Bullet Collision Detection & Physics Library
btAabbUtil2.h
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1 /*
2 Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/
3 
4 This software is provided 'as-is', without any express or implied warranty.
5 In no event will the authors be held liable for any damages arising from the use of this software.
6 Permission is granted to anyone to use this software for any purpose,
7 including commercial applications, and to alter it and redistribute it freely,
8 subject to the following restrictions:
9 
10 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.
11 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
12 3. This notice may not be removed or altered from any source distribution.
13 */
14 
15 #ifndef BT_AABB_UTIL2
16 #define BT_AABB_UTIL2
17 
18 #include "btTransform.h"
19 #include "btVector3.h"
20 #include "btMinMax.h"
21 
23  btVector3& aabbMax,
24  const btVector3& expansionMin,
25  const btVector3& expansionMax)
26 {
27  aabbMin = aabbMin + expansionMin;
28  aabbMax = aabbMax + expansionMax;
29 }
30 
32 SIMD_FORCE_INLINE bool TestPointAgainstAabb2(const btVector3& aabbMin1, const btVector3& aabbMax1,
33  const btVector3& point)
34 {
35  bool overlap = true;
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;
39  return overlap;
40 }
41 
43 SIMD_FORCE_INLINE bool TestAabbAgainstAabb2(const btVector3& aabbMin1, const btVector3& aabbMax1,
44  const btVector3& aabbMin2, const btVector3& aabbMax2)
45 {
46  bool overlap = true;
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;
50  return overlap;
51 }
52 
55  const btVector3& aabbMin, const btVector3& aabbMax)
56 {
57  const btVector3& p1 = vertices[0];
58  const btVector3& p2 = vertices[1];
59  const btVector3& p3 = vertices[2];
60 
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;
63 
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;
66 
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;
69  return true;
70 }
71 
72 SIMD_FORCE_INLINE int btOutcode(const btVector3& p, const btVector3& halfExtent)
73 {
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);
80 }
81 
83  const btVector3& rayInvDirection,
84  const unsigned int raySign[3],
85  const btVector3 bounds[2],
86  btScalar& tmin,
87  btScalar lambda_min,
88  btScalar lambda_max)
89 {
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();
95 
96  if ((tmin > tymax) || (tymin > tmax))
97  return false;
98 
99  if (tymin > tmin)
100  tmin = tymin;
101 
102  if (tymax < tmax)
103  tmax = tymax;
104 
105  tzmin = (bounds[raySign[2]].getZ() - rayFrom.getZ()) * rayInvDirection.getZ();
106  tzmax = (bounds[1 - raySign[2]].getZ() - rayFrom.getZ()) * rayInvDirection.getZ();
107 
108  if ((tmin > tzmax) || (tzmin > tmax))
109  return false;
110  if (tzmin > tmin)
111  tmin = tzmin;
112  if (tzmax < tmax)
113  tmax = tzmax;
114  return ((tmin < lambda_max) && (tmax > lambda_min));
115 }
116 
118  const btVector3& rayTo,
119  const btVector3& aabbMin,
120  const btVector3& aabbMax,
121  btScalar& param, btVector3& normal)
122 {
123  btVector3 aabbHalfExtent = (aabbMax - aabbMin) * btScalar(0.5);
124  btVector3 aabbCenter = (aabbMax + aabbMin) * btScalar(0.5);
125  btVector3 source = rayFrom - aabbCenter;
126  btVector3 target = rayTo - aabbCenter;
127  int sourceOutcode = btOutcode(source, aabbHalfExtent);
128  int targetOutcode = btOutcode(target, aabbHalfExtent);
129  if ((sourceOutcode & targetOutcode) == 0x0)
130  {
131  btScalar lambda_enter = btScalar(0.0);
132  btScalar lambda_exit = param;
133  btVector3 r = target - source;
134  int i;
135  btScalar normSign = 1;
136  btVector3 hitNormal(0, 0, 0);
137  int bit = 1;
138 
139  for (int j = 0; j < 2; j++)
140  {
141  for (i = 0; i != 3; ++i)
142  {
143  if (sourceOutcode & bit)
144  {
145  btScalar lambda = (-source[i] - aabbHalfExtent[i] * normSign) / r[i];
146  if (lambda_enter <= lambda)
147  {
148  lambda_enter = lambda;
149  hitNormal.setValue(0, 0, 0);
150  hitNormal[i] = normSign;
151  }
152  }
153  else if (targetOutcode & bit)
154  {
155  btScalar lambda = (-source[i] - aabbHalfExtent[i] * normSign) / r[i];
156  btSetMin(lambda_exit, lambda);
157  }
158  bit <<= 1;
159  }
160  normSign = btScalar(-1.);
161  }
162  if (lambda_enter <= lambda_exit)
163  {
164  param = lambda_enter;
165  normal = hitNormal;
166  return true;
167  }
168  }
169  return false;
170 }
171 
172 SIMD_FORCE_INLINE void btTransformAabb(const btVector3& halfExtents, btScalar margin, const btTransform& t, btVector3& aabbMinOut, btVector3& aabbMaxOut)
173 {
174  btVector3 halfExtentsWithMargin = halfExtents + btVector3(margin, margin, margin);
175  btMatrix3x3 abs_b = t.getBasis().absolute();
176  btVector3 center = t.getOrigin();
177  btVector3 extent = halfExtentsWithMargin.dot3(abs_b[0], abs_b[1], abs_b[2]);
178  aabbMinOut = center - extent;
179  aabbMaxOut = center + extent;
180 }
181 
182 SIMD_FORCE_INLINE void btTransformAabb(const btVector3& localAabbMin, const btVector3& localAabbMax, btScalar margin, const btTransform& trans, btVector3& aabbMinOut, btVector3& aabbMaxOut)
