1 #ifndef GIM_BOX_COLLISION_H_INCLUDED 2 #define GIM_BOX_COLLISION_H_INCLUDED 100 #define TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,i_dir_0,i_dir_1,i_comp_0,i_comp_1)\ 102 const btScalar dir0 = -edge[i_dir_0];\ 103 const btScalar dir1 = edge[i_dir_1];\ 104 btScalar pmin = pointa[i_comp_0]*dir0 + pointa[i_comp_1]*dir1;\ 105 btScalar pmax = pointb[i_comp_0]*dir0 + pointb[i_comp_1]*dir1;\ 108 GIM_SWAP_NUMBERS(pmin,pmax); \ 110 const btScalar abs_dir0 = absolute_edge[i_dir_0];\ 111 const btScalar abs_dir1 = absolute_edge[i_dir_1];\ 112 const btScalar rad = _extend[i_comp_0] * abs_dir0 + _extend[i_comp_1] * abs_dir1;\ 113 if(pmin>rad || -rad>pmax) return false;\ 117 #define TEST_CROSS_EDGE_BOX_X_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\ 119 TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,2,1,1,2);\ 122 #define TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\ 124 TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,0,2,2,0);\ 127 #define TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\ 129 TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,1,0,0,1);\ 144 static const btVector3 vepsi(1e-6f,1e-6f,1e-6f);
145 m_AR[0] = vepsi + m_R1to0[0].
absolute();
146 m_AR[1] = vepsi + m_R1to0[1].
absolute();
147 m_AR[2] = vepsi + m_R1to0[2].
absolute();
167 m_T1to0 = m_R1to0 * (-trans0.
getOrigin());
179 m_T1to0 = m_R1to0 * (-trans0.
getOrigin());
189 return point.
dot3(m_R1to0[0], m_R1to0[1], m_R1to0[2]) +
m_T1to0;
194 #define BOX_PLANE_EPSILON 0.000001f 211 m_min[0] =
GIM_MIN3(V1[0],V2[0],V3[0]);
212 m_min[1] =
GIM_MIN3(V1[1],V2[1],V3[1]);
213 m_min[2] =
GIM_MIN3(V1[2],V2[2],V3[2]);
215 m_max[0] =
GIM_MAX3(V1[0],V2[0],V3[0]);
216 m_max[1] =
GIM_MAX3(V1[1],V2[1],V3[1]);
217 m_max[2] =
GIM_MAX3(V1[2],V2[2],V3[2]);
225 m_min[0] =
GIM_MIN3(V1[0],V2[0],V3[0]);
226 m_min[1] =
GIM_MIN3(V1[1],V2[1],V3[1]);
227 m_min[2] =
GIM_MIN3(V1[2],V2[2],V3[2]);
229 m_max[0] =
GIM_MAX3(V1[0],V2[0],V3[0]);
230 m_max[1] =
GIM_MAX3(V1[1],V2[1],V3[1]);
231 m_max[2] =
GIM_MAX3(V1[2],V2[2],V3[2]);
242 m_min(other.m_min),m_max(other.m_max)
247 m_min(other.m_min),m_max(other.m_max)
279 m_min[0] = other.
m_min[0] - margin;
280 m_min[1] = other.
m_min[1] - margin;
281 m_min[2] = other.
m_min[2] - margin;
283 m_max[0] = other.
m_max[0] + margin;
284 m_max[1] = other.
m_max[1] + margin;
285 m_max[2] = other.
m_max[2] + margin;
288 template<
typename CLASS_POINT>
290 const CLASS_POINT & V1,
291 const CLASS_POINT & V2,
292 const CLASS_POINT & V3)
294 m_min[0] =
GIM_MIN3(V1[0],V2[0],V3[0]);
295 m_min[1] =
GIM_MIN3(V1[1],V2[1],V3[1]);
296 m_min[2] =
GIM_MIN3(V1[2],V2[2],V3[2]);
298 m_max[0] =
GIM_MAX3(V1[0],V2[0],V3[0]);
299 m_max[1] =
GIM_MAX3(V1[1],V2[1],V3[1]);
300 m_max[2] =
GIM_MAX3(V1[2],V2[2],V3[2]);
303 template<
typename CLASS_POINT>
305 const CLASS_POINT & V1,
306 const CLASS_POINT & V2,
307 const CLASS_POINT & V3,
btScalar margin)
309 m_min[0] =
GIM_MIN3(V1[0],V2[0],V3[0]);
310 m_min[1] =
GIM_MIN3(V1[1],V2[1],V3[1]);
311 m_min[2] =
GIM_MIN3(V1[2],V2[2],V3[2]);
313 m_max[0] =
GIM_MAX3(V1[0],V2[0],V3[0]);
314 m_max[1] =
GIM_MAX3(V1[1],V2[1],V3[1]);
315 m_max[2] =
GIM_MAX3(V1[2],V2[2],V3[2]);
331 center = trans(center);
337 m_min = center - textends;
338 m_max = center + textends;
354 template<
typename CLASS_POINT>
357 m_min[0] =
GIM_MIN(m_min[0],point[0]);
358 m_min[1] =
GIM_MIN(m_min[1],point[1]);
359 m_min[2] =
GIM_MIN(m_min[2],point[2]);
361 m_max[0] =
GIM_MAX(m_max[0],point[0]);
362 m_max[1] =
GIM_MAX(m_max[1],point[1]);
363 m_max[2] =
GIM_MAX(m_max[2],point[2]);
369 center = (m_max+m_min)*0.5f;
370 extend = m_max - center;
388 if(m_min[0] > other.
m_max[0] ||
389 m_max[0] < other.
m_min[0] ||
390 m_min[1] > other.
