5 #include "Bullet3Common/shared/b3Float4.h"
6 #include "Bullet3Common/shared/b3Mat3x3.h"
8 typedef struct b3Aabb b3Aabb_t;
20 int m_signedMaxIndices[4];
24 inline void b3TransformAabb2(b3Float4ConstArg localAabbMin, b3Float4ConstArg localAabbMax, float margin,
27 b3Float4* aabbMinOut, b3Float4* aabbMaxOut)
29 b3Float4 localHalfExtents = 0.5f * (localAabbMax - localAabbMin);
30 localHalfExtents += b3MakeFloat4(margin, margin, margin, 0.f);
31 b3Float4 localCenter = 0.5f * (localAabbMax + localAabbMin);
33 m = b3QuatGetRotationMatrix(orn);
34 b3Mat3x3 abs_b = b3AbsoluteMat3x3(m);
35 b3Float4 center = b3TransformPoint(localCenter, pos, orn);
37 b3Float4 extent = b3MakeFloat4(b3Dot3F4(localHalfExtents, b3GetRow(abs_b, 0)),
38 b3Dot3F4(localHalfExtents, b3GetRow(abs_b, 1)),
39 b3Dot3F4(localHalfExtents, b3GetRow(abs_b, 2)),
41 *aabbMinOut = center - extent;
42 *aabbMaxOut = center + extent;
45 /// conservative test for overlap between two aabbs
46 inline bool b3TestAabbAgainstAabb(b3Float4ConstArg aabbMin1, b3Float4ConstArg aabbMax1,
47 b3Float4ConstArg aabbMin2, b3Float4ConstArg aabbMax2)
50 overlap = (aabbMin1.x > aabbMax2.x || aabbMax1.x < aabbMin2.x) ? false : overlap;
51 overlap = (aabbMin1.z > aabbMax2.z || aabbMax1.z < aabbMin2.z) ? false : overlap;
52 overlap = (aabbMin1.y > aabbMax2.y || aabbMax1.y < aabbMin2.y) ? false : overlap;