ruby-bullet 0.0.2-x86-mingw32
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- data/INSTALL.md +22 -0
- data/LICENSE +23 -0
- data/README.md +41 -0
- data/Rakefile +131 -0
- data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btAxisSweep3.i +30 -0
- data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btBroadphaseInterface.i +8 -0
- data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btBroadphaseProxy.i +8 -0
- data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.i +8 -0
- data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btDbvt.i +10 -0
- data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btDbvtBroadphase.i +8 -0
- data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btDispatcher.i +8 -0
- data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btMultiSapBroadphase.i +10 -0
- data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btOverlappingPairCache.i +8 -0
- data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btOverlappingPairCallback.i +8 -0
- data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btQuantizedBvh.i +8 -0
- data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/btSimpleBroadphase.i +8 -0
- data/bindings/bullet/interface/BulletCollision/BroadphaseCollision/local_btAxisSweep3Internal.h +191 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/SphereTriangleDetector.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btActivatingCollisionAlgorithm.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btBox2dBox2dCollisionAlgorithm.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btBoxBoxCollisionAlgorithm.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btBoxBoxDetector.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionConfiguration.i +21 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionCreateFunc.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionDispatcher.i +24 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionObject.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCollisionWorld.i +82 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btCompoundCollisionAlgorithm.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btConvex2dConvex2dAlgorithm.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btConvexConcaveCollisionAlgorithm.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btConvexConvexAlgorithm.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btConvexPlaneCollisionAlgorithm.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btDefaultCollisionConfiguration.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btEmptyCollisionAlgorithm.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btGhostObject.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btInternalEdgeUtility.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btManifoldResult.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btSimulationIslandManager.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btSphereBoxCollisionAlgorithm.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btSphereSphereCollisionAlgorithm.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btSphereTriangleCollisionAlgorithm.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionDispatch/btUnionFind.i +10 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btBox2dShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btBoxShape.i +22 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btBvhTriangleMeshShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCapsuleShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCollisionMargin.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCollisionShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCompoundShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConcaveShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConeShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvex2dShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexHullShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexInternalShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexPointCloudShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexPolyhedron.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btConvexTriangleMeshShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btCylinderShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btEmptyShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btHeightfieldTerrainShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btMaterial.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btMinkowskiSumShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btMultiSphereShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btMultimaterialTriangleMeshShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btOptimizedBvh.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btPolyhedralConvexShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btShapeHull.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btSphereShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btStaticPlaneShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btStridingMeshInterface.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTetrahedronShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleBuffer.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleCallback.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleIndexVertexArray.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleIndexVertexMaterialArray.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleInfoMap.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleMeshShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btTriangleShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/CollisionShapes/btUniformScalingShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/Gimpact/btBoxCollision.i +8 -0
