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Differential D1739 Diff 5899 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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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])
{ {
Show All 23 Lines if(_tp<G_EPSILON)//ARE PARALELE
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);
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