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 B3_AABB_UTIL2
16 #define B3_AABB_UTIL2
17
18 #include "Bullet3Common/b3Transform.h"
19 #include "Bullet3Common/b3Vector3.h"
20 #include "Bullet3Common/b3MinMax.h"
21
b3AabbExpand(b3Vector3 & aabbMin,b3Vector3 & aabbMax,const b3Vector3 & expansionMin,const b3Vector3 & expansionMax)22 B3_FORCE_INLINE void b3AabbExpand(b3Vector3& aabbMin,
23 b3Vector3& aabbMax,
24 const b3Vector3& expansionMin,
25 const b3Vector3& expansionMax)
26 {
27 aabbMin = aabbMin + expansionMin;
28 aabbMax = aabbMax + expansionMax;
29 }
30
31 /// conservative test for overlap between two aabbs
b3TestPointAgainstAabb2(const b3Vector3 & aabbMin1,const b3Vector3 & aabbMax1,const b3Vector3 & point)32 B3_FORCE_INLINE bool b3TestPointAgainstAabb2(const b3Vector3& aabbMin1, const b3Vector3& aabbMax1,
33 const b3Vector3& 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
42 /// conservative test for overlap between two aabbs
b3TestAabbAgainstAabb2(const b3Vector3 & aabbMin1,const b3Vector3 & aabbMax1,const b3Vector3 & aabbMin2,const b3Vector3 & aabbMax2)43 B3_FORCE_INLINE bool b3TestAabbAgainstAabb2(const b3Vector3& aabbMin1, const b3Vector3& aabbMax1,
44 const b3Vector3& aabbMin2, const b3Vector3& 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
53 /// conservative test for overlap between triangle and aabb
b3TestTriangleAgainstAabb2(const b3Vector3 * vertices,const b3Vector3 & aabbMin,const b3Vector3 & aabbMax)54 B3_FORCE_INLINE bool b3TestTriangleAgainstAabb2(const b3Vector3* vertices,
55 const b3Vector3& aabbMin, const b3Vector3& aabbMax)
56 {
57 const b3Vector3& p1 = vertices[0];
58 const b3Vector3& p2 = vertices[1];
59 const b3Vector3& p3 = vertices[2];
60
61 if (b3Min(b3Min(p1[0], p2[0]), p3[0]) > aabbMax[0]) return false;
62 if (b3Max(b3Max(p1[0], p2[0]), p3[0]) < aabbMin[0]) return false;
63
64 if (b3Min(b3Min(p1[2], p2[2]), p3[2]) > aabbMax[2]) return false;
65 if (b3Max(b3Max(p1[2], p2[2]), p3[2]) < aabbMin[2]) return false;
66
67 if (b3Min(b3Min(p1[1], p2[1]), p3[1]) > aabbMax[1]) return false;
68 if (b3Max(b3Max(p1[1], p2[1]), p3[1]) < aabbMin[1]) return false;
69 return true;
70 }
71
b3Outcode(const b3Vector3 & p,const b3Vector3 & halfExtent)72 B3_FORCE_INLINE int b3Outcode(const b3Vector3& p, const b3Vector3& 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
b3RayAabb2(const b3Vector3 & rayFrom,const b3Vector3 & rayInvDirection,const unsigned int raySign[3],const b3Vector3 bounds[2],b3Scalar & tmin,b3Scalar lambda_min,b3Scalar lambda_max)82 B3_FORCE_INLINE bool b3RayAabb2(const b3Vector3& rayFrom,
83 const b3Vector3& rayInvDirection,
84 const unsigned int raySign[3],
85 const b3Vector3 bounds[2],
86 b3Scalar& tmin,
87 b3Scalar lambda_min,
88 b3Scalar lambda_max)
89 {
90 b3Scalar 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
b3RayAabb(const b3Vector3 & rayFrom,const b3Vector3 & rayTo,const b3Vector3 & aabbMin,const b3Vector3 & aabbMax,b3Scalar & param,b3Vector3 & normal)117 B3_FORCE_INLINE bool b3RayAabb(const b3Vector3& rayFrom,
118 const b3Vector3& rayTo,
119 const b3Vector3& aabbMin,
120 const b3Vector3& aabbMax,
121 b3Scalar& param, b3Vector3& normal)
122 {
123 b3Vector3 aabbHalfExtent = (aabbMax - aabbMin) * b3Scalar(0.5);
124 b3Vector3 aabbCenter = (aabbMax + aabbMin) * b3Scalar(0.5);
