First stage in refactoring Bullet: moved Bullet Collision and Dynamics and LinearMath into src folder, and all files in Collision Detection and Dynamics have bt prefix.
Made all buildsystems to work again (jam, msvc, cmake)
This commit is contained in:
ejcoumans
436
Extras/SATConvexCollision/Geometry.inl
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436
Extras/SATConvexCollision/Geometry.inl
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// Bullet Continuous Collision Detection and Physics Library
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// Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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//
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// Geometry.inl
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//
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// Copyright (c) 2006 Simon Hobbs
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//
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// This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software.
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//
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// Permission is granted to anyone to use this software for any purpose, including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions:
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//
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// 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.
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//
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// 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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//
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// 3. This notice may not be removed or altered from any source distribution.
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#pragma once
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////////////////////////////////////////////////////////////////////////////////
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// Line
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inline Line::Line()
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{
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}
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inline Line::Line(const Point3& start, const Point3& end)
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{
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m_start = start;
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m_end = end;
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}
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inline Vector3 GetProjectionVector(const Line& ln, const Point3& pt)
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{
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Vector3 d = Normalize(ln.m_end - ln.m_start);
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Vector3 v = pt - ln.m_start;
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Scalar s = Dot(v, d);
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return -(v - d * s);
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}
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////////////////////////////////////////////////////////////////////////////////
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// Ray
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inline Ray::Ray()
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{
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}
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inline Ray::Ray(const Point3& start, const Vector3& dir)
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{
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m_start = start;
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m_dir = dir;
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}
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inline Ray::Ray(const Line& line)
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{
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m_start = line.m_start;
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m_dir = Normalize(line.m_end - line.m_start);
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}
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////////////////////////////////////////////////////////////////////////////////
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// Plane
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inline Plane::Plane()
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{
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}
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inline Plane::Plane(const Plane& p)
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{
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base = p.base;
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}
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inline Plane::Plane(const Scalar& x, const Scalar& y, const Scalar& z, const Scalar& w)
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{
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Set(x.base, y.base, z.base, w.base);
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}
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inline Plane::Plane(const Vector3& xyz, const Scalar& w)
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{
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Set(xyz.base, w.base);
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}
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inline Plane::Plane(const Point3& a, const Point3& b, const Point3& c)
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{
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Vector3 normal = Normalize(Cross(c - a, b - a));
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*this = Plane(normal, -Dot(normal, Vector3(a)));
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}
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inline Plane::Plane(const Vector3& normal, const Point3& pt)
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{
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*this = Plane(normal, -Dot(normal, Vector3(pt)));
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}
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inline Plane::Plane(const Maths::ZeroTag&)
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{
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base = _mm_setzero_ps();
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}
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inline Plane::Plane(const Maths::UnitXTag&)
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{
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base = Vector4Base::Consts::k1000;
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}
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inline Plane::Plane(const Maths::UnitYTag&)
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{
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base = Vector4Base::Consts::k0100;
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}
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inline Plane::Plane(const Maths::UnitZTag&)
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{
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base = Vector4Base::Consts::k0010;
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}
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inline Plane::Plane(const Maths::UnitNegXTag&)
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{
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base = Vector4Base::Consts::kNeg1000;
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}
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inline Plane::Plane(const Maths::UnitNegYTag&)
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{
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base = Vector4Base::Consts::kNeg0100;
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}
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inline Plane::Plane(const Maths::UnitNegZTag&)
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{
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base = Vector4Base::Consts::kNeg0010;
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}
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inline Plane::Plane(const __m128 b)
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{
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base = b;
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}
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inline Plane::Plane(const Vector3& v)
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{
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base = v.base;
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}
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inline Plane::Plane(const Vector4& v)
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{
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base = v.base;
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}
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inline Plane::Plane(const float* p)
