Bullet Collision Detection & Physics Library
btAabbUtil2.h
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1/*
2Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans https://bulletphysics.org
3
4This software is provided 'as-is', without any express or implied warranty.
5In no event will the authors be held liable for any damages arising from the use of this software.
6Permission is granted to anyone to use this software for any purpose,
7including commercial applications, and to alter it and redistribute it freely,
8subject to the following restrictions:
9
101. 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.
112. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
123. This notice may not be removed or altered from any source distribution.
13*/
14
15#ifndef BT_AABB_UTIL2
16#define BT_AABB_UTIL2
17
18#include "btTransform.h"
19#include "btVector3.h"
20#include "btMinMax.h"
21
26{
29}
30
33 const btVector3& point)
34{
35 bool overlap = true;
36 overlap = (aabbMin1.getX() > point.getX() || aabbMax1.getX() < point.getX()) ? false : overlap;
37 overlap = (aabbMin1.getZ() > point.getZ() || aabbMax1.getZ() < point.getZ()) ? false : overlap;
38 overlap = (aabbMin1.getY() > point.getY() || aabbMax1.getY() < point.getY()) ? false : overlap;
39 return overlap;
40}
41
44 const btVector3& aabbMin2, const btVector3& aabbMax2)
45{
46 bool overlap = true;
47 overlap = (aabbMin1.getX() > aabbMax2.getX() || aabbMax1.getX() < aabbMin2.getX()) ? false : overlap;
48 overlap = (aabbMin1.getZ() > aabbMax2.getZ() || aabbMax1.getZ() < aabbMin2.getZ()) ? false : overlap;
49 overlap = (aabbMin1.getY() > aabbMax2.getY() || aabbMax1.getY() < aabbMin2.getY()) ? false : overlap;
50 return overlap;
51}
52
55 const btVector3& aabbMin, const btVector3& aabbMax)
56{
57 const btVector3& p1 = vertices[0];
58 const btVector3& p2 = vertices[1];
59 const btVector3& p3 = vertices[2];
60
61 if (btMin(btMin(p1[0], p2[0]), p3[0]) > aabbMax[0]) return false;
62 if (btMax(btMax(p1[0], p2[0]), p3[0]) < aabbMin[0]) return false;
63
64 if (btMin(btMin(p1[2], p2[2]), p3[2]) > aabbMax[2]) return false;
65 if (btMax(btMax(p1[2], p2[2]), p3[2]) < aabbMin[2]) return false;
66
67 if (btMin(btMin(p1[1], p2[1]), p3[1]) > aabbMax[1]) return false;
68 if (btMax(btMax(p1[1], p2[1]), p3[1]) < aabbMin[1]) return false;
69 return true;
70}
71
73{
74 return (p.getX() < -halfExtent.getX() ? 0x01 : 0x0) |
75 (p.getX() > halfExtent.getX() ? 0x08 : 0x0) |
76 (p.getY() < -halfExtent.getY() ? 0x02 : 0x0) |
77 (p.getY() > halfExtent.getY() ? 0x10 : 0x0) |
78 (p.getZ() < -halfExtent.getZ() ? 0x4 : 0x0) |
79 (p.getZ() > halfExtent.getZ() ? 0x20 : 0x0);
80}
81
84 const unsigned int raySign[3],
85 const btVector3 bounds[2],
89{
91 tmin = (bounds[raySign[0]].getX() - rayFrom.getX()) * rayInvDirection.getX();
92 tmax = (bounds[1 - raySign[0]].getX() - rayFrom.getX()) * rayInvDirection.getX();
93 tymin = (bounds[raySign[1]].getY() - rayFrom.getY()) * rayInvDirection.getY();
94 tymax = (bounds[1 - raySign[1]].getY() - rayFrom.getY()) * rayInvDirection.getY();
95
96 if ((tmin > tymax) || (tymin > tmax))
97 return false;
98
99 if (tymin > tmin)
100 tmin = tymin;
101
102 if (tymax < tmax)
103 tmax = tymax;
104
105 tzmin = (bounds[raySign[2]].getZ() - rayFrom.getZ()) * rayInvDirection.getZ();
106 tzmax = (bounds[1 - raySign[2]].getZ() - rayFrom.getZ()) * rayInvDirection.getZ();
107
108 if ((tmin > tzmax) || (tzmin > tmax))
109 return false;
110 if (tzmin > tmin)
111 tmin = tzmin;
112 if (tzmax < tmax)
113 tmax = tzmax;
114 return ((tmin < lambda_max) && (tmax > lambda_min));
115}
116
118 const btVector3& rayTo,
119 const btVector3& aabbMin,
120 const btVector3& aabbMax,
121 btScalar& param, btVector3& normal)
122{
126 btVector3 target = rayTo - aabbCenter;
129 if ((sourceOutcode & targetOutcode) == 0x0)
130 {
132 btScalar lambda_exit = param;
133 btVector3 r = target - source;
134 int i;
135 btScalar normSign = 1;
136 btVector3 hitNormal(0, 0, 0);
137 int bit = 1;
138
139 for (int j = 0; j < 2; j++)
140 {
141 for (i = 0; i != 3; ++i)
142 {
143 if (sourceOutcode & bit)
144 {
145 btScalar lambda = (-source[i] - aabbHalfExtent[i] * normSign) / r[i];
146 if (lambda_enter <= lambda)
147 {
149 hitNormal.setValue(0, 0, 0);
150 hitNormal[i] = normSign;
151 }
152 }
153 else if (targetOutcode & bit)
154 {
155 btScalar lambda = (-source[i] - aabbHalfExtent[i] * normSign) / r[i];
157 }
158 bit <<= 1;
159 }
160 normSign = btScalar(-1.);
161 }
163 {
164 param = lambda_enter;
165 normal = hitNormal;
166 return true;
167 }
168 }
169 return false;
