Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Removed ray-AABB slopes code again, we are not using it and it is archived in Subversion repo now.

Browse Source
This commit is contained in:
erwin.coumans
2008-10-16 20:19:01 +00:00
parent 947a44452d
commit b32a0e3491
1 changed files with 0 additions and 627 deletions
Download Patch File Download Diff File Expand all files Collapse all files

627
src/LinearMath/btAabbUtil2.h
View File

@@ -22,8 +22,6 @@ subject to the following restrictions:
#include "btMinMax.h" #include "btMinMax.h"
#define TEST_RAY_SLOPES 1
SIMD_FORCE_INLINE void AabbExpand (btVector3& aabbMin, SIMD_FORCE_INLINE void AabbExpand (btVector3& aabbMin,
btVector3& aabbMax, btVector3& aabbMax,
@@ -87,631 +85,6 @@ SIMD_FORCE_INLINE int btOutcode(const btVector3& p,const btVector3& halfExtent)
(p.getZ() > halfExtent.getZ() ? 0x20 : 0x0); (p.getZ() > halfExtent.getZ() ? 0x20 : 0x0);
} }
/// http://jgt.akpeters.com/papers/EisemannEtAl07/
/// See test case in btDbvt::rayTestInternal on dynamic AABB tree, Bullet/src/BulletCollision/BroadphaseCollision/btDbvt.h
enum CLASSIFICATION
{ MMM, MMP, MPM, MPP, PMM, PMP, PPM, PPP, POO, MOO, OPO, OMO, OOP, OOM,
OMM,OMP,OPM,OPP,MOM,MOP,POM,POP,MMO,MPO,PMO,PPO};
struct btRaySlope
{
//common variables
float x, y, z; // ray origin
float i, j, k; // ray direction
float ii, ij, ik; // inverses of direction components
// ray slope
int classification;
float ibyj, jbyi, kbyj, jbyk, ibyk, kbyi; //slope
float c_xy, c_xz, c_yx, c_yz, c_zx, c_zy;
};
struct btAaboxSlope
{
float x0, y0, z0, x1, y1, z1;
};
SIMD_FORCE_INLINE void btMakeRaySlope(float x, float y, float z, float i, float j, float k, btRaySlope *r)
{
//common variables
r->x = x;
r->y = y;
r->z = z;
r->i = i;
r->j = j;
r->k = k;
r->ii = 1.0f/i;
r->ij = 1.0f/j;
r->ik = 1.0f/k;
//ray slope
r->ibyj = r->i * r->ij;
r->jbyi = r->j * r->ii;
r->jbyk = r->j * r->ik;
r->kbyj = r->k * r->ij;
r->ibyk = r->i * r->ik;
r->kbyi = r->k * r->ii;
r->c_xy = r->y - r->jbyi * r->x;
r->c_xz = r->z - r->kbyi * r->x;
r->c_yx = r->x - r->ibyj * r->y;
r->c_yz = r->z - r->kbyj * r->y;
r->c_zx = r->x - r->ibyk * r->z;
r->c_zy = r->y - r->jbyk * r->z;
//ray slope classification
if(i < 0)
{
if(j < 0)
{
if(k < 0)
{
r->classification = MMM;
}
else if(k > 0){
r->classification = MMP;
}
else//(k >= 0)
{
r->classification = MMO;
}
}
else//(j >= 0)
{
if(k < 0)
{
r->classification = MPM;
if(j==0)