183 {
184  btAssert(localAabbMin.getX() <= localAabbMax.getX());
185  btAssert(localAabbMin.getY() <= localAabbMax.getY());
186  btAssert(localAabbMin.getZ() <= localAabbMax.getZ());
187  btVector3 localHalfExtents = btScalar(0.5) * (localAabbMax - localAabbMin);
188  localHalfExtents += btVector3(margin, margin, margin);
189 
190  btVector3 localCenter = btScalar(0.5) * (localAabbMax + localAabbMin);
191  btMatrix3x3 abs_b = trans.getBasis().absolute();
192  btVector3 center = trans(localCenter);
193  btVector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
194  aabbMinOut = center - extent;
195  aabbMaxOut = center + extent;
196 }
197 
198 #define USE_BANCHLESS 1
199 #ifdef USE_BANCHLESS
200 //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)
201 SIMD_FORCE_INLINE unsigned testQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1, const unsigned short int* aabbMax1, const unsigned short int* aabbMin2, const unsigned short int* aabbMax2)
202 {
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])),
204  1, 0));
205 }
206 #else
207 SIMD_FORCE_INLINE bool testQuantizedAabbAgainstQuantizedAabb(const unsigned short int* aabbMin1, const unsigned short int* aabbMax1, const unsigned short int* aabbMin2, const unsigned short int* aabbMax2)
208 {
209  bool overlap = true;
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;
213  return overlap;
214 }
215 #endif //USE_BANCHLESS
216 
217 #endif //BT_AABB_UTIL2
btVector3::dot3
btVector3 dot3(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2) const
Definition: btVector3.h:720
btVector3::setValue
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition: btVector3.h:640
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
testQuantizedAabbAgainstQuantizedAabb
unsigned testQuantizedAabbAgainstQuantizedAabb(const unsigned short int *aabbMin1, const unsigned short int *aabbMax1, const unsigned short int *aabbMin2, const unsigned short int *aabbMax2)
Definition: btAabbUtil2.h:201
TestTriangleAgainstAabb2
bool TestTriangleAgainstAabb2(const btVector3 *vertices, const btVector3 &aabbMin, const btVector3 &aabbMax)
conservative test for overlap between triangle and aabb
Definition: btAabbUtil2.h:54
btMin
const T & btMin(const T &a, const T &b)
Definition: btMinMax.h:21
btMax
const T & btMax(const T &a, const T &b)
Definition: btMinMax.h:27
btVector3::getX
const btScalar & getX() const
Return the x value.
Definition: btVector3.h:561
btVector3.h
btAssert
#define btAssert(x)
Definition: btScalar.h:153
btMinMax.h
btOutcode
int btOutcode(const btVector3 &p, const btVector3 &halfExtent)
Definition: btAabbUtil2.h:72
TestAabbAgainstAabb2
bool TestAabbAgainstAabb2(const btVector3 &aabbMin1, const btVector3 &aabbMax1, const btVector3 &aabbMin2, const btVector3 &aabbMax2)
conservative test for overlap between two aabbs
Definition: btAabbUtil2.h:43
bounds
static btDbvtVolume bounds(btDbvtNode **leaves, int count)
Definition: btDbvt.cpp:299
btTransform::getBasis
btMatrix3x3 & getBasis()
Return the basis matrix for the rotation.
Definition: btTransform.h:108
TestPointAgainstAabb2
bool TestPointAgainstAabb2(const btVector3 &aabbMin1, const btVector3 &aabbMax1, const btVector3 &point)
conservative test for overlap between two aabbs
Definition: btAabbUtil2.h:32
AabbExpand
void AabbExpand(btVector3 &aabbMin, btVector3 &aabbMax, const btVector3 &expansionMin, const btVector3 &expansionMax)
Definition: btAabbUtil2.h:22
btMatrix3x3
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
Definition: btMatrix3x3.h:46
btTransform.h
btSetMin
void btSetMin(T &a, const T &b)
Definition: btMinMax.h:39
btTransform
The btTransform class supports rigid transforms with only translation and rotation and no scaling/she...
Definition: btTransform.h:28
btRayAabb2
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)
Definition: btAabbUtil2.h:82
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:80
btSelect
unsigned btSelect(unsigned condition, unsigned valueIfConditionNonZero, unsigned valueIfConditionZero)
btSelect avoids branches, which makes performance much better for consoles like Playstation 3 and XBo...
Definition: btScalar.h:617
btTransform::getOrigin
btVector3 & getOrigin()
Return the origin vector translation.
Definition: btTransform.h:113
btVector3::getZ
const btScalar & getZ() const
Return the z value.
Definition: btVector3.h:565
btVector3::getY
const btScalar & getY() const
Return the y value.
Definition: btVector3.h:563
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:98
btTransformAabb
void btTransformAabb(const btVector3 &halfExtents, btScalar margin, const btTransform &t, btVector3 &aabbMinOut, btVector3 &aabbMaxOut)
Definition: btAabbUtil2.h:172
btMatrix3x3::absolute
btMatrix3x3 absolute() const
Return the matrix with all values non negative.
Definition: btMatrix3x3.h:1012
btRayAabb
bool btRayAabb(const btVector3 &rayFrom, const btVector3 &rayTo, const btVector3 &aabbMin, const btVector3 &aabbMax, btScalar &param, btVector3 &normal)
Definition: btAabbUtil2.h:117