ruby-bullet 0.0.1-x86-linux

data/deps/include/bullet/BulletCollision/Gimpact/btBoxCollision.h

@@ -0,0 +1,647 @@
+#ifndef BT_BOX_COLLISION_H_INCLUDED
+#define BT_BOX_COLLISION_H_INCLUDED
+
+/*! \file gim_box_collision.h
+\author Francisco Leon Najera
+*/
+/*
+This source file is part of GIMPACT Library.
+
+For the latest info, see http://gimpact.sourceforge.net/
+
+Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
+email: projectileman@yahoo.com
+
+
+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.
+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:
+
+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.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+#include "LinearMath/btTransform.h"
+
+
+///Swap numbers
+#define BT_SWAP_NUMBERS(a,b){ \
+    a = a+b; \
+    b = a-b; \
+    a = a-b; \
+}\
+
+
+#define BT_MAX(a,b) (a<b?b:a)
+#define BT_MIN(a,b) (a>b?b:a)
+
+#define BT_GREATER(x, y)	btFabs(x) > (y)
+
+#define BT_MAX3(a,b,c) BT_MAX(a,BT_MAX(b,c))
+#define BT_MIN3(a,b,c) BT_MIN(a,BT_MIN(b,c))
+
+
+
+
+
+
+enum eBT_PLANE_INTERSECTION_TYPE
+{
+	BT_CONST_BACK_PLANE = 0,
+	BT_CONST_COLLIDE_PLANE,
+	BT_CONST_FRONT_PLANE
+};
+
+//SIMD_FORCE_INLINE bool test_cross_edge_box(
+//	const btVector3 & edge,
+//	const btVector3 & absolute_edge,
+//	const btVector3 & pointa,
+//	const btVector3 & pointb, const btVector3 & extend,
+//	int dir_index0,
+//	int dir_index1
+//	int component_index0,
+//	int component_index1)
+//{
+//	// dir coords are -z and y
+//
+//	const btScalar dir0 = -edge[dir_index0];
+//	const btScalar dir1 = edge[dir_index1];
+//	btScalar pmin = pointa[component_index0]*dir0 + pointa[component_index1]*dir1;
+//	btScalar pmax = pointb[component_index0]*dir0 + pointb[component_index1]*dir1;
+//	//find minmax
+//	if(pmin>pmax)
+//	{
+//		BT_SWAP_NUMBERS(pmin,pmax);
+//	}
+//	//find extends
+//	const btScalar rad = extend[component_index0] * absolute_edge[dir_index0] +
+//					extend[component_index1] * absolute_edge[dir_index1];
+//
+//	if(pmin>rad || -rad>pmax) return false;
+//	return true;
+//}
+//
+//SIMD_FORCE_INLINE bool test_cross_edge_box_X_axis(
+//	const btVector3 & edge,
+//	const btVector3 & absolute_edge,
+//	const btVector3 & pointa,
+//	const btVector3 & pointb, btVector3 & extend)
+//{
+//
+//	return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,2,1,1,2);
+//}
+//
+//
+//SIMD_FORCE_INLINE bool test_cross_edge_box_Y_axis(
+//	const btVector3 & edge,
+//	const btVector3 & absolute_edge,
+//	const btVector3 & pointa,
+//	const btVector3 & pointb, btVector3 & extend)
+//{
+//
+//	return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,0,2,2,0);
+//}
+//
+//SIMD_FORCE_INLINE bool test_cross_edge_box_Z_axis(
+//	const btVector3 & edge,
+//	const btVector3 & absolute_edge,
+//	const btVector3 & pointa,
+//	const btVector3 & pointb, btVector3 & extend)
+//{
+//
+//	return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,1,0,0,1);
+//}
+
+
+#define TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,i_dir_0,i_dir_1,i_comp_0,i_comp_1)\