m_max[1] ||
391 m_max[1] < other.
m_min[1] ||
392 m_min[2] > other.
m_max[2] ||
393 m_max[2] < other.
m_min[2])
408 this->get_center_extend(center,extents);;
410 btScalar Dx = vorigin[0] - center[0];
411 if(
GIM_GREATER(Dx, extents[0]) && Dx*vdir[0]>=0.0f)
return false;
412 btScalar Dy = vorigin[1] - center[1];
413 if(
GIM_GREATER(Dy, extents[1]) && Dy*vdir[1]>=0.0f)
return false;
414 btScalar Dz = vorigin[2] - center[2];
415 if(
GIM_GREATER(Dz, extents[2]) && Dz*vdir[2]>=0.0f)
return false;
418 btScalar f = vdir[1] * Dz - vdir[2] * Dy;
420 f = vdir[2] * Dx - vdir[0] * Dz;
422 f = vdir[0] * Dy - vdir[1] * Dx;
435 vmin = _fOrigin - _fMaximumExtent;
436 vmax = _fOrigin + _fMaximumExtent;
442 this->projection_interval(plane,_fmin,_fmax);
460 return has_collision(tbox);
471 get_center_extend(ca,ea);
482 T[i] = transcache.
m_R1to0[i].dot(cb) + transcache.
m_T1to0[i] - ca[i];
483 t = transcache.
m_AR[i].dot(eb) + ea[i];
507 t = T[n]*transcache.
m_R1to0[m][j] - T[m]*transcache.
m_R1to0[n][j];
508 t2 = ea[o]*transcache.
m_AR[p][j] + ea[p]*transcache.
m_AR[o][j] +
509 eb[r]*transcache.
m_AR[i][q] + eb[q]*transcache.
m_AR[i][r];
532 if(!collide_plane(triangle_plane))
return false;
535 this->get_center_extend(center,extends);
588 #endif // GIM_BOX_COLLISION_H_INCLUDED btMatrix3x3 inverse() const
Return the inverse of the matrix.
ePLANE_INTERSECTION_TYPE plane_classify(const btVector4 &plane) const
void calc_from_triangle_margin(const CLASS_POINT &V1, const CLASS_POINT &V2, const CLASS_POINT &V3, btScalar margin)
void find_intersection(const GIM_AABB &other, GIM_AABB &intersection) const
Finds the intersecting box between this box and the other.
void get_center_extend(btVector3 ¢er, btVector3 &extend) const
Gets the extend and center.
#define TEST_CROSS_EDGE_BOX_X_AXIS_MCR(edge, absolute_edge, pointa, pointb, _extend)
#define GIM_GREATER(x, y)
btVector3 absolute() const
Return a vector will the absolute values of each element.
bool has_collision(const GIM_AABB &other) const
#define SIMD_FORCE_INLINE
const btVector3 & getRow(int i) const
Get a row of the matrix as a vector.
GIM_AABB(const GIM_AABB &other)
btScalar dot(const btVector3 &v) const
Return the dot product.
void copy_with_margin(const GIM_AABB &other, btScalar margin)
bool overlapping_trans_conservative(const GIM_AABB &box, btTransform &trans1_to_0)
bool collide_ray(const btVector3 &vorigin, const btVector3 &vdir)
Finds the Ray intersection parameter.
void calc_from_triangle(const CLASS_POINT &V1, const CLASS_POINT &V2, const CLASS_POINT &V3)
btMatrix3x3 absolute() const
Return the matrix with all values non negative.
#define BOX_PLANE_EPSILON
#define TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(edge, absolute_edge, pointa, pointb, _extend)
bool collide_plane(const btVector4 &plane)
Simple test for planes.
GIM_AABB(const GIM_AABB &other, btScalar margin)
#define GIM_MIN3(a, b, c)
btVector3 can be used to represent 3D points and vectors.
bool overlapping_trans_cache(const GIM_AABB &box, const GIM_BOX_BOX_TRANSFORM_CACHE &transcache, bool fulltest)
transcache is the transformation cache from box to this AABB
GREAL mat4f[4][4]
Matrix 4D, row ordered.
GIM_AABB(const btVector3 &V1, const btVector3 &V2, const btVector3 &V3)
bool btCompareTransformsEqual(const btTransform &t1, const btTransform &t2)
Compairison of transformation objects.
btMatrix3x3 transpose() const
Return the transpose of the matrix.
void merge_point(const CLASS_POINT &point)
Merges a point.
void appy_transform(const btTransform &trans)
Apply a transform to an AABB.
btVector3 dot3(const btVector3 &v0, const btVector3 &v1, const btVector3 &v2) const
#define MAT_GET_TRANSLATION(mat, vec3)
Get the triple(3) col of a transform matrix.
#define COPY_MATRIX_3X3(b, a)
#define TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(edge, absolute_edge, pointa, pointb, _extend)
The btMatrix3x3 class implements a 3x3 rotation matrix, to perform linear algebra in combination with...
bool collide_triangle_exact(const btVector3 &p1, const btVector3 &p2, const btVector3 &p3, const btVector4 &triangle_plane)
test for a triangle, with edges
void projection_interval(const btVector3 &direction, btScalar &vmin, btScalar &vmax) const
#define GIM_MAX3(a, b, c)
GIM_AABB(const btVector3 &V1, const btVector3 &V2, const btVector3 &V3, GREAL margin)
#define MAT_DOT_COL(mat, vec3, colindex)
Returns the dot product between a vec3f and the col of a matrix.
void increment_margin(btScalar margin)
void merge(const GIM_AABB &box)
Merges a Box.
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
btScalar btFabs(btScalar x)