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Differential D8762 Diff 28333 extern/bullet2/src/BulletCollision/Gimpact/gim_basic_geometry_operations.h

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extern/bullet2/src/BulletCollision/Gimpact/gim_basic_geometry_operations.h

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This library is distributed in the hope that it will be useful, This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details. GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
----------------------------------------------------------------------------- -----------------------------------------------------------------------------
*/ */
#include "gim_linear_math.h" #include "gim_linear_math.h"
#ifndef PLANEDIREPSILON
#define PLANEDIREPSILON 0.0000001f #define PLANEDIREPSILON 0.0000001f
#define PARALELENORMALS 0.000001f #endif
#ifndef PARALELENORMALS
#define PARALELENORMALS 0.000001f
#endif
#define TRIANGLE_NORMAL(v1,v2,v3,n)\ #define TRIANGLE_NORMAL(v1, v2, v3, n) \
{\ { \
vec3f _dif1,_dif2;\ vec3f _dif1, _dif2; \
VEC_DIFF(_dif1,v2,v1);\ VEC_DIFF(_dif1, v2, v1); \
VEC_DIFF(_dif2,v3,v1);\ VEC_DIFF(_dif2, v3, v1); \
VEC_CROSS(n,_dif1,_dif2);\ VEC_CROSS(n, _dif1, _dif2); \
VEC_NORMALIZE(n);\ VEC_NORMALIZE(n); \
}\ }
#define TRIANGLE_NORMAL_FAST(v1,v2,v3,n){\ #define TRIANGLE_NORMAL_FAST(v1, v2, v3, n) \
{ \
vec3f _dif1,_dif2; \ vec3f _dif1, _dif2; \
VEC_DIFF(_dif1,v2,v1); \ VEC_DIFF(_dif1, v2, v1); \
VEC_DIFF(_dif2,v3,v1); \ VEC_DIFF(_dif2, v3, v1); \
VEC_CROSS(n,_dif1,_dif2); \ VEC_CROSS(n, _dif1, _dif2); \
}\ }
/// plane is a vec4f /// plane is a vec4f
#define TRIANGLE_PLANE(v1,v2,v3,plane) {\ #define TRIANGLE_PLANE(v1, v2, v3, plane) \
{ \
TRIANGLE_NORMAL(v1,v2,v3,plane);\ TRIANGLE_NORMAL(v1, v2, v3, plane); \
plane[3] = VEC_DOT(v1,plane);\ plane[3] = VEC_DOT(v1, plane); \
}\ }
/// plane is a vec4f /// plane is a vec4f
#define TRIANGLE_PLANE_FAST(v1,v2,v3,plane) {\ #define TRIANGLE_PLANE_FAST(v1, v2, v3, plane) \
{ \
TRIANGLE_NORMAL_FAST(v1,v2,v3,plane);\ TRIANGLE_NORMAL_FAST(v1, v2, v3, plane); \
plane[3] = VEC_DOT(v1,plane);\ plane[3] = VEC_DOT(v1, plane); \
}\ }
/// Calc a plane from an edge an a normal. plane is a vec4f /// Calc a plane from an edge an a normal. plane is a vec4f
#define EDGE_PLANE(e1,e2,n,plane) {\ #define EDGE_PLANE(e1, e2, n, plane) \
{ \
vec3f _dif; \ vec3f _dif; \
VEC_DIFF(_dif,e2,e1); \ VEC_DIFF(_dif, e2, e1); \
VEC_CROSS(plane,_dif,n); \ VEC_CROSS(plane, _dif, n); \
VEC_NORMALIZE(plane); \ VEC_NORMALIZE(plane); \
plane[3] = VEC_DOT(e1,plane);\ plane[3] = VEC_DOT(e1, plane); \
}\ }
#define DISTANCE_PLANE_POINT(plane,point) (VEC_DOT(plane,point) - plane[3]) #define DISTANCE_PLANE_POINT(plane, point) (VEC_DOT(plane, point) - plane[3])