+{\
+	const btScalar dir0 = -edge[i_dir_0];\
+	const btScalar dir1 = edge[i_dir_1];\
+	btScalar pmin = pointa[i_comp_0]*dir0 + pointa[i_comp_1]*dir1;\
+	btScalar pmax = pointb[i_comp_0]*dir0 + pointb[i_comp_1]*dir1;\
+	if(pmin>pmax)\
+	{\
+		BT_SWAP_NUMBERS(pmin,pmax); \
+	}\
+	const btScalar abs_dir0 = absolute_edge[i_dir_0];\
+	const btScalar abs_dir1 = absolute_edge[i_dir_1];\
+	const btScalar rad = _extend[i_comp_0] * abs_dir0 + _extend[i_comp_1] * abs_dir1;\
+	if(pmin>rad || -rad>pmax) return false;\
+}\
+
+
+#define TEST_CROSS_EDGE_BOX_X_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\
+{\
+	TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,2,1,1,2);\
+}\
+
+#define TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\
+{\
+	TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,0,2,2,0);\
+}\
+
+#define TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\
+{\
+	TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,1,0,0,1);\
+}\
+
+
+//! Returns the dot product between a vec3f and the col of a matrix
+SIMD_FORCE_INLINE btScalar bt_mat3_dot_col(
+const btMatrix3x3 & mat, const btVector3 & vec3, int colindex)
+{
+	return vec3[0]*mat[0][colindex] + vec3[1]*mat[1][colindex] + vec3[2]*mat[2][colindex];
+}
+
+
+//!  Class for transforming a model1 to the space of model0
+ATTRIBUTE_ALIGNED16	(class) BT_BOX_BOX_TRANSFORM_CACHE
+{
+public:
+    btVector3  m_T1to0;//!< Transforms translation of model1 to model 0
+	btMatrix3x3 m_R1to0;//!< Transforms Rotation of model1 to model 0, equal  to R0' * R1
+	btMatrix3x3 m_AR;//!< Absolute value of m_R1to0
+
+	SIMD_FORCE_INLINE void calc_absolute_matrix()
+	{
+//		static const btVector3 vepsi(1e-6f,1e-6f,1e-6f);
+//		m_AR[0] = vepsi + m_R1to0[0].absolute();
+//		m_AR[1] = vepsi + m_R1to0[1].absolute();
+//		m_AR[2] = vepsi + m_R1to0[2].absolute();
+
+		int i,j;
+
+        for(i=0;i<3;i++)
+        {
+            for(j=0;j<3;j++ )
+            {
+            	m_AR[i][j] = 1e-6f + btFabs(m_R1to0[i][j]);
+            }
+        }
+
+	}
+
+	BT_BOX_BOX_TRANSFORM_CACHE()
+	{
+	}
+
+
+
+	//! Calc the transformation relative  1 to 0. Inverts matrics by transposing
+	SIMD_FORCE_INLINE void calc_from_homogenic(const btTransform & trans0,const btTransform & trans1)
+	{
+
+		btTransform temp_trans = trans0.inverse();
+		temp_trans = temp_trans * trans1;
+
+		m_T1to0 = temp_trans.getOrigin();
+		m_R1to0 = temp_trans.getBasis();
+
+
+		calc_absolute_matrix();
+	}
+
+	//! Calcs the full invertion of the matrices. Useful for scaling matrices
+	SIMD_FORCE_INLINE void calc_from_full_invert(const btTransform & trans0,const btTransform & trans1)
+	{
+		m_R1to0 = trans0.getBasis().inverse();
+		m_T1to0 = m_R1to0 * (-trans0.getOrigin());
+
+		m_T1to0 += m_R1to0*trans1.getOrigin();
+		m_R1to0 *= trans1.getBasis();
+
+		calc_absolute_matrix();
+	}
+
+	SIMD_FORCE_INLINE btVector3 transform(const btVector3 & point) const
+	{
+		return btVector3(m_R1to0[0].dot(point) + m_T1to0.x(),
+			m_R1to0[1].dot(point) + m_T1to0.y(),
