1 #ifndef GIM_BOX_COLLISION_H_INCLUDED 2 #define GIM_BOX_COLLISION_H_INCLUDED 100 #ifndef TEST_CROSS_EDGE_BOX_MCR 102 #define TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,i_dir_0,i_dir_1,i_comp_0,i_comp_1)\ 104 const btScalar dir0 = -edge[i_dir_0];\ 105 const btScalar dir1 = edge[i_dir_1];\ 106 btScalar pmin = pointa[i_comp_0]*dir0 + pointa[i_comp_1]*dir1;\ 107 btScalar pmax = pointb[i_comp_0]*dir0 + pointb[i_comp_1]*dir1;\ 110 GIM_SWAP_NUMBERS(pmin,pmax); \ 112 const btScalar abs_dir0 = absolute_edge[i_dir_0];\ 113 const btScalar abs_dir1 = absolute_edge[i_dir_1];\ 114 const btScalar rad = _extend[i_comp_0] * abs_dir0 + _extend[i_comp_1] * abs_dir1;\ 115 if(pmin>rad || -rad>pmax) return false;\ 120 #define TEST_CROSS_EDGE_BOX_X_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\ 122 TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,2,1,1,2);\ 125 #define TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\ 127 TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,0,2,2,0);\ 130 #define TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\ 132 TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,1,0,0,1);\ 147 static const btVector3 vepsi(1e-6f,1e-6f,1e-6f);
148 m_AR[0] = vepsi + m_R1to0[0].
absolute();
149 m_AR[1] = vepsi + m_R1to0[1].
absolute();
150 m_AR[2] = vepsi + m_R1to0[2].
absolute();
170 m_T1to0 = m_R1to0 * (-trans0.
getOrigin());
182 m_T1to0 = m_R1to0 * (-trans0.
getOrigin());
192 return point.
dot3(m_R1to0[0], m_R1to0[1], m_R1to0[2]) +
m_T1to0;
196 #ifndef BOX_PLANE_EPSILON 197 #define BOX_PLANE_EPSILON 0.000001f 215 m_min[0] =
GIM_MIN3(V1[0],V2[0],V3[0]);
216 m_min[1] =
GIM_MIN3(V1[1],V2[1],V3[1]);
217 m_min[2] =
GIM_MIN3(V1[2],V2[2],V3[2]);
219 m_max[0] =
GIM_MAX3(V1[0],V2[0],V3[0]);
220 m_max[1] =
GIM_MAX3(V1[1],V2[1],V3[1]);
221 m_max[2] =
GIM_MAX3(V1[2],V2[2],V3[2]);
229 m_min[0] =
GIM_MIN3(V1[0],V2[0],V3[0]);
230 m_min[1] =
GIM_MIN3(V1[1],V2[1],V3[1]);
231 m_min[2] =
GIM_MIN3(V1[2],V2[2],V3[2]);
233 m_max[0] =
GIM_MAX3(V1[0],V2[0],V3[0]);
234 m_max[1] =
GIM_MAX3(V1[1],V2[1],V3[1]);
235 m_max[2] =
GIM_MAX3(V1[2],V2[2],V3[2]);
246 m_min(other.m_min),m_max(other.m_max)
251 m_min(other.m_min),m_max(other.m_max)
283 m_min[0] = other.
m_min[0] - margin;
284 m_min[1] = other.
m_min[1] - margin;
285 m_min[2] = other.
m_min[2] - margin;
287 m_max[0] = other.
m_max[0] + margin;
288 m_max[1] = other.
m_max[1] + margin;
289 m_max[2] = other.