#define PROJECT_POINT_PLANE(point,plane,projected) {\ #define PROJECT_POINT_PLANE(point, plane, projected) \
{ \
GREAL _dis;\ GREAL _dis; \
_dis = DISTANCE_PLANE_POINT(plane,point);\ _dis = DISTANCE_PLANE_POINT(plane, point); \
VEC_SCALE(projected,-_dis,plane);\ VEC_SCALE(projected, -_dis, plane); \
VEC_SUM(projected,projected,point); \ VEC_SUM(projected, projected, point); \
}\ }
//! Verifies if a point is in the plane hull //! Verifies if a point is in the plane hull
template<typename CLASS_POINT,typename CLASS_PLANE> template <typename CLASS_POINT, typename CLASS_PLANE>
SIMD_FORCE_INLINE bool POINT_IN_HULL( SIMD_FORCE_INLINE bool POINT_IN_HULL(
const CLASS_POINT& point,const CLASS_PLANE * planes,GUINT plane_count) const CLASS_POINT &point, const CLASS_PLANE *planes, GUINT plane_count)
{ {
GREAL _dis; GREAL _dis;
for (GUINT _i = 0;_i< plane_count;++_i) for (GUINT _i = 0; _i < plane_count; ++_i)
{ {
_dis = DISTANCE_PLANE_POINT(planes[_i],point); _dis = DISTANCE_PLANE_POINT(planes[_i], point);
if(_dis>0.0f) return false; if (_dis > 0.0f) return false;
} }
return true; return true;
} }
template<typename CLASS_POINT,typename CLASS_PLANE> template <typename CLASS_POINT, typename CLASS_PLANE>
SIMD_FORCE_INLINE void PLANE_CLIP_SEGMENT( SIMD_FORCE_INLINE void PLANE_CLIP_SEGMENT(
const CLASS_POINT& s1, const CLASS_POINT &s1,
const CLASS_POINT &s2,const CLASS_PLANE &plane,CLASS_POINT &clipped) const CLASS_POINT &s2, const CLASS_PLANE &plane, CLASS_POINT &clipped)
{ {
GREAL _dis1,_dis2; GREAL _dis1, _dis2;
_dis1 = DISTANCE_PLANE_POINT(plane,s1); _dis1 = DISTANCE_PLANE_POINT(plane, s1);
VEC_DIFF(clipped,s2,s1); VEC_DIFF(clipped, s2, s1);
_dis2 = VEC_DOT(clipped,plane); _dis2 = VEC_DOT(clipped, plane);
VEC_SCALE(clipped,-_dis1/_dis2,clipped); VEC_SCALE(clipped, -_dis1 / _dis2, clipped);
VEC_SUM(clipped,clipped,s1); VEC_SUM(clipped, clipped, s1);
} }
enum ePLANE_INTERSECTION_TYPE enum ePLANE_INTERSECTION_TYPE
{ {
G_BACK_PLANE = 0, G_BACK_PLANE = 0,
G_COLLIDE_PLANE, G_COLLIDE_PLANE,
G_FRONT_PLANE G_FRONT_PLANE
}; };
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<li> 1 : Segment in front of plane, s2 closest <li> 1 : Segment in front of plane, s2 closest
<li> 2 : Segment in back of plane, s1 closest <li> 2 : Segment in back of plane, s1 closest
<li> 3 : Segment in back of plane, s2 closest <li> 3 : Segment in back of plane, s2 closest
<li> 4 : Segment collides plane, s1 in back <li> 4 : Segment collides plane, s1 in back
<li> 5 : Segment collides plane, s2 in back <li> 5 : Segment collides plane, s2 in back
</ul> </ul>
*/ */
template<typename CLASS_POINT,typename CLASS_PLANE> template <typename CLASS_POINT, typename CLASS_PLANE>
SIMD_FORCE_INLINE eLINE_PLANE_INTERSECTION_TYPE PLANE_CLIP_SEGMENT2( SIMD_FORCE_INLINE eLINE_PLANE_INTERSECTION_TYPE PLANE_CLIP_SEGMENT2(
