Bullet Collision Detection & Physics Library
|
Go to the documentation of this file. 1 #ifndef BT_BOX_COLLISION_H_INCLUDED
2 #define BT_BOX_COLLISION_H_INCLUDED
30 #define BT_SWAP_NUMBERS(a, b) \
37 #define BT_MAX(a, b) (a < b ? b : a)
38 #define BT_MIN(a, b) (a > b ? b : a)
40 #define BT_GREATER(x, y) btFabs(x) > (y)
42 #define BT_MAX3(a, b, c) BT_MAX(a, BT_MAX(b, c))
43 #define BT_MIN3(a, b, c) BT_MIN(a, BT_MIN(b, c))
112 #define TEST_CROSS_EDGE_BOX_MCR(edge, absolute_edge, pointa, pointb, _extend, i_dir_0, i_dir_1, i_comp_0, i_comp_1) \
114 const btScalar dir0 = -edge[i_dir_0]; \
115 const btScalar dir1 = edge[i_dir_1]; \
116 btScalar pmin = pointa[i_comp_0] * dir0 + pointa[i_comp_1] * dir1; \
117 btScalar pmax = pointb[i_comp_0] * dir0 + pointb[i_comp_1] * dir1; \
120 BT_SWAP_NUMBERS(pmin, pmax); \
122 const btScalar abs_dir0 = absolute_edge[i_dir_0]; \
123 const btScalar abs_dir1 = absolute_edge[i_dir_1]; \
124 const btScalar rad = _extend[i_comp_0] * abs_dir0 + _extend[i_comp_1] * abs_dir1; \
125 if (pmin > rad || -rad > pmax) return false; \
128 #define TEST_CROSS_EDGE_BOX_X_AXIS_MCR(edge, absolute_edge, pointa, pointb, _extend) \
130 TEST_CROSS_EDGE_BOX_MCR(edge, absolute_edge, pointa, pointb, _extend, 2, 1, 1, 2); \
133 #define TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(edge, absolute_edge, pointa, pointb, _extend) \
135 TEST_CROSS_EDGE_BOX_MCR(edge, absolute_edge, pointa, pointb, _extend, 0, 2, 2, 0); \
138 #define TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(edge, absolute_edge, pointa, pointb, _extend) \
140 TEST_CROSS_EDGE_BOX_MCR(edge, absolute_edge, pointa, pointb, _extend, 1, 0, 0, 1); \
147 return vec3[0] * mat[0][colindex] + vec3[1] * mat[1][colindex] + vec3[2] * mat[2][colindex];
168 for (i = 0; i < 3; i++)
170 for (j = 0; j < 3; j++)
172 m_AR[i][j] = 1e-6f +
btFabs(m_R1to0[i][j]);
185 temp_trans = temp_trans * trans1;
190 calc_absolute_matrix();
197 m_T1to0 = m_R1to0 * (-trans0.
getOrigin());
202 calc_absolute_matrix();
207 return point.
dot3(m_R1to0[0], m_R1to0[1], m_R1to0[2]) + m_T1to0;
211 #define BOX_PLANE_EPSILON 0.000001f
229 m_min[0] =
BT_MIN3(V1[0], V2[0], V3[0]);
230 m_min[1] =
BT_MIN3(V1[1], V2[1], V3[1]);
231 m_min[2] =
BT_MIN3(V1[2], V2[2], V3[2]);
233 m_max[0] =
BT_MAX3(V1[0], V2[0], V3[0]);
234 m_max[1] =
BT_MAX3(V1[1], V2[1], V3[1]);
235 m_max[2] =
BT_MAX3(V1[2], V2[2], V3[2]);
243 m_min[0] =
BT_MIN3(V1[0], V2[0], V3[0]);
244 m_min[1] =
BT_MIN3(V1[1], V2[1], V3[1]);
245 m_min[2] =
BT_MIN3(V1[2], V2[2], V3[2]);
247 m_max[0] =
BT_MAX3(V1[0], V2[0], V3[0]);
248 m_max[1] =
BT_MAX3(V1[1], V2[1], V3[1]);
249 m_max[2] =
BT_MAX3(V1[2], V2[2], V3[2]);
295 m_min[0] = other.
m_min[0] - margin;
296 m_min[1] = other.
m_min[1] - margin;
297 m_min[2] = other.
m_min[2] - margin;
299 m_max[0] = other.