m_max[2] + margin;
292 template<
typename CLASS_POINT>
294 const CLASS_POINT & V1,
295 const CLASS_POINT & V2,
296 const CLASS_POINT & V3)
298 m_min[0] =
GIM_MIN3(V1[0],V2[0],V3[0]);
299 m_min[1] =
GIM_MIN3(V1[1],V2[1],V3[1]);
300 m_min[2] =
GIM_MIN3(V1[2],V2[2],V3[2]);
302 m_max[0] =
GIM_MAX3(V1[0],V2[0],V3[0]);
303 m_max[1] =
GIM_MAX3(V1[1],V2[1],V3[1]);
304 m_max[2] =
GIM_MAX3(V1[2],V2[2],V3[2]);
307 template<
typename CLASS_POINT>
309 const CLASS_POINT & V1,
310 const CLASS_POINT & V2,
311 const CLASS_POINT & V3,
btScalar margin)
313 m_min[0] =
GIM_MIN3(V1[0],V2[0],V3[0]);
314 m_min[1] =
GIM_MIN3(V1[1],V2[1],V3[1]);
315 m_min[2] =
GIM_MIN3(V1[2],V2[2],V3[2]);
317 m_max[0] =
GIM_MAX3(V1[0],V2[0],V3[0]);
318 m_max[1] =
GIM_MAX3(V1[1],V2[1],V3[1]);
319 m_max[2] =
GIM_MAX3(V1[2],V2[2],V3[2]);
335 center = trans(center);
341 m_min = center - textends;
342 m_max = center + textends;
358 template<
typename CLASS_POINT>
361 m_min[0] =
GIM_MIN(m_min[0],point[0]);
362 m_min[1] =
GIM_MIN(m_min[1],point[1]);
363 m_min[2] =
GIM_MIN(m_min[2],point[2]);
365 m_max[0] =
GIM_MAX(m_max[0],point[0]);
366 m_max[1] =
GIM_MAX(m_max[1],point[1]);
367 m_max[2] =
GIM_MAX(m_max[2],point[2]);
373 center = (m_max+m_min)*0.5f;
374 extend = m_max - center;
392 if(m_min[0] > other.
m_max[0] ||
393 m_max[0] < other.
m_min[0] ||
394 m_min[1] > other.
m_max[1] ||
395 m_max[1] < other.
m_min[1] ||
396 m_min[2] > other.
m_max[2] ||
397 m_max[2] < other.
m_min[2])
412 this->get_center_extend(center,extents);;
414 btScalar Dx = vorigin[0] - center[0];
415 if(
GIM_GREATER(Dx, extents[0]) && Dx*vdir[0]>=0.0f)
return false;
416 btScalar Dy = vorigin[1] - center[1];
417 if(
GIM_GREATER(Dy, extents[1]) && Dy*vdir[1]>=0.0f)
return false;
418 btScalar Dz = vorigin[2] - center[2];
419 if(
GIM_GREATER(Dz, extents[2]) && Dz*vdir[2]>=0.0f)
return false;
422 btScalar f = vdir[1] * Dz - vdir[2] * Dy;
424 f = vdir[2] * Dx - vdir[0] * Dz;
426 f = vdir[0] * Dy - vdir[1] * Dx;
439 vmin = _fOrigin - _fMaximumExtent;
440 vmax = _fOrigin + _fMaximumExtent;
446 this->projection_interval(plane,_fmin,_fmax);
464 return has_collision(tbox);
475 get_center_extend(ca,ea);
486 T[i] = transcache.
m_R1to0[i].dot(cb) + transcache.
m_T1to0[i] - ca[i];
487 t = transcache.
m_AR[i].dot(eb) + ea[i];
511 t = T[n]*transcache.
m_R1to0[m][j] - T[m]*transcache.
m_R1to0[n][j];
512 t2 = ea[o]*transcache.
m_AR[p][j] + ea[p]*transcache.
m_AR[o][j] +
513 eb[r]*transcache.
m_AR[i][q] + eb[q]*transcache.
m_AR[i][r];
536 if(!collide_plane(triangle_plane))
return false;
539 this->get_center_extend(center,extends);
578 #ifndef BT_BOX_COLLISION_H_INCLUDED 593 #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 with 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)