+			m_R1to0[2].dot(point) + m_T1to0.z());
+	}
+};
+
+
+#define BOX_PLANE_EPSILON 0.000001f
+
+//! Axis aligned box
+ATTRIBUTE_ALIGNED16	(class) btAABB
+{
+public:
+	btVector3 m_min;
+	btVector3 m_max;
+
+	btAABB()
+	{}
+
+
+	btAABB(const btVector3 & V1,
+			 const btVector3 & V2,
+			 const btVector3 & V3)
+	{
+		m_min[0] = BT_MIN3(V1[0],V2[0],V3[0]);
+		m_min[1] = BT_MIN3(V1[1],V2[1],V3[1]);
+		m_min[2] = BT_MIN3(V1[2],V2[2],V3[2]);
+
+		m_max[0] = BT_MAX3(V1[0],V2[0],V3[0]);
+		m_max[1] = BT_MAX3(V1[1],V2[1],V3[1]);
+		m_max[2] = BT_MAX3(V1[2],V2[2],V3[2]);
+	}
+
+	btAABB(const btVector3 & V1,
+			 const btVector3 & V2,
+			 const btVector3 & V3,
+			 btScalar margin)
+	{
+		m_min[0] = BT_MIN3(V1[0],V2[0],V3[0]);
+		m_min[1] = BT_MIN3(V1[1],V2[1],V3[1]);
+		m_min[2] = BT_MIN3(V1[2],V2[2],V3[2]);
+
+		m_max[0] = BT_MAX3(V1[0],V2[0],V3[0]);
+		m_max[1] = BT_MAX3(V1[1],V2[1],V3[1]);
+		m_max[2] = BT_MAX3(V1[2],V2[2],V3[2]);
+
+		m_min[0] -= margin;
+		m_min[1] -= margin;
+		m_min[2] -= margin;
+		m_max[0] += margin;
+		m_max[1] += margin;
+		m_max[2] += margin;
+	}
+
+	btAABB(const btAABB &other):
+		m_min(other.m_min),m_max(other.m_max)
+	{
+	}
+
+	btAABB(const btAABB &other,btScalar margin ):
+		m_min(other.m_min),m_max(other.m_max)
+	{
+		m_min[0] -= margin;
+		m_min[1] -= margin;
+		m_min[2] -= margin;
+		m_max[0] += margin;
+		m_max[1] += margin;
+		m_max[2] += margin;
+	}
+
+	SIMD_FORCE_INLINE void invalidate()
+	{
+		m_min[0] = SIMD_INFINITY;
+		m_min[1] = SIMD_INFINITY;
+		m_min[2] = SIMD_INFINITY;
+		m_max[0] = -SIMD_INFINITY;
+		m_max[1] = -SIMD_INFINITY;
+		m_max[2] = -SIMD_INFINITY;
+	}
+
+	SIMD_FORCE_INLINE void increment_margin(btScalar margin)
+	{
+		m_min[0] -= margin;
+		m_min[1] -= margin;
+		m_min[2] -= margin;
+		m_max[0] += margin;
+		m_max[1] += margin;
+		m_max[2] += margin;
+	}
+
+	SIMD_FORCE_INLINE void copy_with_margin(const btAABB &other, btScalar margin)
+	{
+		m_min[0] = other.m_min[0] - margin;
+		m_min[1] = other.m_min[1] - margin;
+		m_min[2] = other.m_min[2] - margin;
+
+		m_max[0] = other.m_max[0] + margin;
+		m_max[1] = other.m_max[1] + margin;
+		m_max[2] = other.m_max[2] + margin;
+	}
+
+	template<typename CLASS_POINT>
+	SIMD_FORCE_INLINE void calc_from_triangle(
+							const CLASS_POINT & V1,
+							const CLASS_POINT & V2,
+							const CLASS_POINT & V3)
+	{
+		m_min[0] = BT_MIN3(V1[0],V2[0],V3[0]);
+		m_min[1] = BT_MIN3(V1[1],V2[1],V3[1]);
+		m_min[2] = BT_MIN3(V1[2],V2[2],V3[2]);
+
+		m_max[0] = BT_MAX3(V1[0],V2[0],V3[0]);
+		m_max[1] = BT_MAX3(V1[1],V2[1],V3[1]);
+		m_max[2] = BT_MAX3(V1[2],V2[2],V3[2]);
+	}
+
+	template<typename CLASS_POINT>
+	SIMD_FORCE_INLINE void calc_from_triangle_margin(
+							const CLASS_POINT & V1,
+							const CLASS_POINT & V2,
+							const CLASS_POINT & V3, btScalar margin)
+	{
+		m_min[0] = BT_MIN3(V1[0],V2[0],V3[0]);
+		m_min[1] = BT_MIN3(V1[1],V2[1],V3[1]);
+		m_min[2] = BT_MIN3(V1[2],V2[2],V3[2]);
+
+		m_max[0] = BT_MAX3(V1[0],V2[0],V3[0]);
+		m_max[1] = BT_MAX3(V1[1],V2[1],V3[1]);
+		m_max[2] = BT_MAX3(V1[2],V2[2],V3[2]);