r->classification = MOM;
}
else//(k >= 0)
{
if((j==0) && (k==0))
r->classification = MOO;
else if(k==0)
r->classification = MPO;
else if(j==0)
r->classification = MOP;
else
r->classification = MPP;
}
}
}
else//(i >= 0)
{
if(j < 0)
{
if(k < 0)
{
r->classification = PMM;
if(i==0)
r->classification = OMM;
}
else//(k >= 0)
{
if((i==0) && (k==0))
r->classification = OMO;
else if(k==0)
r->classification = PMO;
else if(i==0)
r->classification = OMP;
else
r->classification = PMP;
}
}
else//(j >= 0)
{
if(k < 0)
{
if((i==0) && (j==0))
r->classification = OOM;
else if(i==0)
r->classification = OPM;
else if(j==0)
r->classification = POM;
else
r->classification = PPM;
}
else//(k > 0)
{
if(i==0)
{
if(j==0)
r->classification = OOP;
else if(k==0)
r->classification = OPO;
else
r->classification = OPP;
}
else
{
if((j==0) && (k==0))
r->classification = POO;
else if(j==0)
r->classification = POP;
else if(k==0)
r->classification = PPO;
else
r->classification = PPP;
}
}
}
}
}
//SIMD_FORCE_INLINE bool slopeint_div(const btRaySlope* r, const btAaboxSlope* b, float *t)
SIMD_FORCE_INLINE bool btRaySlopeAabb(const btRaySlope* r, const btAaboxSlope* b, float *t)
{
switch (r->classification)
{
case MMM:
{
if ((r->x < b->x0) || (r->y < b->y0) || (r->z < b->z0)
|| (r->jbyi * b->x0 - b->y1 + r->c_xy > 0)
|| (r->ibyj * b->y0 - b->x1 + r->c_yx > 0)
|| (r->jbyk * b->z0 - b->y1 + r->c_zy > 0)
|| (r->kbyj * b->y0 - b->z1 + r->c_yz > 0)
|| (r->kbyi * b->x0 - b->z1 + r->c_xz > 0)
|| (r->ibyk * b->z0 - b->x1 + r->c_zx > 0)
)
return false;
*t = (b->x1 - r->x) / r->i;
float t1 = (b->y1 - r->y) / r->j;
if(t1 > *t)
*t = t1;
float t2 = (b->z1 - r->z) / r->k;
if(t2 > *t)
*t = t2;
return true;
}
case MMP:
{
if ((r->x < b->x0) || (r->y < b->y0) || (r->z > b->z1)
|| (r->jbyi * b->x0 - b->y1 + r->c_xy > 0)
|| (r->ibyj * b->y0 - b->x1 + r->c_yx > 0)
|| (r->jbyk * b->z1 - b->y1 + r->c_zy > 0)
|| (r->kbyj * b->y0 - b->z0 + r->c_yz < 0)
|| (r->kbyi * b->x0 - b->z0 + r->c_xz < 0)
|| (r->ibyk * b->z1 - b->x1 + r->c_zx > 0)
)
return false;
*t = (b->x1 - r->x) / r->i;
float t1 = (b->y1 - r->y) / r->j;
if(t1 > *t)
*t = t1;
float t2 = (b->z0 - r->z) / r->k;
if(t2 > *t)
*t = t2;
return true;
}
case MPM:
{
if ((r->x < b->x0) || (r->y > b->y1) || (r->z < b->z0)
|| (r->jbyi * b->x0 - b->y0 + r->c_xy < 0)
|| (r->ibyj * b->y1 - b->x1 + r->c_yx > 0)
|| (r->jbyk * b->z0 - b->y0 + r->c_zy < 0)
|| (r->kbyj * b->y1 - b->z1 + r->c_yz > 0)