170}
171
173{
174 btVector3 halfExtentsWithMargin = halfExtents + btVector3(margin, margin, margin);
175 btMatrix3x3 abs_b = t.getBasis().absolute();
176 btVector3 center = t.getOrigin();
178 aabbMinOut = center - extent;
179 aabbMaxOut = center + extent;
180}
181
183{
184 btAssert(localAabbMin.getX() <= localAabbMax.getX());
185 btAssert(localAabbMin.getY() <= localAabbMax.getY());
186 btAssert(localAabbMin.getZ() <= localAabbMax.getZ());
188 localHalfExtents += btVector3(margin, margin, margin);
189
191 btMatrix3x3 abs_b = trans.getBasis().absolute();
192 btVector3 center = trans(localCenter);
194 aabbMinOut = center - extent;
195 aabbMaxOut = center + extent;
196}
197
198#define USE_BANCHLESS 1
199#ifdef USE_BANCHLESS
200//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)
201SIMD_FORCE_INLINE unsigned testQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1, const unsigned short int* aabbMax1, const unsigned short int* aabbMin2, const unsigned short int* aabbMax2)
202{
203 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])),
204 1, 0));
205}
206#else
207SIMD_FORCE_INLINE bool testQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1, const unsigned short int* aabbMax1, const unsigned short int* aabbMin2, const unsigned short int* aabbMax2)
208{
209 bool overlap = true;
210 overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? false : overlap;
211 overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? false : overlap;
212 overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? false : overlap;
213 return overlap;
214}
215#endif //USE_BANCHLESS
216
217#endif //BT_AABB_UTIL2
bool TestPointAgainstAabb2(const btVector3 &aabbMin1, const btVector3 &aabbMax1, const btVector3 &point)
conservative test for overlap between two aabbs
Definition btAabbUtil2.h:32
bool btRayAabb(const btVector3 &rayFrom, const btVector3 &rayTo, const btVector3 &aabbMin, const btVector3 &aabbMax, btScalar &param, btVector3 &normal)
int btOutcode(const btVector3 &p, const btVector3 &halfExtent)
Definition btAabbUtil2.h:72
bool TestAabbAgainstAabb2(const btVector3 &aabbMin1, const btVector3 &aabbMax1, const btVector3 &aabbMin2, const btVector3 &aabbMax2)
conservative test for overlap between two aabbs
Definition btAabbUtil2.h:43
bool btRayAabb2(const btVector3 &rayFrom, const btVector3 &rayInvDirection, const unsigned int raySign[3], const btVector3 bounds[2], btScalar &tmin, btScalar lambda_min, btScalar lambda_max)
Definition btAabbUtil2.h:82
void btTransformAabb(const btVector3 &halfExtents, btScalar margin, const btTransform &t, btVector3 &aabbMinOut, btVector3 &aabbMaxOut)
void AabbExpand(btVector3 &aabbMin, btVector3 &aabbMax, const btVector3 &expansionMin, const btVector3 &expansionMax)
Definition btAabbUtil2.h:22
unsigned testQuantizedAabbAgainstQuantizedAabb(const unsigned short int *aabbMin1, const unsigned short int *aabbMax1, const unsigned short int *aabbMin2, const unsigned short int *aabbMax2)
bool TestTriangleAgainstAabb2(const btVector3 *vertices, const btVector3 &aabbMin, const btVector3 &aabbMax)
conservative test for overlap between triangle and aabb
Definition btAabbUtil2.h:54
static btDbvtVolume bounds(btDbvtNode **leaves, int count)
Definition btDbvt.cpp:299
void btSetMin(T &a, const T &b)
Definition btMinMax.h:39
const T & btMax(const T &a, const T &b)
Definition btMinMax.h:27
const T & btMin(const T &a, const T &b)
Definition btMinMax.h:21
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition btScalar.h:314
unsigned btSelect(unsigned condition, unsigned valueIfConditionNonZero, unsigned valueIfConditionZero)
btSelect avoids branches, which makes performance much better for consoles like Playstation 3 and XBo...
Definition btScalar.h:617
#define SIMD_FORCE_INLINE
Definition btScalar.h:98
#define btAssert(x)
Definition btScalar.h:153
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
Definition btMatrix3x3.h:50
btMatrix3x3 absolute() const
Return the matrix with all values non negative.
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition btTransform.h:30
btVector3 can be used to represent 3D points and vectors.
Definition btVector3.h:82
const btScalar & getZ() const
Return the z value.
Definition btVector3.h:565
btVector3 dot3(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2) const
Definition btVector3.h:720
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition btVector3.h:640
const btScalar & getY() const
Return the y value.
Definition btVector3.h:563
const btScalar & getX() const
Return the x value.
Definition btVector3.h:561