const CLASS_POINT& s1, const CLASS_POINT &s1,
const CLASS_POINT &s2, const CLASS_POINT &s2,
const CLASS_PLANE &plane,CLASS_POINT &clipped) const CLASS_PLANE &plane, CLASS_POINT &clipped)
{ {
GREAL _dis1 = DISTANCE_PLANE_POINT(plane,s1); GREAL _dis1 = DISTANCE_PLANE_POINT(plane, s1);
GREAL _dis2 = DISTANCE_PLANE_POINT(plane,s2); GREAL _dis2 = DISTANCE_PLANE_POINT(plane, s2);
if(_dis1 >-G_EPSILON && _dis2 >-G_EPSILON) if (_dis1 > -G_EPSILON && _dis2 > -G_EPSILON)
{ {
if(_dis1<_dis2) return G_FRONT_PLANE_S1; if (_dis1 < _dis2) return G_FRONT_PLANE_S1;
return G_FRONT_PLANE_S2; return G_FRONT_PLANE_S2;
} }
else if(_dis1 <G_EPSILON && _dis2 <G_EPSILON) else if (_dis1 < G_EPSILON && _dis2 < G_EPSILON)
{ {
if(_dis1>_dis2) return G_BACK_PLANE_S1; if (_dis1 > _dis2) return G_BACK_PLANE_S1;
return G_BACK_PLANE_S2; return G_BACK_PLANE_S2;
} }
VEC_DIFF(clipped,s2,s1); VEC_DIFF(clipped, s2, s1);
_dis2 = VEC_DOT(clipped,plane); _dis2 = VEC_DOT(clipped, plane);
VEC_SCALE(clipped,-_dis1/_dis2,clipped); VEC_SCALE(clipped, -_dis1 / _dis2, clipped);
VEC_SUM(clipped,clipped,s1); VEC_SUM(clipped, clipped, s1);
if(_dis1<_dis2) return G_COLLIDE_PLANE_S1; if (_dis1 < _dis2) return G_COLLIDE_PLANE_S1;
return G_COLLIDE_PLANE_S2; return G_COLLIDE_PLANE_S2;
} }
//! Confirms if the plane intersect the edge or not //! Confirms if the plane intersect the edge or not
/*! /*!
clipped1 and clipped2 are the vertices behind the plane. clipped1 and clipped2 are the vertices behind the plane.
clipped1 is the closest clipped1 is the closest
intersection_type must have the following values intersection_type must have the following values
<ul> <ul>
<li> 0 : Segment in front of plane, s1 closest <li> 0 : Segment in front of plane, s1 closest
<li> 1 : Segment in front of plane, s2 closest <li> 1 : Segment in front of plane, s2 closest
<li> 2 : Segment in back of plane, s1 closest <li> 2 : Segment in back of plane, s1 closest
<li> 3 : Segment in back of plane, s2 closest <li> 3 : Segment in back of plane, s2 closest
<li> 4 : Segment collides plane, s1 in back <li> 4 : Segment collides plane, s1 in back
<li> 5 : Segment collides plane, s2 in back <li> 5 : Segment collides plane, s2 in back
</ul> </ul>
*/ */
template<typename CLASS_POINT,typename CLASS_PLANE> template <typename CLASS_POINT, typename CLASS_PLANE>
SIMD_FORCE_INLINE eLINE_PLANE_INTERSECTION_TYPE PLANE_CLIP_SEGMENT_CLOSEST( SIMD_FORCE_INLINE eLINE_PLANE_INTERSECTION_TYPE PLANE_CLIP_SEGMENT_CLOSEST(
const CLASS_POINT& s1, const CLASS_POINT &s1,
const CLASS_POINT &s2, const CLASS_POINT &s2,
const CLASS_PLANE &plane, const CLASS_PLANE &plane,
CLASS_POINT &clipped1,CLASS_POINT &clipped2) CLASS_POINT &clipped1, CLASS_POINT &clipped2)
{ {
