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Viewing changes to extern/bullet2/src/LinearMath/btAabbUtil2.h

  • Committer: Bazaar Package Importer
  • Author(s): Khashayar Naderehvandi, Khashayar Naderehvandi, Alessio Treglia
  • Date: 2009-01-22 16:53:59 UTC
  • mfrom: (14.1.1 experimental)
  • Revision ID: james.westby@ubuntu.com-20090122165359-v0996tn7fbit64ni
Tags: 2.48a+dfsg-1ubuntu1
https://launchpad.net/bugs/320045
[ Khashayar Naderehvandi ]
* Merge from debian experimental (LP: #320045), Ubuntu remaining changes:
  - Add patch correcting header file locations.
  - Add libvorbis-dev and libgsm1-dev to Build-Depends.
  - Use avcodec_decode_audio2() in source/blender/src/hddaudio.c

[ Alessio Treglia ]
* Add missing previous changelog entries.

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extern/bullet2/src/LinearMath/btAabbUtil2.h
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#ifndef AABB_UTIL2
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#define AABB_UTIL2
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#include "btTransform.h"
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#include "btVector3.h"
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#include "btSimdMinMax.h"
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#define btMin(a,b) ((a < b ? a : b))
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#define btMax(a,b) ((a > b ? a : b))
 
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#include "btMinMax.h"
 
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SIMD_FORCE_INLINE void AabbExpand (btVector3& aabbMin,
 
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                                                                   btVector3& aabbMax,
 
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                                                                   const btVector3& expansionMin,
 
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                                                                   const btVector3& 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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}
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SIMD_FORCE_INLINE bool btRayAabb2(const btVector3& rayFrom,
 
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                                                                  const btVector3& rayInvDirection,
 
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                                                                  const unsigned int raySign[3],
 
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                                                                  const btVector3 bounds[2],
 
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                                                                  btScalar& tmin,
 
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                                                                  btScalar lambda_min,
 
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                                                                  btScalar lambda_max)
 
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{
 
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        btScalar tmax, tymin, tymax, tzmin, tzmax;
 
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        tmin = (bounds[raySign[0]][0] - rayFrom[0]) * rayInvDirection[0];
 
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        tmax = (bounds[1-raySign[0]][0] - rayFrom[0]) * rayInvDirection[0];
 
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        tymin = (bounds[raySign[1]][1] - rayFrom[1]) * rayInvDirection[1];
 
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        tymax = (bounds[1-raySign[1]][1] - rayFrom[1]) * rayInvDirection[1];
 
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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]][2] - rayFrom[2]) * rayInvDirection[2];
 
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        tzmax = (bounds[1-raySign[2]][2] - rayFrom[2]) * rayInvDirection[2];
 
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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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SIMD_FORCE_INLINE bool btRayAabb(const btVector3& rayFrom, 
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                                                                 const btVector3& rayTo, 
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                                                                 const btVector3& aabbMin, 
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}
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SIMD_FORCE_INLINE       void btTransformAabb(const btVector3& halfExtents, btScalar margin,const btTransform& t,btVector3& aabbMinOut,btVector3& aabbMaxOut)
 
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{
 
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        btVector3 halfExtentsWithMargin = halfExtents+btVector3(margin,margin,margin);
 
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        btMatrix3x3 abs_b = t.getBasis().absolute();  
 
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        btVector3 center = t.getOrigin();
 
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        btVector3 extent = btVector3(abs_b[0].dot(halfExtentsWithMargin),
 
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                   abs_b[1].dot(halfExtentsWithMargin),
 
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                  abs_b[2].dot(halfExtentsWithMargin));
 
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        aabbMinOut = center - extent;
 
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        aabbMaxOut = center + extent;
 
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}
 
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SIMD_FORCE_INLINE       void btTransformAabb(const btVector3& localAabbMin,const btVector3& localAabbMax, btScalar margin,const btTransform& trans,btVector3& aabbMinOut,btVector3& aabbMaxOut)
 
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{
 
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                btAssert(localAabbMin.getX() <= localAabbMax.getX());
 
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                btAssert(localAabbMin.getY() <= localAabbMax.getY());
 
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                btAssert(localAabbMin.getZ() <= localAabbMax.getZ());
 
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                btVector3 localHalfExtents = btScalar(0.5)*(localAabbMax-localAabbMin);
 
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                localHalfExtents+=btVector3(margin,margin,margin);
 
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                btVector3 localCenter = btScalar(0.5)*(localAabbMax+localAabbMin);
 
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                btMatrix3x3 abs_b = trans.getBasis().absolute();  
 
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                btVector3 center = trans(localCenter);
 
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                btVector3 extent = btVector3(abs_b[0].dot(localHalfExtents),
 
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                           abs_b[1].dot(localHalfExtents),
 
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                          abs_b[2].dot(localHalfExtents));
 
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                aabbMinOut = center-extent;
 
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                aabbMaxOut = center+extent;
 
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}
 
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#endif
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