|| (r->kbyi * b->x0 - b->z1 + r->c_xz > 0)
|| (r->ibyk * b->z0 - b->x1 + r->c_zx > 0)
)
return false;
*t = (b->x1 - r->x) / r->i;
float t1 = (b->y0 - r->y) / r->j;
if(t1 > *t)
*t = t1;
float t2 = (b->z1 - r->z) / r->k;
if(t2 > *t)
*t = t2;
return true;
}
case MPP:
{
if ((r->x < b->x0) || (r->y > b->y1) || (r->z > b->z1)
|| (r->jbyi * b->x0 - b->y0 + r->c_xy < 0)
|| (r->ibyj * b->y1 - b->x1 + r->c_yx > 0)
|| (r->jbyk * b->z1 - b->y0 + r->c_zy < 0)
|| (r->kbyj * b->y1 - b->z0 + r->c_yz < 0)
|| (r->kbyi * b->x0 - b->z0 + r->c_xz < 0)
|| (r->ibyk * b->z1 - b->x1 + r->c_zx > 0)
)
return false;
*t = (b->x1 - r->x) / r->i;
float t1 = (b->y0 - r->y) / r->j;
if(t1 > *t)
*t = t1;
float t2 = (b->z0 - r->z) / r->k;
if(t2 > *t)
*t = t2;
return true;
}
case PMM:
{
if ((r->x > b->x1) || (r->y < b->y0) || (r->z < b->z0)
|| (r->jbyi * b->x1 - b->y1 + r->c_xy > 0)
|| (r->ibyj * b->y0 - b->x0 + r->c_yx < 0)
|| (r->jbyk * b->z0 - b->y1 + r->c_zy > 0)
|| (r->kbyj * b->y0 - b->z1 + r->c_yz > 0)
|| (r->kbyi * b->x1 - b->z1 + r->c_xz > 0)
|| (r->ibyk * b->z0 - b->x0 + r->c_zx < 0)
)
return false;
*t = (b->x0 - r->x) / r->i;
float t1 = (b->y1 - r->y) / r->j;
if(t1 > *t)
*t = t1;
float t2 = (b->z1 - r->z) / r->k;
if(t2 > *t)
*t = t2;
return true;
}
case PMP:
{
if ((r->x > b->x1) || (r->y < b->y0) || (r->z > b->z1)
|| (r->jbyi * b->x1 - b->y1 + r->c_xy > 0)
|| (r->ibyj * b->y0 - b->x0 + r->c_yx < 0)
|| (r->jbyk * b->z1 - b->y1 + r->c_zy > 0)
|| (r->kbyj * b->y0 - b->z0 + r->c_yz < 0)
|| (r->kbyi * b->x1 - b->z0 + r->c_xz < 0)
|| (r->ibyk * b->z1 - b->x0 + r->c_zx < 0)
)
return false;
*t = (b->x0 - r->x) / r->i;
float t1 = (b->y1 - r->y) / r->j;
if(t1 > *t)
*t = t1;
float t2 = (b->z0 - r->z) / r->k;
if(t2 > *t)
*t = t2;
return true;
}
case PPM:
{
if ((r->x > b->x1) || (r->y > b->y1) || (r->z < b->z0)
|| (r->jbyi * b->x1 - b->y0 + r->c_xy < 0)
|| (r->ibyj * b->y1 - b->x0 + r->c_yx < 0)
|| (r->jbyk * b->z0 - b->y0 + r->c_zy < 0)
|| (r->kbyj * b->y1 - b->z1 + r->c_yz > 0)
|| (r->kbyi * b->x1 - b->z1 + r->c_xz > 0)
|| (r->ibyk * b->z0 - b->x0 + r->c_zx < 0)
)
return false;
*t = (b->x0 - r->x) / r->i;
float t1 = (b->y0 - r->y) / r->j;
if(t1 > *t)
*t = t1;
float t2 = (b->z1 - r->z) / r->k;
if(t2 > *t)
*t = t2;
return true;
}
case PPP:
{
if ((r->x > b->x1) || (r->y > b->y1) || (r->z > b->z1)
|| (r->jbyi * b->x1 - b->y0 + r->c_xy < 0)
|| (r->ibyj * b->y1 - b->x0 + r->c_yx < 0)
|| (r->jbyk * b->z1 - b->y0 + r->c_zy < 0)
