dali-physics/third-party/bullet3/src/Bullet3Collision/NarrowPhaseCollision/shared/b3UpdateAabbs.h

   1 #ifndef B3_UPDATE_AABBS_H
   2 #define B3_UPDATE_AABBS_H
   3
   4 #include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
   5 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
   6 #include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
   7
   8 void b3ComputeWorldAabb(int bodyId, __global const b3RigidBodyData_t* bodies, __global const b3Collidable_t* collidables, __global const b3Aabb_t* localShapeAABB, __global b3Aabb_t* worldAabbs)
   9 {
  10         __global const b3RigidBodyData_t* body = &bodies[bodyId];
  11
  12         b3Float4 position = body->m_pos;
  13         b3Quat orientation = body->m_quat;
  14
  15         int collidableIndex = body->m_collidableIdx;
  16         int shapeIndex = collidables[collidableIndex].m_shapeIndex;
  17
  18         if (shapeIndex >= 0)
  19         {
  20                 b3Aabb_t localAabb = localShapeAABB[collidableIndex];
  21                 b3Aabb_t worldAabb;
  22
  23                 b3Float4 aabbAMinOut, aabbAMaxOut;
  24                 float margin = 0.f;
  25                 b3TransformAabb2(localAabb.m_minVec, localAabb.m_maxVec, margin, position, orientation, &aabbAMinOut, &aabbAMaxOut);
  26
  27                 worldAabb.m_minVec = aabbAMinOut;
  28                 worldAabb.m_minIndices[3] = bodyId;
  29                 worldAabb.m_maxVec = aabbAMaxOut;
  30                 worldAabb.m_signedMaxIndices[3] = body[bodyId].m_invMass == 0.f ? 0 : 1;
  31                 worldAabbs[bodyId] = worldAabb;
  32         }
  33 }
  34
  35 #endif  //B3_UPDATE_AABBS_H