- data/bindings/bullet/interface/BulletCollision/Gimpact/btClipPolygon.i +8 -0
- data/bindings/bullet/interface/BulletCollision/Gimpact/btContactProcessing.i +8 -0
- data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactBvh.i +8 -0
- data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactCollisionAlgorithm.i +8 -0
- data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactMassUtil.i +8 -0
- data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactQuantizedBvh.i +8 -0
- data/bindings/bullet/interface/BulletCollision/Gimpact/btGImpactShape.i +8 -0
- data/bindings/bullet/interface/BulletCollision/Gimpact/btGenericPoolAllocator.i +11 -0
- data/bindings/bullet/interface/BulletCollision/Gimpact/btGeometryOperations.i +8 -0
- data/bindings/bullet/interface/BulletCollision/Gimpact/btQuantization.i +8 -0
- data/bindings/bullet/interface/BulletCollision/Gimpact/btTriangleShapeEx.i +8 -0
- data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btContinuousConvexCollision.i +8 -0
- data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btConvexCast.i +8 -0
- data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btConvexPenetrationDepthSolver.i +8 -0
- data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btDiscreteCollisionDetectorInterface.i +11 -0
- data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btGjkConvexCast.i +8 -0
- data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btGjkEpa2.i +8 -0
- data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btGjkEpaPenetrationDepthSolver.i +8 -0
- data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.i +8 -0
- data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btManifoldPoint.i +8 -0
- data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btMinkowskiPenetrationDepthSolver.i +8 -0
- data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btPersistentManifold.i +8 -0
- data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btPointCollector.i +8 -0
- data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btPolyhedralContactClipping.i +8 -0
- data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btRaycastCallback.i +8 -0
- data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btSimplexSolverInterface.i +8 -0
- data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btSubSimplexConvexCast.i +8 -0
- data/bindings/bullet/interface/BulletCollision/NarrowPhaseCollision/btVoronoiSimplexSolver.i +8 -0
- data/bindings/bullet/interface/BulletDynamics/Character/btCharacterControllerInterface.i +8 -0
- data/bindings/bullet/interface/BulletDynamics/Character/btKinematicCharacterController.i +8 -0
- data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btConeTwistConstraint.i +8 -0
- data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btConstraintSolver.i +8 -0
- data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btContactConstraint.i +8 -0
- data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btContactSolverInfo.i +8 -0
- data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btGeneric6DofConstraint.i +8 -0
- data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btGeneric6DofSpringConstraint.i +8 -0
- data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btHinge2Constraint.i +8 -0
- data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btHingeConstraint.i +8 -0
- data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btJacobianEntry.i +8 -0
- data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btPoint2PointConstraint.i +8 -0
- data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSequentialImpulseConstraintSolver.i +21 -0
- data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSliderConstraint.i +8 -0
- data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSolve2LinearConstraint.i +8 -0
- data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSolverBody.i +8 -0
- data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btSolverConstraint.i +8 -0
- data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btTypedConstraint.i +8 -0
- data/bindings/bullet/interface/BulletDynamics/ConstraintSolver/btUniversalConstraint.i +8 -0
- data/bindings/bullet/interface/BulletDynamics/Dynamics/btActionInterface.i +8 -0
- data/bindings/bullet/interface/BulletDynamics/Dynamics/btDiscreteDynamicsWorld.i +23 -0
- data/bindings/bullet/interface/BulletDynamics/Dynamics/btDynamicsWorld.i +37 -0
- data/bindings/bullet/interface/BulletDynamics/Dynamics/btRigidBody.i +20 -0
- data/bindings/bullet/interface/BulletDynamics/Dynamics/btSimpleDynamicsWorld.i +8 -0
- data/bindings/bullet/interface/BulletDynamics/Vehicle/btRaycastVehicle.i +12 -0
- data/bindings/bullet/interface/BulletDynamics/Vehicle/btVehicleRaycaster.i +8 -0
- data/bindings/bullet/interface/BulletDynamics/Vehicle/btWheelInfo.i +8 -0
- data/bindings/bullet/interface/BulletSoftBody/btDefaultSoftBodySolver.i +8 -0
- data/bindings/bullet/interface/BulletSoftBody/btSoftBody.i +8 -0
- data/bindings/bullet/interface/BulletSoftBody/btSoftBodyConcaveCollisionAlgorithm.i +8 -0
- data/bindings/bullet/interface/BulletSoftBody/btSoftBodyData.i +8 -0
- data/bindings/bullet/interface/BulletSoftBody/btSoftBodyHelpers.i +8 -0
- data/bindings/bullet/interface/BulletSoftBody/btSoftBodyInternals.i +8 -0
- data/bindings/bullet/interface/BulletSoftBody/btSoftBodyRigidBodyCollisionConfiguration.i +8 -0
- data/bindings/bullet/interface/BulletSoftBody/btSoftBodySolverVertexBuffer.i +8 -0
- data/bindings/bullet/interface/BulletSoftBody/btSoftBodySolvers.i +8 -0
- data/bindings/bullet/interface/BulletSoftBody/btSoftRigidCollisionAlgorithm.i +8 -0
