m_min[0] = BT_MIN3(V1[0],V2[0],V3[0]);
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m_min[1] = BT_MIN3(V1[1],V2[1],V3[1]);
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m_min[2] = BT_MIN3(V1[2],V2[2],V3[2]);
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m_max[0] = BT_MAX3(V1[0],V2[0],V3[0]);
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m_max[1] = BT_MAX3(V1[1],V2[1],V3[1]);
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m_max[2] = BT_MAX3(V1[2],V2[2],V3[2]);
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}
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btAABB(const btVector3 & V1,
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const btVector3 & V2,
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const btVector3 & V3,
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btScalar margin)
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{
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m_min[0] = BT_MIN3(V1[0],V2[0],V3[0]);
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m_min[1] = BT_MIN3(V1[1],V2[1],V3[1]);
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m_min[2] = BT_MIN3(V1[2],V2[2],V3[2]);
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m_max[0] = BT_MAX3(V1[0],V2[0],V3[0]);
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m_max[1] = BT_MAX3(V1[1],V2[1],V3[1]);
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m_max[2] = BT_MAX3(V1[2],V2[2],V3[2]);
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m_min[0] -= margin;
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m_min[1] -= margin;
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m_min[2] -= margin;
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m_max[0] += margin;
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m_max[1] += margin;
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m_max[2] += margin;
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}
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btAABB(const btAABB &other):
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m_min(other.m_min),m_max(other.m_max)
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{
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}
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btAABB(const btAABB &other,btScalar margin ):
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m_min(other.m_min),m_max(other.m_max)
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{
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m_min[0] -= margin;
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m_min[1] -= margin;
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m_min[2] -= margin;
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m_max[0] += margin;
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m_max[1] += margin;
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m_max[2] += margin;
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}
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SIMD_FORCE_INLINE void invalidate()
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{
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m_min[0] = SIMD_INFINITY;
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m_min[1] = SIMD_INFINITY;
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m_min[2] = SIMD_INFINITY;
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m_max[0] = -SIMD_INFINITY;
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m_max[1] = -SIMD_INFINITY;
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m_max[2] = -SIMD_INFINITY;
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}
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SIMD_FORCE_INLINE void increment_margin(btScalar margin)
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{
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m_min[0] -= margin;
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m_min[1] -= margin;
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m_min[2] -= margin;
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m_max[0] += margin;
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m_max[1] += margin;
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m_max[2] += margin;
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}
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SIMD_FORCE_INLINE void copy_with_margin(const btAABB &other, btScalar margin)
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{
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m_min[0] = other.m_min[0] - margin;
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m_min[1] = other.m_min[1] - margin;
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m_min[2] = other.m_min[2] - margin;
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m_max[0] = other.m_max[0] + margin;
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m_max[1] = other.m_max[1] + margin;
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m_max[2] = other.m_max[2] + margin;
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}
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template<typename CLASS_POINT>
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SIMD_FORCE_INLINE void calc_from_triangle(
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const CLASS_POINT & V1,
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const CLASS_POINT & V2,
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const CLASS_POINT & V3)
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{
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m_min[0] = BT_MIN3(V1[0],V2[0],V3[0]);
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m_min[1] = BT_MIN3(V1[1],V2[1],V3[1]);
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m_min[2] = BT_MIN3(V1[2],V2[2],V3[2]);
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m_max[0] = BT_MAX3(V1[0],V2[0],V3[0]);
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m_max[1] = BT_MAX3(V1[1],V2[1],V3[1]);
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m_max[2] = BT_MAX3(V1[2],V2[2],V3[2]);
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}
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template<typename CLASS_POINT>
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SIMD_FORCE_INLINE void calc_from_triangle_margin(
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const CLASS_POINT & V1,
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const CLASS_POINT & V2,
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const CLASS_POINT & V3, btScalar margin)
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{
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m_min[0] = BT_MIN3(V1[0],V2[0],V3[0]);
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m_min[1] = BT_MIN3(V1[1],V2[1],V3[1]);
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m_min[2] = BT_MIN3(V1[2],V2[2],V3[2]);
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m_max[0] = BT_MAX3(V1[0],V2[0],V3[0]);
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m_max[1] = BT_MAX3(V1[1],V2[1],V3[1]);
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m_max[2] = BT_MAX3(V1[2],V2[2],V3[2]);
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m_min[0] -= margin;
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m_min[1] -= margin;
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m_min[2] -= margin;
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m_max[0] += margin;
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m_max[1] += margin;
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m_max[2] += margin;
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}
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//! Apply a transform to an AABB
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SIMD_FORCE_INLINE void appy_transform(const btTransform & trans)
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{
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btVector3 center = (m_max+m_min)*0.5f;
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btVector3 extends = m_max - center;
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// Compute new center
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center = trans(center);
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btVector3 textends = extends.dot3(trans.getBasis().getRow(0).absolute(),
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trans.getBasis().getRow(1).absolute(),
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trans.getBasis().getRow(2).absolute());
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m_min = center - textends;
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m_max = center + textends;
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}
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//! Apply a transform to an AABB
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SIMD_FORCE_INLINE void appy_transform_trans_cache(const BT_BOX_BOX_TRANSFORM_CACHE & trans)
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{
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btVector3 center = (m_max+m_min)*0.5f;
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btVector3 extends = m_max - center;
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// Compute new center
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center = trans.transform(center);
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btVector3 textends = extends.dot3(trans.m_R1to0.getRow(0).absolute(),
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trans.m_R1to0.getRow(1).absolute(),
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trans.m_R1to0.getRow(2).absolute());
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m_min = center - textends;
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m_max = center + textends;
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}
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//! Merges a Box
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SIMD_FORCE_INLINE void merge(const btAABB & box)
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{
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m_min[0] = BT_MIN(m_min[0],box.m_min[0]);
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m_min[1] = BT_MIN(m_min[1],box.m_min[1]);
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m_min[2] = BT_MIN(m_min[2],box.m_min[2]);
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m_max[0] = BT_MAX(m_max[0],box.m_max[0]);
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m_max[1] = BT_MAX(m_max[1],box.m_max[1]);
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m_max[2] = BT_MAX(m_max[2],box.m_max[2]);
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}
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//! Merges a point
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template<typename CLASS_POINT>
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SIMD_FORCE_INLINE void merge_point(const CLASS_POINT & point)
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{
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m_min[0] = BT_MIN(m_min[0],point[0]);
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m_min[1] = BT_MIN(m_min[1],point[1]);
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m_min[2] = BT_MIN(m_min[2],point[2]);
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m_max[0] = BT_MAX(m_max[0],point[0]);
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m_max[1] = BT_MAX(m_max[1],point[1]);
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m_max[2] = BT_MAX(m_max[2],point[2]);
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}
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//! Gets the extend and center
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SIMD_FORCE_INLINE void get_center_extend(btVector3 & center,btVector3 & extend) const
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{
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center = (m_max+m_min)*0.5f;
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extend = m_max - center;
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}
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//! Finds the intersecting box between this box and the other.