eLINE_PLANE_INTERSECTION_TYPE intersection_type = PLANE_CLIP_SEGMENT2(s1,s2,plane,clipped1); eLINE_PLANE_INTERSECTION_TYPE intersection_type = PLANE_CLIP_SEGMENT2(s1, s2, plane, clipped1);
switch(intersection_type) switch (intersection_type)
{ {
case G_FRONT_PLANE_S1: case G_FRONT_PLANE_S1:
VEC_COPY(clipped1,s1); VEC_COPY(clipped1, s1);
VEC_COPY(clipped2,s2); VEC_COPY(clipped2, s2);
break; break;
case G_FRONT_PLANE_S2: case G_FRONT_PLANE_S2:
VEC_COPY(clipped1,s2); VEC_COPY(clipped1, s2);
VEC_COPY(clipped2,s1); VEC_COPY(clipped2, s1);
break; break;
case G_BACK_PLANE_S1: case G_BACK_PLANE_S1:
VEC_COPY(clipped1,s1); VEC_COPY(clipped1, s1);
VEC_COPY(clipped2,s2); VEC_COPY(clipped2, s2);
break; break;
case G_BACK_PLANE_S2: case G_BACK_PLANE_S2:
VEC_COPY(clipped1,s2); VEC_COPY(clipped1, s2);
VEC_COPY(clipped2,s1); VEC_COPY(clipped2, s1);
break; break;
case G_COLLIDE_PLANE_S1: case G_COLLIDE_PLANE_S1:
VEC_COPY(clipped2,s1); VEC_COPY(clipped2, s1);
break; break;
case G_COLLIDE_PLANE_S2: case G_COLLIDE_PLANE_S2:
VEC_COPY(clipped2,s2); VEC_COPY(clipped2, s2);
break; break;
} }
return intersection_type; return intersection_type;
} }
//! Finds the 2 smallest cartesian coordinates of a plane normal //! Finds the 2 smallest cartesian coordinates of a plane normal
#define PLANE_MINOR_AXES(plane, i0, i1) VEC_MINOR_AXES(plane, i0, i1) #define PLANE_MINOR_AXES(plane, i0, i1) VEC_MINOR_AXES(plane, i0, i1)
//! Ray plane collision in one way //! Ray plane collision in one way
/*! /*!
Intersects plane in one way only. The ray must face the plane (normals must be in opossite directions).<br/> Intersects plane in one way only. The ray must face the plane (normals must be in opossite directions).<br/>
It uses the PLANEDIREPSILON constant. It uses the PLANEDIREPSILON constant.
*/ */
template<typename T,typename CLASS_POINT,typename CLASS_PLANE> template <typename T, typename CLASS_POINT, typename CLASS_PLANE>
SIMD_FORCE_INLINE bool RAY_PLANE_COLLISION( SIMD_FORCE_INLINE bool RAY_PLANE_COLLISION(
const CLASS_PLANE & plane, const CLASS_PLANE &plane,
const CLASS_POINT & vDir, const CLASS_POINT &vDir,
const CLASS_POINT & vPoint, const CLASS_POINT &vPoint,
CLASS_POINT & pout,T &tparam) CLASS_POINT &pout, T &tparam)
{ {
GREAL _dis,_dotdir; GREAL _dis, _dotdir;
_dotdir = VEC_DOT(plane,vDir); _dotdir = VEC_DOT(plane, vDir);
if(_dotdir<PLANEDIREPSILON) if (_dotdir < PLANEDIREPSILON)
{ {
return false; return false;
} }
_dis = DISTANCE_PLANE_POINT(plane,vPoint); _dis = DISTANCE_PLANE_POINT(plane, vPoint);
tparam = -_dis/_dotdir; tparam = -_dis / _dotdir;
VEC_SCALE(pout,tparam,vDir); VEC_SCALE(pout, tparam, vDir);
VEC_SUM(pout,vPoint,pout); VEC_SUM(pout, vPoint, pout);
return true; return true;
} }
//! line collision //! line collision
/*! /*!