+
+		m_min[0] -= margin;
+		m_min[1] -= margin;
+		m_min[2] -= margin;
+		m_max[0] += margin;
+		m_max[1] += margin;
+		m_max[2] += margin;
+	}
+
+	//! Apply a transform to an AABB
+	SIMD_FORCE_INLINE void appy_transform(const btTransform & trans)
+	{
+		btVector3 center = (m_max+m_min)*0.5f;
+		btVector3 extends = m_max - center;
+		// Compute new center
+		center = trans(center);
+
+		btVector3 textends(extends.dot(trans.getBasis().getRow(0).absolute()),
+ 				 extends.dot(trans.getBasis().getRow(1).absolute()),
+				 extends.dot(trans.getBasis().getRow(2).absolute()));
+
+		m_min = center - textends;
+		m_max = center + textends;
+	}
+
+
+	//! Apply a transform to an AABB
+	SIMD_FORCE_INLINE void appy_transform_trans_cache(const BT_BOX_BOX_TRANSFORM_CACHE & trans)
+	{
+		btVector3 center = (m_max+m_min)*0.5f;
+		btVector3 extends = m_max - center;
+		// Compute new center
+		center = trans.transform(center);
+
+		btVector3 textends(extends.dot(trans.m_R1to0.getRow(0).absolute()),
+ 				 extends.dot(trans.m_R1to0.getRow(1).absolute()),
+				 extends.dot(trans.m_R1to0.getRow(2).absolute()));
+
+		m_min = center - textends;
+		m_max = center + textends;
+	}
+
+	//! Merges a Box
+	SIMD_FORCE_INLINE void merge(const btAABB & box)
+	{
+		m_min[0] = BT_MIN(m_min[0],box.m_min[0]);
+		m_min[1] = BT_MIN(m_min[1],box.m_min[1]);
+		m_min[2] = BT_MIN(m_min[2],box.m_min[2]);
+
+		m_max[0] = BT_MAX(m_max[0],box.m_max[0]);
+		m_max[1] = BT_MAX(m_max[1],box.m_max[1]);
+		m_max[2] = BT_MAX(m_max[2],box.m_max[2]);
+	}
+
+	//! Merges a point
+	template<typename CLASS_POINT>
+	SIMD_FORCE_INLINE void merge_point(const CLASS_POINT & point)
+	{
+		m_min[0] = BT_MIN(m_min[0],point[0]);
+		m_min[1] = BT_MIN(m_min[1],point[1]);
+		m_min[2] = BT_MIN(m_min[2],point[2]);
+
+		m_max[0] = BT_MAX(m_max[0],point[0]);
+		m_max[1] = BT_MAX(m_max[1],point[1]);
+		m_max[2] = BT_MAX(m_max[2],point[2]);
+	}
+
+	//! Gets the extend and center
+	SIMD_FORCE_INLINE void get_center_extend(btVector3 & center,btVector3 & extend)  const
+	{
+		center = (m_max+m_min)*0.5f;
+		extend = m_max - center;
+	}
+
+	//! Finds the intersecting box between this box and the other.
+	SIMD_FORCE_INLINE void find_intersection(const btAABB & other, btAABB & intersection)  const
+	{
+		intersection.m_min[0] = BT_MAX(other.m_min[0],m_min[0]);
+		intersection.m_min[1] = BT_MAX(other.m_min[1],m_min[1]);
+		intersection.m_min[2] = BT_MAX(other.m_min[2],m_min[2]);
+
+		intersection.m_max[0] = BT_MIN(other.m_max[0],m_max[0]);
+		intersection.m_max[1] = BT_MIN(other.m_max[1],m_max[1]);
+		intersection.m_max[2] = BT_MIN(other.m_max[2],m_max[2]);
+	}
+
+
+	SIMD_FORCE_INLINE bool has_collision(const btAABB & other) const
+	{
+		if(m_min[0] > other.m_max[0] ||
+		   m_max[0] < other.m_min[0] ||
+		   m_min[1] > other.m_max[1] ||
+		   m_max[1] < other.m_min[1] ||
+		   m_min[2] > other.m_max[2] ||
+		   m_max[2] < other.m_min[2])
+		{
+			return false;
+		}
+		return true;
+	}
+
+	/*! \brief Finds the Ray intersection parameter.