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SIMD_FORCE_INLINE void find_intersection(const btAABB & other, btAABB & intersection) const
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{
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intersection.m_min[0] = BT_MAX(other.m_min[0],m_min[0]);
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intersection.m_min[1] = BT_MAX(other.m_min[1],m_min[1]);
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intersection.m_min[2] = BT_MAX(other.m_min[2],m_min[2]);
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intersection.m_max[0] = BT_MIN(other.m_max[0],m_max[0]);
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intersection.m_max[1] = BT_MIN(other.m_max[1],m_max[1]);
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intersection.m_max[2] = BT_MIN(other.m_max[2],m_max[2]);
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}
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SIMD_FORCE_INLINE bool has_collision(const btAABB & other) const
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{
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if(m_min[0] > other.m_max[0] ||
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m_max[0] < other.m_min[0] ||
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m_min[1] > other.m_max[1] ||
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m_max[1] < other.m_min[1] ||
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m_min[2] > other.m_max[2] ||
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m_max[2] < other.m_min[2])
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{
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return false;
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}
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return true;
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}
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/*! \brief Finds the Ray intersection parameter.
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\param aabb Aligned box
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\param vorigin A vec3f with the origin of the ray
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\param vdir A vec3f with the direction of the ray
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*/
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SIMD_FORCE_INLINE bool collide_ray(const btVector3 & vorigin,const btVector3 & vdir) const
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{
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btVector3 extents,center;
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this->get_center_extend(center,extents);;
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btScalar Dx = vorigin[0] - center[0];
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if(BT_GREATER(Dx, extents[0]) && Dx*vdir[0]>=0.0f) return false;
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btScalar Dy = vorigin[1] - center[1];
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if(BT_GREATER(Dy, extents[1]) && Dy*vdir[1]>=0.0f) return false;
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btScalar Dz = vorigin[2] - center[2];
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if(BT_GREATER(Dz, extents[2]) && Dz*vdir[2]>=0.0f) return false;
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|
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btScalar f = vdir[1] * Dz - vdir[2] * Dy;
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if(btFabs(f) > extents[1]*btFabs(vdir[2]) + extents[2]*btFabs(vdir[1])) return false;
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f = vdir[2] * Dx - vdir[0] * Dz;
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if(btFabs(f) > extents[0]*btFabs(vdir[2]) + extents[2]*btFabs(vdir[0]))return false;
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f = vdir[0] * Dy - vdir[1] * Dx;
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if(btFabs(f) > extents[0]*btFabs(vdir[1]) + extents[1]*btFabs(vdir[0]))return false;
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return true;
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}
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SIMD_FORCE_INLINE void projection_interval(const btVector3 & direction, btScalar &vmin, btScalar &vmax) const
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{
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btVector3 center = (m_max+m_min)*0.5f;
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btVector3 extend = m_max-center;
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btScalar _fOrigin = direction.dot(center);
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btScalar _fMaximumExtent = extend.dot(direction.absolute());
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vmin = _fOrigin - _fMaximumExtent;
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vmax = _fOrigin + _fMaximumExtent;
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}
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SIMD_FORCE_INLINE eBT_PLANE_INTERSECTION_TYPE plane_classify(const btVector4 &plane) const
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{
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btScalar _fmin,_fmax;
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this->projection_interval(plane,_fmin,_fmax);
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|
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if(plane[3] > _fmax + BOX_PLANE_EPSILON)
|
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{
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return BT_CONST_BACK_PLANE; // 0
|
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}
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|
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if(plane[3]+BOX_PLANE_EPSILON >=_fmin)
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{
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return BT_CONST_COLLIDE_PLANE; //1
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}
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return BT_CONST_FRONT_PLANE;//2
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}
|
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SIMD_FORCE_INLINE bool overlapping_trans_conservative(const btAABB & box, btTransform & trans1_to_0) const
|
|
{
|
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btAABB tbox = box;
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tbox.appy_transform(trans1_to_0);
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return has_collision(tbox);
|
|
}
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|
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SIMD_FORCE_INLINE bool overlapping_trans_conservative2(const btAABB & box,
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const BT_BOX_BOX_TRANSFORM_CACHE & trans1_to_0) const
|
|
{
|
|
btAABB tbox = box;
|
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tbox.appy_transform_trans_cache(trans1_to_0);
|
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return has_collision(tbox);
|
|
}
|
|
|
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//! 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
|