*\return *\return
-0 if the ray never intersects -0 if the ray never intersects
-1 if the ray collides in front -1 if the ray collides in front
-2 if the ray collides in back -2 if the ray collides in back
*/ */
template<typename T,typename CLASS_POINT,typename CLASS_PLANE> template <typename T, typename CLASS_POINT, typename CLASS_PLANE>
SIMD_FORCE_INLINE GUINT LINE_PLANE_COLLISION( SIMD_FORCE_INLINE GUINT LINE_PLANE_COLLISION(
const CLASS_PLANE & plane, const CLASS_PLANE &plane,
const CLASS_POINT & vDir, const CLASS_POINT &vDir,
const CLASS_POINT & vPoint, const CLASS_POINT &vPoint,
CLASS_POINT & pout, CLASS_POINT &pout,
T &tparam, T &tparam,
T tmin, T tmax) T tmin, T tmax)
{ {
GREAL _dis,_dotdir; GREAL _dis, _dotdir;
_dotdir = VEC_DOT(plane,vDir); _dotdir = VEC_DOT(plane, vDir);
if(btFabs(_dotdir)<PLANEDIREPSILON) if (btFabs(_dotdir) < PLANEDIREPSILON)
{ {
tparam = tmax; tparam = tmax;
return 0; return 0;
} }
_dis = DISTANCE_PLANE_POINT(plane,vPoint); _dis = DISTANCE_PLANE_POINT(plane, vPoint);
char returnvalue = _dis<0.0f?2:1; char returnvalue = _dis < 0.0f ? 2 : 1;
tparam = -_dis/_dotdir; tparam = -_dis / _dotdir;
if(tparam<tmin) if (tparam < tmin)
{ {
returnvalue = 0; returnvalue = 0;
tparam = tmin; tparam = tmin;
} }
else if(tparam>tmax) else if (tparam > tmax)
{ {
returnvalue = 0; returnvalue = 0;
tparam = tmax; tparam = tmax;
} }
VEC_SCALE(pout,tparam,vDir); VEC_SCALE(pout, tparam, vDir);
VEC_SUM(pout,vPoint,pout); VEC_SUM(pout, vPoint, pout);
return returnvalue; return returnvalue;
} }
/*! \brief Returns the Ray on which 2 planes intersect if they do. /*! \brief Returns the Ray on which 2 planes intersect if they do.
Written by Rodrigo Hernandez on ODE convex collision Written by Rodrigo Hernandez on ODE convex collision
\param p1 Plane 1 \param p1 Plane 1
\param p2 Plane 2 \param p2 Plane 2
\param p Contains the origin of the ray upon returning if planes intersect \param p Contains the origin of the ray upon returning if planes intersect
\param d Contains the direction of the ray upon returning if planes intersect \param d Contains the direction of the ray upon returning if planes intersect
\return true if the planes intersect, 0 if paralell. \return true if the planes intersect, 0 if paralell.
*/ */
template<typename CLASS_POINT,typename CLASS_PLANE> template <typename CLASS_POINT, typename CLASS_PLANE>
SIMD_FORCE_INLINE bool INTERSECT_PLANES( SIMD_FORCE_INLINE bool INTERSECT_PLANES(
const CLASS_PLANE &p1, const CLASS_PLANE &p1,
const CLASS_PLANE &p2, const CLASS_PLANE &p2,
CLASS_POINT &p, CLASS_POINT &p,
CLASS_POINT &d) CLASS_POINT &d)
{ {
VEC_CROSS(d,p1,p2); VEC_CROSS(d, p1, p2);
GREAL denom = VEC_DOT(d, d); GREAL denom = VEC_DOT(d, d);
if(GIM_IS_ZERO(denom)) return false; if (GIM_IS_ZERO(denom)) return false;
vec3f _n; vec3f _n;
_n[0]=p1[3]*p2[0] - p2[3]*p1[0]; _n[0] = p1[3] * p2[0] - p2[3] * p1[0];
_n[1]=p1[3]*p2[1] - p2[3]*p1[1]; _n[1] = p1[3] * p2[1] - p2[3] * p1[1];
_n[2]=p1[3]*p2[2] - p2[3]*p1[2]; _n[2] = p1[3] * p2[2] - p2[3] * p1[2];
VEC_CROSS(p,_n,d); VEC_CROSS(p, _n, d);
p[0]/=denom; p[0] /= denom;
p[1]/=denom; p[1] /= denom;
p[2]/=denom; p[2] /= denom;
return true; return true;
} }
//***************** SEGMENT and LINE FUNCTIONS **********************************/// //***************** SEGMENT and LINE FUNCTIONS **********************************///
/*! Finds the closest point(cp) to (v) on a segment (e1,e2) /*! Finds the closest point(cp) to (v) on a segment (e1,e2)
*/ */
template<typename CLASS_POINT> template <typename CLASS_POINT>
SIMD_FORCE_INLINE void CLOSEST_POINT_ON_SEGMENT( SIMD_FORCE_INLINE void CLOSEST_POINT_ON_SEGMENT(
CLASS_POINT & cp, const CLASS_POINT & v, CLASS_POINT &cp, const CLASS_POINT &v,
const CLASS_POINT &e1,const CLASS_POINT &e2) const CLASS_POINT &e1, const CLASS_POINT &e2)
{ {
vec3f _n; vec3f _n;
VEC_DIFF(_n,e2,e1); VEC_DIFF(_n, e2, e1);
VEC_DIFF(cp,v,e1); VEC_DIFF(cp, v, e1);
GREAL _scalar = VEC_DOT(cp, _n); GREAL _scalar = VEC_DOT(cp, _n);
_scalar/= VEC_DOT(_n, _n); _scalar /= VEC_DOT(_n, _n);
if(_scalar <0.0f) if (_scalar < 0.0f)
{ {
VEC_COPY(cp,e1); VEC_COPY(cp, e1);
} }
else if(_scalar >1.0f) else if (_scalar > 1.0f)
{ {
VEC_COPY(cp,e2); VEC_COPY(cp, e2);
} }
else else
{ {
VEC_SCALE(cp,_scalar,_n); VEC_SCALE(cp, _scalar, _n);
VEC_SUM(cp,cp,e1); VEC_SUM(cp, cp, e1);
} }
} }
/*! \brief Finds the line params where these lines intersect. /*! \brief Finds the line params where these lines intersect.