+	\param aabb Aligned box
+	\param vorigin A vec3f with the origin of the ray
+	\param vdir A vec3f with the direction of the ray
+	*/
+	SIMD_FORCE_INLINE bool collide_ray(const btVector3 & vorigin,const btVector3 & vdir)  const
+	{
+		btVector3 extents,center;
+		this->get_center_extend(center,extents);;
+
+		btScalar Dx = vorigin[0] - center[0];
+		if(BT_GREATER(Dx, extents[0]) && Dx*vdir[0]>=0.0f)	return false;
+		btScalar Dy = vorigin[1] - center[1];
+		if(BT_GREATER(Dy, extents[1]) && Dy*vdir[1]>=0.0f)	return false;
+		btScalar Dz = vorigin[2] - center[2];
+		if(BT_GREATER(Dz, extents[2]) && Dz*vdir[2]>=0.0f)	return false;
+
+
+		btScalar f = vdir[1] * Dz - vdir[2] * Dy;
+		if(btFabs(f) > extents[1]*btFabs(vdir[2]) + extents[2]*btFabs(vdir[1])) return false;
+		f = vdir[2] * Dx - vdir[0] * Dz;
+		if(btFabs(f) > extents[0]*btFabs(vdir[2]) + extents[2]*btFabs(vdir[0]))return false;
+		f = vdir[0] * Dy - vdir[1] * Dx;
+		if(btFabs(f) > extents[0]*btFabs(vdir[1]) + extents[1]*btFabs(vdir[0]))return false;
+		return true;
+	}
+
+
+	SIMD_FORCE_INLINE void projection_interval(const btVector3 & direction, btScalar &vmin, btScalar &vmax) const
+	{
+		btVector3 center = (m_max+m_min)*0.5f;
+		btVector3 extend = m_max-center;
+
+		btScalar _fOrigin =  direction.dot(center);
+		btScalar _fMaximumExtent = extend.dot(direction.absolute());
+		vmin = _fOrigin - _fMaximumExtent;
+		vmax = _fOrigin + _fMaximumExtent;
+	}
+
+	SIMD_FORCE_INLINE eBT_PLANE_INTERSECTION_TYPE plane_classify(const btVector4 &plane) const
+	{
+		btScalar _fmin,_fmax;
+		this->projection_interval(plane,_fmin,_fmax);
+
+		if(plane[3] > _fmax + BOX_PLANE_EPSILON)
+		{
+			return BT_CONST_BACK_PLANE; // 0
+		}
+
+		if(plane[3]+BOX_PLANE_EPSILON >=_fmin)
+		{
+			return BT_CONST_COLLIDE_PLANE; //1
+		}
+		return BT_CONST_FRONT_PLANE;//2
+	}
+
+	SIMD_FORCE_INLINE bool overlapping_trans_conservative(const btAABB & box, btTransform & trans1_to_0) const
+	{
+		btAABB tbox = box;
+		tbox.appy_transform(trans1_to_0);
+		return has_collision(tbox);
+	}
+
+	SIMD_FORCE_INLINE bool overlapping_trans_conservative2(const btAABB & box,
+		const BT_BOX_BOX_TRANSFORM_CACHE & trans1_to_0) const
+	{
+		btAABB tbox = box;
+		tbox.appy_transform_trans_cache(trans1_to_0);
+		return has_collision(tbox);
+	}
+
+	//! transcache is the transformation cache from box to this AABB
+	SIMD_FORCE_INLINE bool overlapping_trans_cache(
+		const btAABB & box,const BT_BOX_BOX_TRANSFORM_CACHE & transcache, bool fulltest) const
+	{
+
+		//Taken from OPCODE
+		btVector3 ea,eb;//extends
+		btVector3 ca,cb;//extends
+		get_center_extend(ca,ea);
+		box.get_center_extend(cb,eb);
+
+
+		btVector3 T;
+		btScalar t,t2;
+		int i;
+
+		// Class I : A's basis vectors
+		for(i=0;i<3;i++)
+		{
+			T[i] =  transcache.m_R1to0[i].dot(cb) + transcache.m_T1to0[i] - ca[i];
+			t = transcache.m_AR[i].dot(eb) + ea[i];
+			if(BT_GREATER(T[i], t))	return false;
+		}
+		// Class II : B's basis vectors
