dali-physics/third-party/bullet3/src/Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h

   1
   2 #ifndef B3_AABB_H
   3 #define B3_AABB_H
   4
   5 #include "Bullet3Common/shared/b3Float4.h"
   6 #include "Bullet3Common/shared/b3Mat3x3.h"
   7
   8 typedef struct b3Aabb b3Aabb_t;
   9
  10 struct b3Aabb
  11 {
  12         union {
  13                 float m_min[4];
  14                 b3Float4 m_minVec;
  15                 int m_minIndices[4];
  16         };
  17         union {
  18                 float m_max[4];
  19                 b3Float4 m_maxVec;
  20                 int m_signedMaxIndices[4];
  21         };
  22 };
  23
  24 inline void b3TransformAabb2(b3Float4ConstArg localAabbMin, b3Float4ConstArg localAabbMax, float margin,
  25                                                          b3Float4ConstArg pos,
  26                                                          b3QuatConstArg orn,
  27                                                          b3Float4* aabbMinOut, b3Float4* aabbMaxOut)
  28 {
  29         b3Float4 localHalfExtents = 0.5f * (localAabbMax - localAabbMin);
  30         localHalfExtents += b3MakeFloat4(margin, margin, margin, 0.f);
  31         b3Float4 localCenter = 0.5f * (localAabbMax + localAabbMin);
  32         b3Mat3x3 m;
  33         m = b3QuatGetRotationMatrix(orn);
  34         b3Mat3x3 abs_b = b3AbsoluteMat3x3(m);
  35         b3Float4 center = b3TransformPoint(localCenter, pos, orn);
  36
  37         b3Float4 extent = b3MakeFloat4(b3Dot3F4(localHalfExtents, b3GetRow(abs_b, 0)),
  38                                                                    b3Dot3F4(localHalfExtents, b3GetRow(abs_b, 1)),
  39                                                                    b3Dot3F4(localHalfExtents, b3GetRow(abs_b, 2)),
  40                                                                    0.f);
  41         *aabbMinOut = center - extent;
  42         *aabbMaxOut = center + extent;
  43 }
  44
  45 /// conservative test for overlap between two aabbs
  46 inline bool b3TestAabbAgainstAabb(b3Float4ConstArg aabbMin1, b3Float4ConstArg aabbMax1,
  47                                                                   b3Float4ConstArg aabbMin2, b3Float4ConstArg aabbMax2)
  48 {
  49         bool overlap = true;
  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;
  53         return overlap;
  54 }
  55
  56 #endif  //B3_AABB_H