\param dir1 Direction of line 1 \param dir1 Direction of line 1
\param point1 Point of line 1 \param point1 Point of line 1
\param dir2 Direction of line 2 \param dir2 Direction of line 2
\param point2 Point of line 2 \param point2 Point of line 2
\param t1 Result Parameter for line 1 \param t1 Result Parameter for line 1
\param t2 Result Parameter for line 2 \param t2 Result Parameter for line 2
\param dointersect 0 if the lines won't intersect, else 1 \param dointersect 0 if the lines won't intersect, else 1
*/ */
template<typename T,typename CLASS_POINT> template <typename T, typename CLASS_POINT>
SIMD_FORCE_INLINE bool LINE_INTERSECTION_PARAMS( SIMD_FORCE_INLINE bool LINE_INTERSECTION_PARAMS(
const CLASS_POINT & dir1, const CLASS_POINT &dir1,
CLASS_POINT & point1, CLASS_POINT &point1,
const CLASS_POINT & dir2, const CLASS_POINT &dir2,
CLASS_POINT & point2, CLASS_POINT &point2,
T& t1,T& t2) T &t1, T &t2)
{ {
GREAL det; GREAL det;
GREAL e1e1 = VEC_DOT(dir1,dir1); GREAL e1e1 = VEC_DOT(dir1, dir1);
GREAL e1e2 = VEC_DOT(dir1,dir2); GREAL e1e2 = VEC_DOT(dir1, dir2);
GREAL e2e2 = VEC_DOT(dir2,dir2); GREAL e2e2 = VEC_DOT(dir2, dir2);
vec3f p1p2; vec3f p1p2;
VEC_DIFF(p1p2,point1,point2); VEC_DIFF(p1p2, point1, point2);
GREAL p1p2e1 = VEC_DOT(p1p2,dir1); GREAL p1p2e1 = VEC_DOT(p1p2, dir1);
GREAL p1p2e2 = VEC_DOT(p1p2,dir2); GREAL p1p2e2 = VEC_DOT(p1p2, dir2);
det = e1e2*e1e2 - e1e1*e2e2; det = e1e2 * e1e2 - e1e1 * e2e2;
if(GIM_IS_ZERO(det)) return false; if (GIM_IS_ZERO(det)) return false;
t1 = (e1e2*p1p2e2 - e2e2*p1p2e1)/det; t1 = (e1e2 * p1p2e2 - e2e2 * p1p2e1) / det;
t2 = (e1e1*p1p2e2 - e1e2*p1p2e1)/det; t2 = (e1e1 * p1p2e2 - e1e2 * p1p2e1) / det;
return true; return true;
} }
//! Find closest points on segments //! Find closest points on segments
template<typename CLASS_POINT> template <typename CLASS_POINT>
SIMD_FORCE_INLINE void SEGMENT_COLLISION( SIMD_FORCE_INLINE void SEGMENT_COLLISION(
const CLASS_POINT & vA1, const CLASS_POINT &vA1,
const CLASS_POINT & vA2, const CLASS_POINT &vA2,
const CLASS_POINT & vB1, const CLASS_POINT &vB1,
const CLASS_POINT & vB2, const CLASS_POINT &vB2,
CLASS_POINT & vPointA, CLASS_POINT &vPointA,
CLASS_POINT & vPointB) CLASS_POINT &vPointB)
{ {
CLASS_POINT _AD,_BD,n; CLASS_POINT _AD, _BD, n;
vec4f _M;//plane vec4f _M; //plane
VEC_DIFF(_AD,vA2,vA1); VEC_DIFF(_AD, vA2, vA1);
VEC_DIFF(_BD,vB2,vB1); VEC_DIFF(_BD, vB2, vB1);
VEC_CROSS(n,_AD,_BD); VEC_CROSS(n, _AD, _BD);
GREAL _tp = VEC_DOT(n,n); GREAL _tp = VEC_DOT(n, n);
if(_tp<G_EPSILON)//ARE PARALELE if (_tp < G_EPSILON) //ARE PARALELE
