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