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{
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base = _mm_load_ps(p);
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}
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inline const Plane& Plane::operator=(const Plane& v)
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{
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base = v.base;
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return *this;
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}
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inline const Plane& Plane::operator=(const Maths::ZeroTag&)
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{
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base = _mm_setzero_ps();
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return *this;
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}
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inline const Plane& Plane::operator=(const Maths::UnitXTag&)
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{
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base = Vector4Base::Consts::k1000;
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return *this;
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}
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inline const Plane& Plane::operator=(const Maths::UnitYTag&)
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{
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base = Vector4Base::Consts::k0100;
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return *this;
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}
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inline const Plane& Plane::operator=(const Maths::UnitZTag&)
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{
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base = Vector4Base::Consts::k0010;
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return *this;
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}
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inline const Plane& Plane::operator=(const Maths::UnitNegXTag&)
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{
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base = Vector4Base::Consts::kNeg1000;
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return *this;
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}
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inline const Plane& Plane::operator=(const Maths::UnitNegYTag&)
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{
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base = Vector4Base::Consts::kNeg0100;
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return *this;
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}
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inline const Plane& Plane::operator=(const Maths::UnitNegZTag&)
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{
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base = Vector4Base::Consts::kNeg0010;
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return *this;
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}
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inline const Vector3 Plane::GetNormal() const
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{
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return Vector3(base);
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}
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inline const Scalar Plane::GetDistance() const
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{
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return GetW();
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}
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inline const Plane operator-(const Plane& p)
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{
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return Plane(_mm_sub_ps(_mm_setzero_ps(), p.base));
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}
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inline const Plane operator*(const Plane& p, const Transform& m)
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{
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Vector3 np = Vector3(p) * m;
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return Plane(np, p.GetW() - Dot(Vector3(np), Vector3(m.GetTranslation())));
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}
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inline const Scalar Dot(const Plane& p, const Point3& v)
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{
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return Scalar(Vector4Base::Dot3(p.base, v.base)) + p.GetW();
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}
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inline const Scalar Dot(const Point3& v, const Plane& p)
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{
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return Scalar(Vector4Base::Dot3(p.base, v.base)) + p.GetW();
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}
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inline const Scalar Dot(const Plane& p, const Vector3& v)
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{
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return Scalar(Vector4Base::Dot3(p.base, v.base));
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}
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inline const Scalar Dot(const Vector3& v, const Plane& p)
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{
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return Scalar(Vector4Base::Dot3(p.base, v.base));
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}
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inline const Scalar Dot(const Plane& p, const Vector4& v)
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{
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return Scalar(Vector4Base::Dot4(p.base, v.base));
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}
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inline const Scalar Dot(const Vector4& v, const Plane& p)
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{
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return Scalar(Vector4Base::Dot4(p.base, v.base));
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}
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// returns NaN if ray is perpendicular to ray
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inline const Scalar Intersect(const Plane& p, const Ray& ray)
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{
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Scalar ds = Dot(p, ray.m_start);
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Scalar dd = Dot(p, ray.m_dir);
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return -ds * RcpNr(dd);
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}
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// returns NaN if line is perpendicular to ray
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inline const Scalar Intersect(const Plane& p, const Line& line)
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{
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Scalar ds = Dot(p, line.m_start);
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Scalar de = Dot(p, line.m_end);
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return ds * RcpNr(ds - de);
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}
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////////////////////////////////////////////////////////////////////////////////
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// Bounds3 - axis aligned bounding box
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inline Bounds3::Bounds3()
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{
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}
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inline Bounds3::Bounds3(const Bounds3& aabb)
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{
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*this = aabb;
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}
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inline Bounds3::Bounds3(const Point3& min, const Point3& max)
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{
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m_min = min;
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m_max = max;
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}
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inline Bounds3::Bounds3(const OriginTag&)
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{
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m_min = m_max = Maths::Zero;
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}
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inline Bounds3::Bounds3(const EmptyTag&)
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{
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// max maximal inverted aabb - ready to have points accumulated into it