{ {
//project B over A //project B over A
bool invert_b_order = false; bool invert_b_order = false;
_M[0] = VEC_DOT(vB1,_AD); _M[0] = VEC_DOT(vB1, _AD);
_M[1] = VEC_DOT(vB2,_AD); _M[1] = VEC_DOT(vB2, _AD);
if(_M[0]>_M[1]) if (_M[0] > _M[1])
{ {
invert_b_order = true; invert_b_order = true;
GIM_SWAP_NUMBERS(_M[0],_M[1]); GIM_SWAP_NUMBERS(_M[0], _M[1]);
} }
_M[2] = VEC_DOT(vA1,_AD); _M[2] = VEC_DOT(vA1, _AD);
_M[3] = VEC_DOT(vA2,_AD); _M[3] = VEC_DOT(vA2, _AD);
//mid points //mid points
n[0] = (_M[0]+_M[1])*0.5f; n[0] = (_M[0] + _M[1]) * 0.5f;
n[1] = (_M[2]+_M[3])*0.5f; n[1] = (_M[2] + _M[3]) * 0.5f;
if(n[0]<n[1]) if (n[0] < n[1])
{ {
if(_M[1]<_M[2]) if (_M[1] < _M[2])
{ {
vPointB = invert_b_order?vB1:vB2; vPointB = invert_b_order ? vB1 : vB2;
vPointA = vA1; vPointA = vA1;
} }
else if(_M[1]<_M[3]) else if (_M[1] < _M[3])
{ {
vPointB = invert_b_order?vB1:vB2; vPointB = invert_b_order ? vB1 : vB2;
CLOSEST_POINT_ON_SEGMENT(vPointA,vPointB,vA1,vA2); CLOSEST_POINT_ON_SEGMENT(vPointA, vPointB, vA1, vA2);
} }
else else
{ {
vPointA = vA2; vPointA = vA2;
CLOSEST_POINT_ON_SEGMENT(vPointB,vPointA,vB1,vB2); CLOSEST_POINT_ON_SEGMENT(vPointB, vPointA, vB1, vB2);
} }
} }
else else
{ {
if(_M[3]<_M[0]) if (_M[3] < _M[0])
{ {
vPointB = invert_b_order?vB2:vB1; vPointB = invert_b_order ? vB2 : vB1;
vPointA = vA2; vPointA = vA2;
} }
else if(_M[3]<_M[1]) else if (_M[3] < _M[1])
{ {
vPointA = vA2; vPointA = vA2;
CLOSEST_POINT_ON_SEGMENT(vPointB,vPointA,vB1,vB2); CLOSEST_POINT_ON_SEGMENT(vPointB, vPointA, vB1, vB2);
} }
else else
{ {
vPointB = invert_b_order?vB1:vB2; vPointB = invert_b_order ? vB1 : vB2;
CLOSEST_POINT_ON_SEGMENT(vPointA,vPointB,vA1,vA2); CLOSEST_POINT_ON_SEGMENT(vPointA, vPointB, vA1, vA2);
} }
} }
return; return;
} }
VEC_CROSS(_M,n,_BD); VEC_CROSS(_M, n, _BD);
_M[3] = VEC_DOT(_M,vB1); _M[3] = VEC_DOT(_M, vB1);
LINE_PLANE_COLLISION(_M,_AD,vA1,vPointA,_tp,btScalar(0), btScalar(1)); LINE_PLANE_COLLISION(_M, _AD, vA1, vPointA, _tp, btScalar(0), btScalar(1));
/*Closest point on segment*/ /*Closest point on segment*/
VEC_DIFF(vPointB,vPointA,vB1); VEC_DIFF(vPointB, vPointA, vB1);
_tp = VEC_DOT(vPointB, _BD); _tp = VEC_DOT(vPointB, _BD);
_tp/= VEC_DOT(_BD, _BD); _tp /= VEC_DOT(_BD, _BD);
_tp = GIM_CLAMP(_tp,0.0f,1.0f); _tp = GIM_CLAMP(_tp, 0.0f, 1.0f);
VEC_SCALE(vPointB,_tp,_BD); VEC_SCALE(vPointB, _tp, _BD);
VEC_SUM(vPointB,vPointB,vB1); VEC_SUM(vPointB, vPointB, vB1);
} }
//! Line box intersection in one dimension //! Line box intersection in one dimension
/*! /*!