m_max[0] + margin;
300 m_max[1] = other.
m_max[1] + margin;
301 m_max[2] = other.
m_max[2] + margin;
304 template <
typename CLASS_POINT>
306 const CLASS_POINT &V1,
307 const CLASS_POINT &V2,
308 const CLASS_POINT &V3)
310 m_min[0] =
BT_MIN3(V1[0], V2[0], V3[0]);
311 m_min[1] =
BT_MIN3(V1[1], V2[1], V3[1]);
312 m_min[2] =
BT_MIN3(V1[2], V2[2], V3[2]);
314 m_max[0] =
BT_MAX3(V1[0], V2[0], V3[0]);
315 m_max[1] =
BT_MAX3(V1[1], V2[1], V3[1]);
316 m_max[2] =
BT_MAX3(V1[2], V2[2], V3[2]);
319 template <
typename CLASS_POINT>
321 const CLASS_POINT &V1,
322 const CLASS_POINT &V2,
323 const CLASS_POINT &V3,
btScalar margin)
325 m_min[0] =
BT_MIN3(V1[0], V2[0], V3[0]);
326 m_min[1] =
BT_MIN3(V1[1], V2[1], V3[1]);
327 m_min[2] =
BT_MIN3(V1[2], V2[2], V3[2]);
329 m_max[0] =
BT_MAX3(V1[0], V2[0], V3[0]);
330 m_max[1] =
BT_MAX3(V1[1], V2[1], V3[1]);
331 m_max[2] =
BT_MAX3(V1[2], V2[2], V3[2]);
344 btVector3 center = (m_max + m_min) * 0.5f;
347 center = trans(center);
353 m_min = center - textends;
354 m_max = center + textends;
360 btVector3 center = (m_max + m_min) * 0.5f;
369 m_min = center - textends;
370 m_max = center + textends;
386 template <
typename CLASS_POINT>
389 m_min[0] =
BT_MIN(m_min[0], point[0]);
390 m_min[1] =
BT_MIN(m_min[1], point[1]);
391 m_min[2] =
BT_MIN(m_min[2], point[2]);
393 m_max[0] =
BT_MAX(m_max[0], point[0]);
394 m_max[1] =
BT_MAX(m_max[1], point[1]);
395 m_max[2] =
BT_MAX(m_max[2], point[2]);
401 center = (m_max + m_min) * 0.5f;
402 extend = m_max - center;
419 if (m_min[0] > other.
m_max[0] ||
420 m_max[0] < other.
m_min[0] ||
421 m_min[1] > other.
m_max[1] ||
422 m_max[1] < other.
m_min[1] ||
423 m_min[2] > other.
m_max[2] ||
424 m_max[2] < other.
m_min[2])
439 this->get_center_extend(center, extents);
442 btScalar Dx = vorigin[0] - center[0];
443 if (
BT_GREATER(Dx, extents[0]) && Dx * vdir[0] >= 0.0f)
return false;
444 btScalar Dy = vorigin[1] - center[1];
445 if (
BT_GREATER(Dy, extents[1]) && Dy * vdir[1] >= 0.0f)
return false;
446 btScalar Dz = vorigin[2] - center[2];
447 if (
BT_GREATER(Dz, extents[2]) && Dz * vdir[2] >= 0.0f)
return false;
449 btScalar f = vdir[1] * Dz - vdir[2] * Dy;
450 if (
btFabs(f) > extents[1] *
btFabs(vdir[2]) + extents[2] *
btFabs(vdir[1]))
return false;
451 f = vdir[2] * Dx - vdir[0] * Dz;
452 if (
btFabs(f) > extents[0] *
btFabs(vdir[2]) + extents[2] *
btFabs(vdir[0]))
return false;
453 f = vdir[0] * Dy - vdir[1] * Dx;
454 if (
btFabs(f) > extents[0] *
btFabs(vdir[1]) + extents[1] *
btFabs(vdir[0]))
return false;
460 btVector3 center = (m_max + m_min) * 0.5f;
465 vmin = _fOrigin - _fMaximumExtent;
466 vmax = _fOrigin + _fMaximumExtent;
472 this->projection_interval(plane, _fmin, _fmax);
490 return has_collision(tbox);
498 return has_collision(tbox);
508 get_center_extend(ca, ea);
516 for (i = 0; i < 3; i++)
518 T[i] = transcache.
m_R1to0[i].dot(cb) + transcache.
