41 lines
1.2 KiB
C++
41 lines
1.2 KiB
C++
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#ifndef B3_UPDATE_AABBS_H
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#define B3_UPDATE_AABBS_H
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#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
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#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
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#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
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void b3ComputeWorldAabb( int bodyId, __global const b3RigidBodyData_t* bodies, __global const b3Collidable_t* collidables, __global const b3Aabb_t* localShapeAABB, __global b3Aabb_t* worldAabbs)
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{
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__global const b3RigidBodyData_t* body = &bodies[bodyId];
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b3Float4 position = body->m_pos;
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b3Quat orientation = body->m_quat;
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int collidableIndex = body->m_collidableIdx;
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int shapeIndex = collidables[collidableIndex].m_shapeIndex;
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if (shapeIndex>=0)
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{
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b3Aabb_t localAabb = localShapeAABB[collidableIndex];
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b3Aabb_t worldAabb;
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b3Float4 aabbAMinOut,aabbAMaxOut;
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float margin = 0.f;
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b3TransformAabb2(localAabb.m_minVec,localAabb.m_maxVec,margin,position,orientation,&aabbAMinOut,&aabbAMaxOut);
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worldAabb.m_minVec =aabbAMinOut;
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worldAabb.m_minIndices[3] = bodyId;
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worldAabb.m_maxVec = aabbAMaxOut;
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worldAabb.m_signedMaxIndices[3] = body[bodyId].m_invMass==0.f? 0 : 1;
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worldAabbs[bodyId] = worldAabb;
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}
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}
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#endif //B3_UPDATE_AABBS_H
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