|| (r->kbyj * b->y1 - b->z0 + r->c_yz < 0)
|| (r->kbyi * b->x1 - b->z0 + r->c_xz < 0)
|| (r->ibyk * b->z1 - b->x0 + r->c_zx < 0)
)
return false;
*t = (b->x0 - r->x) / r->i;
float t1 = (b->y0 - r->y) / r->j;
if(t1 > *t)
*t = t1;
float t2 = (b->z0 - r->z) / r->k;
if(t2 > *t)
*t = t2;
return true;
}
case OMM:
{
if((r->x < b->x0) || (r->x > b->x1)
|| (r->y < b->y0) || (r->z < b->z0)
|| (r->jbyk * b->z0 - b->y1 + r->c_zy > 0)
|| (r->kbyj * b->y0 - b->z1 + r->c_yz > 0)
)
return false;
*t = (b->y1 - r->y) / r->j;
float t2 = (b->z1 - r->z) / r->k;
if(t2 > *t)
*t = t2;
return true;
}
case OMP:
{
if((r->x < b->x0) || (r->x > b->x1)
|| (r->y < b->y0) || (r->z > b->z1)
|| (r->jbyk * b->z1 - b->y1 + r->c_zy > 0)
|| (r->kbyj * b->y0 - b->z0 + r->c_yz < 0)
)
return false;
*t = (b->y1 - r->y) / r->j;
float t2 = (b->z0 - r->z) / r->k;
if(t2 > *t)
*t = t2;
return true;
}
case OPM:
{
if((r->x < b->x0) || (r->x > b->x1)
|| (r->y > b->y1) || (r->z < b->z0)
|| (r->jbyk * b->z0 - b->y0 + r->c_zy < 0)
|| (r->kbyj * b->y1 - b->z1 + r->c_yz > 0)
)
return false;
*t = (b->y0 - r->y) / r->j;
float t2 = (b->z1 - r->z) / r->k;
if(t2 > *t)
*t = t2;
return true;
}
case OPP:
{
if((r->x < b->x0) || (r->x > b->x1)
|| (r->y > b->y1) || (r->z > b->z1)
|| (r->jbyk * b->z1 - b->y0 + r->c_zy < 0)
|| (r->kbyj * b->y1 - b->z0 + r->c_yz < 0)
)
return false;
*t = (b->y0 - r->y) / r->j;
float t2 = (b->z0 - r->z) / r->k;
if(t2 > *t)
*t = t2;
return true;
}
case MOM:
{
if((r->y < b->y0) || (r->y > b->y1)
|| (r->x < b->x0) || (r->z < b->z0)
|| (r->kbyi * b->x0 - b->z1 + r->c_xz > 0)
|| (r->ibyk * b->z0 - b->x1 + r->c_zx > 0)
)
return false;
*t = (b->x1 - r->x) / r->i;
float t2 = (b->z1 - r->z) / r->k;
if(t2 > *t)
*t = t2;
return true;
}
case MOP:
{
if((r->y < b->y0) || (r->y > b->y1)
|| (r->x < b->x0) || (r->z > b->z1)
|| (r->kbyi * b->x0 - b->z0 + r->c_xz < 0)
|| (r->ibyk * b->z1 - b->x1 + r->c_zx > 0)
)
return false;
*t = (b->x1 - r->x) / r->i;
float t2 = (b->z0 - r->z) / r->k;
if(t2 > *t)
*t = t2;
return true;
}
case POM:
{
if((r->y < b->y0) || (r->y > b->y1)
|| (r->x > b->x1) || (r->z < b->z0)
|| (r->kbyi * b->x1 - b->z1 + r->c_xz > 0)
|| (r->ibyk * b->z0 - b->x0 + r->c_zx < 0)
)
return false;
*t = (b->x0 - r->x) / r->i;
float t2 = (b->z1 - r->z) / r->k;
if(t2 > *t)
*t = t2;
return true;
}
case POP:
{
if((r->y < b->y0) || (r->y > b->y1)
|| (r->x > b->x1) || (r->z > b->z1)
|| (r->kbyi * b->x1 - b->z0 + r->c_xz < 0)