m_T1to0[i] - ca[i];
519 t = transcache.
m_AR[i].dot(eb) + ea[i];
523 for (i = 0; i < 3; i++)
532 int j, m, n, o, p, q, r;
533 for (i = 0; i < 3; i++)
539 for (j = 0; j < 3; j++)
543 t = T[n] * transcache.
m_R1to0[m][j] - T[m] * transcache.
m_R1to0[n][j];
544 t2 = ea[o] * transcache.
m_AR[p][j] + ea[p] * transcache.
m_AR[o][j] +
545 eb[r] * transcache.
m_AR[i][q] + eb[q] * transcache.
m_AR[i][r];
568 if (!collide_plane(triangle_plane))
return false;
571 this->get_center_extend(center, extends);
620 #endif // GIM_BOX_COLLISION_H_INCLUDED
btAABB(const btAABB &other, btScalar margin)
btVector3 absolute() const
Return a vector with the absolute values of each element.
bool overlapping_trans_cache(const btAABB &box, const BT_BOX_BOX_TRANSFORM_CACHE &transcache, bool fulltest) const
transcache is the transformation cache from box to this AABB
btVector3 dot3(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2) const
void get_center_extend(btVector3 ¢er, btVector3 &extend) const
Gets the extend and center.
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btMatrix3x3 inverse() const
Return the inverse of the matrix.
eBT_PLANE_INTERSECTION_TYPE
btScalar dot(const btVector3 &v) const
Return the dot product.
bool overlapping_trans_conservative2(const btAABB &box, const BT_BOX_BOX_TRANSFORM_CACHE &trans1_to_0) const
void projection_interval(const btVector3 &direction, btScalar &vmin, btScalar &vmax) const
void appy_transform_trans_cache(const BT_BOX_BOX_TRANSFORM_CACHE &trans)
Apply a transform to an AABB.
bool collide_triangle_exact(const btVector3 &p1, const btVector3 &p2, const btVector3 &p3, const btVector4 &triangle_plane) const
test for a triangle, with edges
btAABB(const btVector3 &V1, const btVector3 &V2, const btVector3 &V3)
#define TEST_CROSS_EDGE_BOX_X_AXIS_MCR(edge, absolute_edge, pointa, pointb, _extend)
void copy_with_margin(const btAABB &other, btScalar margin)
const btVector3 & getRow(int i) const
Get a row of the matrix as a vector.
void find_intersection(const btAABB &other, btAABB &intersection) const
Finds the intersecting box between this box and the other.
bool btCompareTransformsEqual(const btTransform &t1, const btTransform &t2)
Compairison of transformation objects.
btScalar btFabs(btScalar x)
void increment_margin(btScalar margin)
#define TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(edge, absolute_edge, pointa, pointb, _extend)
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
#define BOX_PLANE_EPSILON
bool overlapping_trans_conservative(const btAABB &box, btTransform &trans1_to_0) const
#define TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(edge, absolute_edge, pointa, pointb, _extend)
btVector3 can be used to represent 3D points and vectors.
btAABB(const btVector3 &V1, const btVector3 &V2, const btVector3 &V3, btScalar margin)
#define ATTRIBUTE_ALIGNED16(a)
void calc_from_triangle_margin(const CLASS_POINT &V1, const CLASS_POINT &V2, const CLASS_POINT &V3, btScalar margin)
#define SIMD_FORCE_INLINE
void merge_point(const CLASS_POINT &point)
Merges a point.
void merge(const btAABB &box)
Merges a Box.
void appy_transform(const btTransform &trans)
Apply a transform to an AABB.
bool collide_ray(const btVector3 &vorigin, const btVector3 &vdir) const
Finds the Ray intersection parameter.
eBT_PLANE_INTERSECTION_TYPE plane_classify(const btVector4 &plane) const
btScalar bt_mat3_dot_col(const btMatrix3x3 &mat, const btVector3 &vec3, int colindex)
Returns the dot product between a vec3f and the col of a matrix.
btAABB(const btAABB &other)
bool has_collision(const btAABB &other) const
void calc_from_triangle(const CLASS_POINT &V1, const CLASS_POINT &V2, const CLASS_POINT &V3)
bool collide_plane(const btVector4 &plane) const
Simple test for planes.