*\param pos Position of the ray *\param pos Position of the ray
*\param dir Projection of the Direction of the ray *\param dir Projection of the Direction of the ray
*\param bmin Minimum bound of the box *\param bmin Minimum bound of the box
*\param bmax Maximum bound of the box *\param bmax Maximum bound of the box
*\param tfirst the minimum projection. Assign to 0 at first. *\param tfirst the minimum projection. Assign to 0 at first.
*\param tlast the maximum projection. Assign to INFINITY at first. *\param tlast the maximum projection. Assign to INFINITY at first.
*\return true if there is an intersection. *\return true if there is an intersection.
*/ */
template<typename T> template <typename T>
SIMD_FORCE_INLINE bool BOX_AXIS_INTERSECT(T pos, T dir,T bmin, T bmax, T & tfirst, T & tlast) SIMD_FORCE_INLINE bool BOX_AXIS_INTERSECT(T pos, T dir, T bmin, T bmax, T &tfirst, T &tlast)
{ {
if(GIM_IS_ZERO(dir)) if (GIM_IS_ZERO(dir))
{ {
return !(pos < bmin || pos > bmax); return !(pos < bmin || pos > bmax);
} }
GREAL a0 = (bmin - pos) / dir; GREAL a0 = (bmin - pos) / dir;
GREAL a1 = (bmax - pos) / dir; GREAL a1 = (bmax - pos) / dir;
if(a0 > a1) GIM_SWAP_NUMBERS(a0, a1); if (a0 > a1) GIM_SWAP_NUMBERS(a0, a1);
tfirst = GIM_MAX(a0, tfirst); tfirst = GIM_MAX(a0, tfirst);
tlast = GIM_MIN(a1, tlast); tlast = GIM_MIN(a1, tlast);
if (tlast < tfirst) return false; if (tlast < tfirst) return false;
return true; return true;
} }
//! Sorts 3 componets //! Sorts 3 componets
template<typename T> template <typename T>
SIMD_FORCE_INLINE void SORT_3_INDICES( SIMD_FORCE_INLINE void SORT_3_INDICES(
const T * values, const T *values,
GUINT * order_indices) GUINT *order_indices)
{ {
//get minimum //get minimum
order_indices[0] = values[0] < values[1] ? (values[0] < values[2] ? 0 : 2) : (values[1] < values[2] ? 1 : 2); order_indices[0] = values[0] < values[1] ? (values[0] < values[2] ? 0 : 2) : (values[1] < values[2] ? 1 : 2);
//get second and third //get second and third
GUINT i0 = (order_indices[0] + 1)%3; GUINT i0 = (order_indices[0] + 1) % 3;
GUINT i1 = (i0 + 1)%3; GUINT i1 = (i0 + 1) % 3;
if(values[i0] < values[i1]) if (values[i0] < values[i1])
{ {
order_indices[1] = i0; order_indices[1] = i0;
order_indices[2] = i1; order_indices[2] = i1;
} }
else else
{ {
order_indices[1] = i1; order_indices[1] = i1;
order_indices[2] = i0; order_indices[2] = i0;
} }
} }
#endif // GIM_VECTOR_H_INCLUDED #endif // GIM_VECTOR_H_INCLUDED