|| (r->ibyk * b->z1 - b->x0 + r->c_zx < 0)
)
return false;
*t = (b->x0 - r->x) / r->i;
float t2 = (b->z0 - r->z) / r->k;
if(t2 > *t)
*t = t2;
return true;
}
case MMO:
{
if((r->z < b->z0) || (r->z > b->z1)
|| (r->x < b->x0) || (r->y < b->y0)
|| (r->jbyi * b->x0 - b->y1 + r->c_xy > 0)
|| (r->ibyj * b->y0 - b->x1 + r->c_yx > 0)
)
return false;
*t = (b->x1 - r->x) / r->i;
float t1 = (b->y1 - r->y) / r->j;
if(t1 > *t)
*t = t1;
return true;
}
case MPO:
{
if((r->z < b->z0) || (r->z > b->z1)
|| (r->x < b->x0) || (r->y > b->y1)
|| (r->jbyi * b->x0 - b->y0 + r->c_xy < 0)
|| (r->ibyj * b->y1 - b->x1 + r->c_yx > 0)
)
return false;
*t = (b->x1 - r->x) / r->i;
float t1 = (b->y0 - r->y) / r->j;
if(t1 > *t)
*t = t1;
return true;
}
case PMO:
{
if((r->z < b->z0) || (r->z > b->z1)
|| (r->x > b->x1) || (r->y < b->y0)
|| (r->jbyi * b->x1 - b->y1 + r->c_xy > 0)
|| (r->ibyj * b->y0 - b->x0 + r->c_yx < 0)
)
return false;
*t = (b->x0 - r->x) / r->i;
float t1 = (b->y1 - r->y) / r->j;
if(t1 > *t)
*t = t1;
return true;
}
case PPO:
{
if((r->z < b->z0) || (r->z > b->z1)
|| (r->x > b->x1) || (r->y > b->y1)
|| (r->jbyi * b->x1 - b->y0 + r->c_xy < 0)
|| (r->ibyj * b->y1 - b->x0 + r->c_yx < 0)
)
return false;
*t = (b->x0 - r->x) / r->i;
float t1 = (b->y0 - r->y) / r->j;
if(t1 > *t)
*t = t1;
return true;
}
case MOO:
{
if((r->x < b->x0)
|| (r->y < b->y0) || (r->y > b->y1)
|| (r->z < b->z0) || (r->z > b->z1)
)
return false;
*t = (b->x1 - r->x) / r->i;
return true;
}
case POO:
{
if((r->x > b->x1)
|| (r->y < b->y0) || (r->y > b->y1)
|| (r->z < b->z0) || (r->z > b->z1)
)
return false;
*t = (b->x0 - r->x) / r->i;
return true;
}
case OMO:
{
if((r->y < b->y0)
|| (r->x < b->x0) || (r->x > b->x1)
|| (r->z < b->z0) || (r->z > b->z1)
)
return false;
*t = (b->y1 - r->y) / r->j;
return true;
}
case OPO:
{
if((r->y > b->y1)
|| (r->x < b->x0) || (r->x > b->x1)
|| (r->z < b->z0) || (r->z > b->z1)
)
return false;
*t = (b->y0 - r->y) / r->j;
return true;
}
case OOM:
{
if((r->z < b->z0)
|| (r->x < b->x0) || (r->x > b->x1)
|| (r->y < b->y0) || (r->y > b->y1)
)
return false;
*t = (b->z1 - r->z) / r->k;
return true;
}
case OOP:
{
if((r->z > b->z1)
|| (r->x < b->x0) || (r->x > b->x1)
|| (r->y < b->y0) || (r->y > b->y1)
)
return false;
*t = (b->z0 - r->z) / r->k;
return true;
}
}
return false;
}
SIMD_FORCE_INLINE bool btRayAabb2(const btVector3& rayFrom, SIMD_FORCE_INLINE bool btRayAabb2(const btVector3& rayFrom,