60 lines
1.6 KiB
C++
60 lines
1.6 KiB
C++
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#ifndef B3_AABB_H
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#define B3_AABB_H
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#include "Bullet3Common/shared/b3Float4.h"
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#include "Bullet3Common/shared/b3Mat3x3.h"
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typedef struct b3Aabb b3Aabb_t;
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struct b3Aabb
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{
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union
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{
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float m_min[4];
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b3Float4 m_minVec;
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int m_minIndices[4];
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};
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union
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{
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float m_max[4];
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b3Float4 m_maxVec;
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int m_signedMaxIndices[4];
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};
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};
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inline void b3TransformAabb2(b3Float4ConstArg localAabbMin,b3Float4ConstArg localAabbMax, float margin,
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b3Float4ConstArg pos,
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b3QuatConstArg orn,
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b3Float4* aabbMinOut,b3Float4* aabbMaxOut)
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{
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b3Float4 localHalfExtents = 0.5f*(localAabbMax-localAabbMin);
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localHalfExtents+=b3MakeFloat4(margin,margin,margin,0.f);
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b3Float4 localCenter = 0.5f*(localAabbMax+localAabbMin);
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b3Mat3x3 m;
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m = b3QuatGetRotationMatrix(orn);
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b3Mat3x3 abs_b = b3AbsoluteMat3x3(m);
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b3Float4 center = b3TransformPoint(localCenter,pos,orn);
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b3Float4 extent = b3MakeFloat4(b3Dot3F4(localHalfExtents,b3GetRow(abs_b,0)),
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b3Dot3F4(localHalfExtents,b3GetRow(abs_b,1)),
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b3Dot3F4(localHalfExtents,b3GetRow(abs_b,2)),
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0.f);
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*aabbMinOut = center-extent;
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*aabbMaxOut = center+extent;
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}
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/// conservative test for overlap between two aabbs
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inline bool b3TestAabbAgainstAabb(b3Float4ConstArg aabbMin1,b3Float4ConstArg aabbMax1,
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b3Float4ConstArg aabbMin2, b3Float4ConstArg aabbMax2)
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{
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bool overlap = true;
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overlap = (aabbMin1.x > aabbMax2.x || aabbMax1.x < aabbMin2.x) ? false : overlap;
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overlap = (aabbMin1.z > aabbMax2.z || aabbMax1.z < aabbMin2.z) ? false : overlap;
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overlap = (aabbMin1.y > aabbMax2.y || aabbMax1.y < aabbMin2.y) ? false : overlap;
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return overlap;
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}
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#endif //B3_AABB_H
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