- data/bindings/bullet/interface/BulletSoftBody/btSoftRigidDynamicsWorld.i +8 -0
- data/bindings/bullet/interface/BulletSoftBody/btSoftSoftCollisionAlgorithm.i +8 -0
- data/bindings/bullet/interface/BulletSoftBody/btSparseSDF.i +8 -0
- data/bindings/bullet/interface/LinearMath/btAabbUtil2.i +8 -0
- data/bindings/bullet/interface/LinearMath/btAlignedAllocator.i +8 -0
- data/bindings/bullet/interface/LinearMath/btAlignedObjectArray.i +8 -0
- data/bindings/bullet/interface/LinearMath/btConvexHull.i +8 -0
- data/bindings/bullet/interface/LinearMath/btConvexHullComputer.i +8 -0
- data/bindings/bullet/interface/LinearMath/btDefaultMotionState.i +10 -0
- data/bindings/bullet/interface/LinearMath/btGeometryUtil.i +10 -0
- data/bindings/bullet/interface/LinearMath/btGrahamScan2dConvexHull.i +8 -0
- data/bindings/bullet/interface/LinearMath/btHashMap.i +8 -0
- data/bindings/bullet/interface/LinearMath/btIDebugDraw.i +10 -0
- data/bindings/bullet/interface/LinearMath/btList.i +8 -0
- data/bindings/bullet/interface/LinearMath/btMatrix3x3.i +8 -0
- data/bindings/bullet/interface/LinearMath/btMinMax.i +8 -0
- data/bindings/bullet/interface/LinearMath/btMotionState.i +10 -0
- data/bindings/bullet/interface/LinearMath/btPoolAllocator.i +10 -0
- data/bindings/bullet/interface/LinearMath/btQuadWord.i +8 -0
- data/bindings/bullet/interface/LinearMath/btQuaternion.i +60 -0
- data/bindings/bullet/interface/LinearMath/btQuickprof.i +10 -0
- data/bindings/bullet/interface/LinearMath/btRandom.i +8 -0
- data/bindings/bullet/interface/LinearMath/btScalar.i +8 -0
- data/bindings/bullet/interface/LinearMath/btSerializer.i +10 -0
- data/bindings/bullet/interface/LinearMath/btStackAlloc.i +10 -0
- data/bindings/bullet/interface/LinearMath/btTransform.i +8 -0
- data/bindings/bullet/interface/LinearMath/btTransformUtil.i +8 -0
- data/bindings/bullet/interface/LinearMath/btVector3.i +42 -0
- data/bindings/bullet/interface/Makefile +19 -0
- data/bindings/bullet/interface/bullet.i +9 -0
- data/bindings/bullet/interface/bullet_all.i +186 -0
- data/bindings/bullet/interface/bullet_wrap.cpp +194161 -0
- data/bindings/bullet/interface/bullet_wrap.h +106 -0
- data/bindings/bullet/interface/bullet_wrap.o +0 -0
- data/bindings/bullet/src/TickListener.h +22 -0
- data/deps/include/bullet/Bullet-C-Api.h +176 -0
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.cpp +37 -0
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btAxisSweep3.h +1051 -0
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btBroadphaseInterface.h +82 -0
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.cpp +17 -0
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btBroadphaseProxy.h +270 -0
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.cpp +23 -0
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btCollisionAlgorithm.h +80 -0
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvt.cpp +1295 -0
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvt.h +1257 -0
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.cpp +796 -0
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDbvtBroadphase.h +146 -0
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDispatcher.cpp +22 -0
- data/deps/include/bullet/BulletCollision/BroadphaseCollision/btDispatcher.h +110 -0
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All rights reserved.
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+
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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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.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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//#include "PfxContactBoxBox.h"
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+
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#include <math.h>
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#include "../PlatformDefinitions.h"
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#include "boxBoxDistance.h"
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+
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static inline float sqr( float a )
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{
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return (a * a);
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}
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+
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enum BoxSepAxisType
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{
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A_AXIS, B_AXIS, CROSS_AXIS
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};
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+
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//-------------------------------------------------------------------------------------------------
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// voronoiTol: bevels Voronoi planes slightly which helps when features are parallel.
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+
//-------------------------------------------------------------------------------------------------
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+
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+
static const float voronoiTol = -1.0e-5f;
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+
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+
//-------------------------------------------------------------------------------------------------
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+
// separating axis tests: gaps along each axis are computed, and the axis with the maximum
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+
// gap is stored. cross product axes are normalized.