+		for(i=0;i<3;i++)
+		{
+			t = bt_mat3_dot_col(transcache.m_R1to0,T,i);
+			t2 = bt_mat3_dot_col(transcache.m_AR,ea,i) + eb[i];
+			if(BT_GREATER(t,t2))	return false;
+		}
+		// Class III : 9 cross products
+		if(fulltest)
+		{
+			int j,m,n,o,p,q,r;
+			for(i=0;i<3;i++)
+			{
+				m = (i+1)%3;
+				n = (i+2)%3;
+				o = i==0?1:0;
+				p = i==2?1:2;
+				for(j=0;j<3;j++)
+				{
+					q = j==2?1:2;
+					r = j==0?1:0;
+					t = T[n]*transcache.m_R1to0[m][j] - T[m]*transcache.m_R1to0[n][j];
+					t2 = ea[o]*transcache.m_AR[p][j] + ea[p]*transcache.m_AR[o][j] +
+						eb[r]*transcache.m_AR[i][q] + eb[q]*transcache.m_AR[i][r];
+					if(BT_GREATER(t,t2))	return false;
+				}
+			}
+		}
+		return true;
+	}
+
+	//! Simple test for planes.
+	SIMD_FORCE_INLINE bool collide_plane(
+		const btVector4 & plane) const
+	{
+		eBT_PLANE_INTERSECTION_TYPE classify = plane_classify(plane);
+		return (classify == BT_CONST_COLLIDE_PLANE);
+	}
+
+	//! test for a triangle, with edges
+	SIMD_FORCE_INLINE bool collide_triangle_exact(
+		const btVector3 & p1,
+		const btVector3 & p2,
+		const btVector3 & p3,
+		const btVector4 & triangle_plane) const
+	{
+		if(!collide_plane(triangle_plane)) return false;
+
+		btVector3 center,extends;
+		this->get_center_extend(center,extends);
+
+		const btVector3 v1(p1 - center);
+		const btVector3 v2(p2 - center);
+		const btVector3 v3(p3 - center);
+
+		//First axis
+		btVector3 diff(v2 - v1);
+		btVector3 abs_diff = diff.absolute();
+		//Test With X axis
+		TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v1,v3,extends);
+		//Test With Y axis
+		TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v1,v3,extends);
+		//Test With Z axis
+		TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v1,v3,extends);
+
+
+		diff = v3 - v2;
+		abs_diff = diff.absolute();
+		//Test With X axis
+		TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v2,v1,extends);
+		//Test With Y axis
+		TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v2,v1,extends);
+		//Test With Z axis
+		TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v2,v1,extends);
+
+		diff = v1 - v3;
+		abs_diff = diff.absolute();
+		//Test With X axis
+		TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v3,v2,extends);
+		//Test With Y axis
+		TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v3,v2,extends);
+		//Test With Z axis
+		TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v3,v2,extends);
+
+		return true;
+	}
+};
+
+
+//! Compairison of transformation objects
+SIMD_FORCE_INLINE bool btCompareTransformsEqual(const btTransform & t1,const btTransform & t2)
+{
+	if(!(t1.getOrigin() == t2.getOrigin()) ) return false;
+
+	if(!(t1.getBasis().getRow(0) == t2.getBasis().getRow(0)) ) return false;
+	if(!(t1.getBasis().getRow(1) == t2.getBasis().getRow(1)) ) return false;
+	if(!(t1.getBasis().getRow(2) == t2.getBasis().getRow(2)) ) return false;
+	return true;
+}
+
+
+
+#endif // GIM_BOX_COLLISION_H_INCLUDED