27 aabbMin = aabbMin + expansionMin;
28 aabbMax = aabbMax + expansionMax;
36 overlap = (aabbMin1.
getX() > point.
getX() || aabbMax1.
getX() < point.
getX()) ?
false : overlap;
37 overlap = (aabbMin1.
getZ() > point.
getZ() || aabbMax1.
getZ() < point.
getZ()) ?
false : overlap;
38 overlap = (aabbMin1.
getY() > point.
getY() || aabbMax1.
getY() < point.
getY()) ?
false : overlap;
47 overlap = (aabbMin1.
getX() > aabbMax2.
getX() || aabbMax1.
getX() < aabbMin2.
getX()) ?
false : overlap;
48 overlap = (aabbMin1.
getZ() > aabbMax2.
getZ() || aabbMax1.
getZ() < aabbMin2.
getZ()) ?
false : overlap;
49 overlap = (aabbMin1.
getY() > aabbMax2.
getY() || aabbMax1.
getY() < aabbMin2.
getY()) ?
false : overlap;
61 if (
btMin(
btMin(p1[0], p2[0]), p3[0]) > aabbMax[0])
return false;
62 if (
btMax(
btMax(p1[0], p2[0]), p3[0]) < aabbMin[0])
return false;
64 if (
btMin(
btMin(p1[2], p2[2]), p3[2]) > aabbMax[2])
return false;
65 if (
btMax(
btMax(p1[2], p2[2]), p3[2]) < aabbMin[2])
return false;
67 if (
btMin(
btMin(p1[1], p2[1]), p3[1]) > aabbMax[1])
return false;
68 if (
btMax(
btMax(p1[1], p2[1]), p3[1]) < aabbMin[1])
return false;
74 return (p.
getX() < -halfExtent.
getX() ? 0x01 : 0x0) |
75 (p.
getX() > halfExtent.
getX() ? 0x08 : 0x0) |
76 (p.
getY() < -halfExtent.
getY() ? 0x02 : 0x0) |
77 (p.
getY() > halfExtent.
getY() ? 0x10 : 0x0) |
78 (p.
getZ() < -halfExtent.
getZ() ? 0x4 : 0x0) |
79 (p.
getZ() > halfExtent.
getZ() ? 0x20 : 0x0);
84 const unsigned int raySign[3],
90 btScalar tmax, tymin, tymax, tzmin, tzmax;
91 tmin = (
bounds[raySign[0]].getX() - rayFrom.
getX()) * rayInvDirection.
getX();
92 tmax = (
bounds[1 - raySign[0]].getX() - rayFrom.
getX()) * rayInvDirection.
getX();
93 tymin = (
bounds[raySign[1]].getY() - rayFrom.
getY()) * rayInvDirection.
getY();
94 tymax = (
bounds[1 - raySign[1]].getY() - rayFrom.
getY()) * rayInvDirection.
getY();
96 if ((tmin > tymax) || (tymin > tmax))
105 tzmin = (
bounds[raySign[2]].getZ() - rayFrom.
getZ()) * rayInvDirection.
getZ();
106 tzmax = (
bounds[1 - raySign[2]].getZ() - rayFrom.
getZ()) * rayInvDirection.
getZ();
108 if ((tmin > tzmax) || (tzmin > tmax))
114 return ((tmin < lambda_max) && (tmax > lambda_min));
127 int sourceOutcode =
btOutcode(source, aabbHalfExtent);
128 int targetOutcode =
btOutcode(target, aabbHalfExtent);
129 if ((sourceOutcode & targetOutcode) == 0x0)
139 for (
int j = 0; j < 2; j++)
141 for (i = 0; i != 3; ++i)
143 if (sourceOutcode & bit)
145 btScalar lambda = (-source[i] - aabbHalfExtent[i] * normSign) / r[i];
146 if (lambda_enter <= lambda)
148 lambda_enter = lambda;
150 hitNormal[i] = normSign;
153 else if (targetOutcode & bit)
155 btScalar lambda = (-source[i] - aabbHalfExtent[i] * normSign) / r[i];
162 if (lambda_enter <= lambda_exit)
164 param = lambda_enter;
177 btVector3 extent = halfExtentsWithMargin.
dot3(abs_b[0], abs_b[1], abs_b[2]);
178 aabbMinOut = center - extent;
179 aabbMaxOut = center + extent;
188 localHalfExtents +=
btVector3(margin, margin, margin);
193 btVector3 extent = localHalfExtents.
dot3(abs_b[0], abs_b[1], abs_b[2]);
194 aabbMinOut = center - extent;
195 aabbMaxOut = center + extent;
198 #define USE_BANCHLESS 1 203 return static_cast<unsigned int>(
btSelect((
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])),
210 overlap = (aabbMin1[0] > aabbMax2[0] || aabbMax1[0] < aabbMin2[0]) ?
false : overlap;
211 overlap = (aabbMin1[2] > aabbMax2[2] || aabbMax1[2] < aabbMin2[2]) ?
false : overlap;
212 overlap = (aabbMin1[1] > aabbMax2[1] || aabbMax1[1] < aabbMin2[1]) ?
false : overlap;
215 #endif //USE_BANCHLESS 217 #endif //BT_AABB_UTIL2 unsigned btSelect(unsigned condition, unsigned valueIfConditionNonZero, unsigned valueIfConditionZero)
btSelect avoids branches, which makes performance much better for consoles like Playstation 3 and XBo...
int btOutcode(const btVector3 &p, const btVector3 &halfExtent)
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
btVector3 dot3(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2) const
#define SIMD_FORCE_INLINE
const btScalar & getY() const
Return the y value.
bool TestAabbAgainstAabb2(const btVector3 &aabbMin1, const btVector3 &aabbMax1, const btVector3 &aabbMin2, const btVector3 &aabbMax2)
conservative test for overlap between two aabbs
void btSetMin(T &a, const T &b)
const btScalar & getZ() const
Return the z value.
void AabbExpand(btVector3 &aabbMin, btVector3 &aabbMax, const btVector3 &expansionMin, const btVector3 &expansionMax)
unsigned testQuantizedAabbAgainstQuantizedAabb(const unsigned short int *aabbMin1, const unsigned short int *aabbMax1, const unsigned short int *aabbMin2, const unsigned short int *aabbMax2)
btVector3 can be used to represent 3D points and vectors.
bool TestPointAgainstAabb2(const btVector3 &aabbMin1, const btVector3 &aabbMax1, const btVector3 &point)
conservative test for overlap between two aabbs
btMatrix3x3 absolute() const
Return the matrix with all values non negative.
const T & btMax(const T &a, const T &b)
static btDbvtVolume bounds(btDbvtNode **leaves, int count)
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
void btTransformAabb(const btVector3 &halfExtents, btScalar margin, const btTransform &t, btVector3 &aabbMinOut, btVector3 &aabbMaxOut)
const T & btMin(const T &a, const T &b)
bool btRayAabb2(const btVector3 &rayFrom, const btVector3 &rayInvDirection, const unsigned int raySign[3], const btVector3 bounds[2], btScalar &tmin, btScalar lambda_min, btScalar lambda_max)
bool btRayAabb(const btVector3 &rayFrom, const btVector3 &rayTo, const btVector3 &aabbMin, const btVector3 &aabbMax, btScalar ¶m, btVector3 &normal)
bool TestTriangleAgainstAabb2(const btVector3 *vertices, const btVector3 &aabbMin, const btVector3 &aabbMax)
conservative test for overlap between triangle and aabb
const btScalar & getX() const
Return the x value.
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...