Bullet Collision Detection & Physics Library: btAabbUtil2.h Source File

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
22 SIMD_FORCE_INLINE void AabbExpand(btVector3& aabbMin,
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
54 SIMD_FORCE_INLINE bool TestTriangleAgainstAabb2(const btVector3* vertices,
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
82 SIMD_FORCE_INLINE bool btRayAabb2(const btVector3& rayFrom,
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
117 SIMD_FORCE_INLINE bool btRayAabb(const btVector3& rayFrom,
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:48
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:30
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:82
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