125 b3Vector3 source = rayFrom - aabbCenter;
126 b3Vector3 target = rayTo - aabbCenter;
127 int sourceOutcode = b3Outcode(source, aabbHalfExtent);
128 int targetOutcode = b3Outcode(target, aabbHalfExtent);
129 if ((sourceOutcode & targetOutcode) == 0x0)
130 {
131 b3Scalar lambda_enter = b3Scalar(0.0);
132 b3Scalar lambda_exit = param;
133 b3Vector3 r = target - source;
134 int i;
135 b3Scalar normSign = 1;
136 b3Vector3 hitNormal = b3MakeVector3(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 b3Scalar 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 b3Scalar lambda = (-source[i] - aabbHalfExtent[i] * normSign) / r[i];
156 b3SetMin(lambda_exit, lambda);
157 }
158 bit <<= 1;
159 }
160 normSign = b3Scalar(-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
b3TransformAabb(const b3Vector3 & halfExtents,b3Scalar margin,const b3Transform & t,b3Vector3 & aabbMinOut,b3Vector3 & aabbMaxOut)172 B3_FORCE_INLINE void b3TransformAabb(const b3Vector3& halfExtents, b3Scalar margin, const b3Transform& t, b3Vector3& aabbMinOut, b3Vector3& aabbMaxOut)
173 {
174 b3Vector3 halfExtentsWithMargin = halfExtents + b3MakeVector3(margin, margin, margin);
175 b3Matrix3x3 abs_b = t.getBasis().absolute();
176 b3Vector3 center = t.getOrigin();
177 b3Vector3 extent = halfExtentsWithMargin.dot3(abs_b[0], abs_b[1], abs_b[2]);
178 aabbMinOut = center - extent;
179 aabbMaxOut = center + extent;
180 }
181
b3TransformAabb(const b3Vector3 & localAabbMin,const b3Vector3 & localAabbMax,b3Scalar margin,const b3Transform & trans,b3Vector3 & aabbMinOut,b3Vector3 & aabbMaxOut)182 B3_FORCE_INLINE void b3TransformAabb(const b3Vector3& localAabbMin, const b3Vector3& localAabbMax, b3Scalar margin, const b3Transform& trans, b3Vector3& aabbMinOut, b3Vector3& aabbMaxOut)
183 {
184 //b3Assert(localAabbMin.getX() <= localAabbMax.getX());
185 //b3Assert(localAabbMin.getY() <= localAabbMax.getY());
186 //b3Assert(localAabbMin.getZ() <= localAabbMax.getZ());
187 b3Vector3 localHalfExtents = b3Scalar(0.5) * (localAabbMax - localAabbMin);
188 localHalfExtents += b3MakeVector3(margin, margin, margin);
189
190 b3Vector3 localCenter = b3Scalar(0.5) * (localAabbMax + localAabbMin);
191 b3Matrix3x3 abs_b = trans.getBasis().absolute();
192 b3Vector3 center = trans(localCenter);
193 b3Vector3 extent = localHalfExtents.dot3(abs_b[0], abs_b[1], abs_b[2]);
194 aabbMinOut = center - extent;
195 aabbMaxOut = center + extent;
196 }
197
198 #define B3_USE_BANCHLESS 1
199 #ifdef B3_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)
b3TestQuantizedAabbAgainstQuantizedAabb(const unsigned short int * aabbMin1,const unsigned short int * aabbMax1,const unsigned short int * aabbMin2,const unsigned short int * aabbMax2)201 B3_FORCE_INLINE unsigned b3TestQuantizedAabbAgainstQuantizedAabb(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>(b3Select((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
b3TestQuantizedAabbAgainstQuantizedAabb(const unsigned short int * aabbMin1,const unsigned short int * aabbMax1,const unsigned short int * aabbMin2,const unsigned short int * aabbMax2)207 B3_FORCE_INLINE bool b3TestQuantizedAabbAgainstQuantizedAabb(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 //B3_USE_BANCHLESS
216
217 #endif //B3_AABB_UTIL2
218