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m_min = Point3(Scalar::Consts::MaxValue);
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m_max = Point3(Scalar::Consts::MinValue);
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}
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inline Bounds3::Bounds3(const Point3& minMax)
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{
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m_min = m_max = minMax;
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}
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inline const Bounds3& Bounds3::operator=(const Bounds3& aabb)
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{
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m_min = aabb.m_min;
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m_max = aabb.m_max;
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return *this;
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}
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inline const Bounds3& Bounds3::operator=(const Point3& pt)
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{
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m_min = m_max = pt;
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return *this;
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}
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inline const Bounds3& Bounds3::operator=(const OriginTag&)
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{
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m_min = m_max = Maths::Zero;
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}
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inline const Bounds3& Bounds3::operator=(const EmptyTag&)
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{
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// max maximal inverted aabb - ready to have points accumulated into it
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m_min = Point3(Scalar::Consts::MaxValue);
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m_max = Point3(Scalar::Consts::MinValue);
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return *this;
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}
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inline void Bounds3::operator+=(const Point3& pt)
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{
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m_min = Min(m_min, pt);
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m_max = Max(m_max, pt);
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}
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inline void Bounds3::operator+=(const Bounds3& aabb)
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{
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m_min = Min(m_min, aabb.m_min);
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m_max = Max(m_max, aabb.m_max);
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}
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inline Bounds3 operator+(const Bounds3& aabb, const Point3& pt)
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{
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return Bounds3(Min(aabb.m_min, pt), Max(aabb.m_max, pt));
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}
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inline Bounds3 operator+(const Point3& pt, const Bounds3& aabb)
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{
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return Bounds3(Min(aabb.m_min, pt), Max(aabb.m_max, pt));
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}
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inline Bounds3 operator+(const Bounds3& aabb, const Bounds3& aabb2)
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{
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return Bounds3(Min(aabb.m_min, aabb2.m_min), Max(aabb.m_max, aabb2.m_max));
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}
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inline bool Bounds3::Contains(const Point3& pt) const
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{
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return ((pt >= m_min) & (pt <= m_max)) == 7;
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}
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inline bool Bounds3::Contains(const Bounds3& aabb) const
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{
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return ((aabb.m_min >= m_min) & (aabb.m_max <= m_max)) == 7;
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}
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inline bool Bounds3::Touches(const Bounds3& aabb) const
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{
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return ((aabb.m_max >= m_min) & (aabb.m_min <= m_max)) == 7;
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}
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// returns intersection of 2 lines or nearest point to it
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// t1 and t2 are set to the times of the nearest points on each line
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// asserts if rays are parallel
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inline const Point3 IntersectPrev(const Line& la, const Line& lb, float& ta, float& tb)
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{
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Vector3 ea = la.m_end - la.m_start;
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Vector3 eb = lb.m_end - lb.m_start;
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Vector3 u = la.m_start - lb.m_start;
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Scalar a = Dot(ea, ea);
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Scalar b = Dot(ea, eb);
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Scalar c = Dot(eb, eb);
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Scalar d = Dot(ea, u);
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Scalar e = Dot(eb, u);
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Scalar det = (a * c - b * b);
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// assert if rays are parallel
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assert(Abs(det) > Scalar(0.0001f));
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Scalar invDet = RcpNr(det);
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ta = (b * e - c * d) * invDet;
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tb = (a * e - b * d) * invDet;
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return la.m_start + ea * ta;
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}
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inline const Point3 IntersectPrev(const Line& a, const Line& b)
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{
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float ta, tb;
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return IntersectPrev(a, b, ta, tb);
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}
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inline bool Bounds3::Intersect(const Line& line, float& tnear, float& tfar) const
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{
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return Intersect(Ray(line), tnear, tfar);
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}
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inline Point3 Bounds3::GetCenter() const
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{
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return Lerp(m_min, m_max, Scalar::Consts::Half);
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}
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inline Vector3 Bounds3::GetExtent() const
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{
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return (m_max - m_min) * Scalar::Consts::Half;
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}
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inline Vector3 Bounds3::GetSize() const
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{
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return m_max - m_min;
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}
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inline bool Bounds3::IsFinite() const
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{
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return m_min.IsFinite() && m_max.IsFinite();
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}
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inline bool Bounds3::HasVolume() const
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{
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return (((m_min <= m_max) & 7) == 7);
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}
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////////////////////////////////////////////////////////////////////////////////
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// OrientedBounds3 - oriented bounding box
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Reference in New Issue
Block a user