217 lines
8.4 KiB
C++
217 lines
8.4 KiB
C++
/*
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Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans https://bulletphysics.org
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. 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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef B3_AABB_UTIL2
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#define B3_AABB_UTIL2
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#include "Bullet3Common/b3Transform.h"
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#include "Bullet3Common/b3Vector3.h"
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#include "Bullet3Common/b3MinMax.h"
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B3_FORCE_INLINE void b3AabbExpand(b3Vector3& aabbMin,
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b3Vector3& aabbMax,
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const b3Vector3& expansionMin,
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const b3Vector3& expansionMax)
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{
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aabbMin = aabbMin + expansionMin;
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aabbMax = aabbMax + expansionMax;
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}
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/// conservative test for overlap between two aabbs
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B3_FORCE_INLINE bool b3TestPointAgainstAabb2(const b3Vector3& aabbMin1, const b3Vector3& aabbMax1,
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const b3Vector3& point)
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{
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bool overlap = true;
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overlap = (aabbMin1.getX() > point.getX() || aabbMax1.getX() < point.getX()) ? false : overlap;
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overlap = (aabbMin1.getZ() > point.getZ() || aabbMax1.getZ() < point.getZ()) ? false : overlap;
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overlap = (aabbMin1.getY() > point.getY() || aabbMax1.getY() < point.getY()) ? false : overlap;
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return overlap;
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}
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/// conservative test for overlap between two aabbs
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B3_FORCE_INLINE bool b3TestAabbAgainstAabb2(const b3Vector3& aabbMin1, const b3Vector3& aabbMax1,
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const b3Vector3& aabbMin2, const b3Vector3& aabbMax2)
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{
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bool overlap = true;
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overlap = (aabbMin1.getX() > aabbMax2.getX() || aabbMax1.getX() < aabbMin2.getX()) ? false : overlap;
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overlap = (aabbMin1.getZ() > aabbMax2.getZ() || aabbMax1.getZ() < aabbMin2.getZ()) ? false : overlap;
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overlap = (aabbMin1.getY() > aabbMax2.getY() || aabbMax1.getY() < aabbMin2.getY()) ? false : overlap;
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return overlap;
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}
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/// conservative test for overlap between triangle and aabb
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B3_FORCE_INLINE bool b3TestTriangleAgainstAabb2(const b3Vector3* vertices,
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const b3Vector3& aabbMin, const b3Vector3& aabbMax)
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{
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const b3Vector3& p1 = vertices[0];
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const b3Vector3& p2 = vertices[1];
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const b3Vector3& p3 = vertices[2];
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if (b3Min(b3Min(p1[0], p2[0]), p3[0]) > aabbMax[0]) return false;
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if (b3Max(b3Max(p1[0], p2[0]), p3[0]) < aabbMin[0]) return false;
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if (b3Min(b3Min(p1[2], p2[2]), p3[2]) > aabbMax[2]) return false;
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if (b3Max(b3Max(p1[2], p2[2]), p3[2]) < aabbMin[2]) return false;
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if (b3Min(b3Min(p1[1], p2[1]), p3[1]) > aabbMax[1]) return false;
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if (b3Max(b3Max(p1[1], p2[1]), p3[1]) < aabbMin[1]) return false;
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return true;
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}
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B3_FORCE_INLINE int b3Outcode(const b3Vector3& p, const b3Vector3& halfExtent)
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{
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return (p.getX() < -halfExtent.getX() ? 0x01 : 0x0) |
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(p.getX() > halfExtent.getX() ? 0x08 : 0x0) |
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(p.getY() < -halfExtent.getY() ? 0x02 : 0x0) |
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(p.getY() > halfExtent.getY() ? 0x10 : 0x0) |
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(p.getZ() < -halfExtent.getZ() ? 0x4 : 0x0) |
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(p.getZ() > halfExtent.getZ() ? 0x20 : 0x0);
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}
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B3_FORCE_INLINE bool b3RayAabb2(const b3Vector3& rayFrom,
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const b3Vector3& rayInvDirection,
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const unsigned int raySign[3],
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const b3Vector3 bounds[2],
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b3Scalar& tmin,
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b3Scalar lambda_min,
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b3Scalar lambda_max)
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{
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b3Scalar tmax, tymin, tymax, tzmin, tzmax;
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tmin = (bounds[raySign[0]].getX() - rayFrom.getX()) * rayInvDirection.getX();
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tmax = (bounds[1 - raySign[0]].getX() - rayFrom.getX()) * rayInvDirection.getX();
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tymin = (bounds[raySign[1]].getY() - rayFrom.getY()) * rayInvDirection.getY();
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tymax = (bounds[1 - raySign[1]].getY() - rayFrom.getY()) * rayInvDirection.getY();
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if ((tmin > tymax) || (tymin > tmax))
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return false;
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if (tymin > tmin)
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tmin = tymin;
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if (tymax < tmax)
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tmax = tymax;
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tzmin = (bounds[raySign[2]].getZ() - rayFrom.getZ()) * rayInvDirection.getZ();
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tzmax = (bounds[1 - raySign[2]].getZ() - rayFrom.getZ()) * rayInvDirection.getZ();
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if ((tmin > tzmax) || (tzmin > tmax))
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return false;
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if (tzmin > tmin)
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tmin = tzmin;
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if (tzmax < tmax)
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tmax = tzmax;
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return ((tmin < lambda_max) && (tmax > lambda_min));
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}
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B3_FORCE_INLINE bool b3RayAabb(const b3Vector3& rayFrom,
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const b3Vector3& rayTo,
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const b3Vector3& aabbMin,
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const b3Vector3& aabbMax,
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b3Scalar& param, b3Vector3& normal)
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{
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b3Vector3 aabbHalfExtent = (aabbMax - aabbMin) * b3Scalar(0.5);
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b3Vector3 aabbCenter = (aabbMax + aabbMin) * b3Scalar(0.5);
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b3Vector3 source = rayFrom - aabbCenter;
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b3Vector3 target = rayTo - aabbCenter;
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int sourceOutcode = b3Outcode(source, aabbHalfExtent);
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int targetOutcode = b3Outcode(target, aabbHalfExtent);
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if ((sourceOutcode & targetOutcode) == 0x0)
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{
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b3Scalar lambda_enter = b3Scalar(0.0);
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b3Scalar lambda_exit = param;
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b3Vector3 r = target - source;
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int i;
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b3Scalar normSign = 1;
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b3Vector3 hitNormal = b3MakeVector3(0, 0, 0);
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int bit = 1;
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for (int j = 0; j < 2; j++)
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{
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for (i = 0; i != 3; ++i)
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{
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if (sourceOutcode & bit)
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{
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b3Scalar lambda = (-source[i] - aabbHalfExtent[i] * normSign) / r[i];
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if (lambda_enter <= lambda)
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{
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lambda_enter = lambda;
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hitNormal.setValue(0, 0, 0);
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hitNormal[i] = normSign;
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}
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}
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else if (targetOutcode & bit)
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{
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b3Scalar lambda = (-source[i] - aabbHalfExtent[i] * normSign) / r[i];
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b3SetMin(lambda_exit, lambda);
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}
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bit <<= 1;
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}
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normSign = b3Scalar(-1.);
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}
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if (lambda_enter <= lambda_exit)
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{
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param = lambda_enter;
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normal = hitNormal;
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return true;
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}
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}
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return false;
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}
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B3_FORCE_INLINE void b3TransformAabb(const b3Vector3& halfExtents, b3Scalar margin, const b3Transform& t, b3Vector3& aabbMinOut, b3Vector3& aabbMaxOut)
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{
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b3Vector3 halfExtentsWithMargin = halfExtents + b3MakeVector3(margin, margin, margin);
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b3Matrix3x3 abs_b = t.getBasis().absolute();
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b3Vector3 center = t.getOrigin();
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b3Vector3 extent = halfExtentsWithMargin.dot3(abs_b[0], abs_b[1], abs_b[2]);
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aabbMinOut = center - extent;
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aabbMaxOut = center + extent;
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}
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B3_FORCE_INLINE void b3TransformAabb(const b3Vector3& localAabbMin, const b3Vector3& localAabbMax, b3Scalar margin, const b3Transform& trans, b3Vector3& aabbMinOut, b3Vector3& aabbMaxOut)
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{
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//b3Assert(localAabbMin.getX() <= localAabbMax.getX());
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//b3Assert(localAabbMin.getY() <= localAabbMax.getY());
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//b3Assert(localAabbMin.getZ() <= localAabbMax.getZ());
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b3Vector3 localHalfExtents = b3Scalar(0.5) * (localAabbMax - localAabbMin);
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localHalfExtents += b3MakeVector3(margin, margin, margin);
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b3Vector3 localCenter = b3Scalar(0.5) * (localAabbMax + localAabbMin);
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b3Matrix3x3 abs_b = trans.getBasis().absolute();
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b3Vector3 center = trans(localCenter);
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b3Vector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
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aabbMinOut = center - extent;
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aabbMaxOut = center + extent;
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}
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#define B3_USE_BANCHLESS 1
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#ifdef B3_USE_BANCHLESS
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//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)
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B3_FORCE_INLINE unsigned b3TestQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1, const unsigned short int* aabbMax1, const unsigned short int* aabbMin2, const unsigned short int* aabbMax2)
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{
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return static_cast<unsigned int>(b3Select((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])),
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1, 0));
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}
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#else
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B3_FORCE_INLINE bool b3TestQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1, const unsigned short int* aabbMax1, const unsigned short int* aabbMin2, const unsigned short int* aabbMax2)
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{
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bool overlap = true;
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overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ? false : overlap;
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overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ? false : overlap;
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overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ? false : overlap;
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return overlap;
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}
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#endif //B3_USE_BANCHLESS
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#endif //B3_AABB_UTIL2
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