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+
//-------------------------------------------------------------------------------------------------
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+
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+
#define AaxisTest( dim, letter, first ) \
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+
{ \
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+
if ( first ) \
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+
{ \
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+
maxGap = gap = gapsA.get##letter(); \
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+
if ( gap > distanceThreshold ) return gap; \
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+
axisType = A_AXIS; \
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+
faceDimA = dim; \
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+
axisA = identity.getCol##dim(); \
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+
} \
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else \
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{ \
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gap = gapsA.get##letter(); \
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if ( gap > distanceThreshold ) return gap; \
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else if ( gap > maxGap ) \
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{ \
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maxGap = gap; \
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axisType = A_AXIS; \
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faceDimA = dim; \
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axisA = identity.getCol##dim(); \
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} \
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} \
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}
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+
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+
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#define BaxisTest( dim, letter ) \
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{ \
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gap = gapsB.get##letter(); \
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if ( gap > distanceThreshold ) return gap; \
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+
else if ( gap > maxGap ) \
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{ \
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maxGap = gap; \
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axisType = B_AXIS; \
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faceDimB = dim; \
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axisB = identity.getCol##dim(); \
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} \
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+
}
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+
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+
#define CrossAxisTest( dima, dimb, letterb ) \
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{ \
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const float lsqr_tolerance = 1.0e-30f; \
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float lsqr; \
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\
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lsqr = lsqrs.getCol##dima().get##letterb(); \
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+
\
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if ( lsqr > lsqr_tolerance ) \
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{ \
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float l_recip = 1.0f / sqrtf( lsqr ); \
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gap = float(gapsAxB.getCol##dima().get##letterb()) * l_recip; \
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+
\
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if ( gap > distanceThreshold ) \
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{ \
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return gap; \
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} \
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\
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if ( gap > maxGap ) \
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{ \
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maxGap = gap; \
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axisType = CROSS_AXIS; \
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edgeDimA = dima; \
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edgeDimB = dimb; \
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axisA = cross(identity.getCol##dima(),matrixAB.getCol##dimb()) * l_recip; \
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} \
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} \
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}
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+
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+
//-------------------------------------------------------------------------------------------------
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+
// tests whether a vertex of box B and a face of box A are the closest features
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//-------------------------------------------------------------------------------------------------
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+
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+
inline
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+
float
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+
VertexBFaceATest(
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+
bool & inVoronoi,
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float & t0,
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+
float & t1,
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const vmVector3 & hA,
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PE_REF(vmVector3) faceOffsetAB,
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+
PE_REF(vmVector3) faceOffsetBA,
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const vmMatrix3 & matrixAB,
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const vmMatrix3 & matrixBA,
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PE_REF(vmVector3) signsB,
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PE_REF(vmVector3) scalesB )
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+
{
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129
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+
// compute a corner of box B in A's coordinate system
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+
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+
vmVector3 corner =
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+
vmVector3( faceOffsetAB + matrixAB.getCol0() * scalesB.getX() + matrixAB.getCol1() * scalesB.getY() );
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+
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+
// compute the parameters of the point on A, closest to this corner
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+
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t0 = corner[0];
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t1 = corner[1];
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+
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if ( t0 > hA[0] )
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+
t0 = hA[0];
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+
else if ( t0 < -hA[0] )
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+
t0 = -hA[0];
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+
if ( t1 > hA[1] )
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+
t1 = hA[1];
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+
else if ( t1 < -hA[1] )
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+
t1 = -hA[1];
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147
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+
|
148
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+
// do the Voronoi test: already know the point on B is in the Voronoi region of the
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149
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+
// point on A, check the reverse.
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150
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+
|
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+
vmVector3 facePointB =
|
152
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+
vmVector3( mulPerElem( faceOffsetBA + matrixBA.getCol0() * t0 + matrixBA.getCol1() * t1 - scalesB, signsB ) );
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153
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+
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+
inVoronoi = ( ( facePointB[0] >= voronoiTol * facePointB[2] ) &&
|
155
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+
( facePointB[1] >= voronoiTol * facePointB[0] ) &&
|
156
|
+
( facePointB[2] >= voronoiTol * facePointB[1] ) );
|
157
|
+
|
158
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+
return (sqr( corner[0] - t0 ) + sqr( corner[1] - t1 ) + sqr( corner[2] ));
|
159
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+
}
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160
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+
|
161
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+
#define VertexBFaceA_SetNewMin() \
|
162
|
+
{ \
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163
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+
minDistSqr = distSqr; \
|
164
|
+
localPointA.setX(t0); \
|
165
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+
localPointA.setY(t1); \
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+
localPointB.setX( scalesB.getX() ); \
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167
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+
localPointB.setY( scalesB.getY() ); \
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+
featureA = F; \
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+
featureB = V; \
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+
}
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+
|
172
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+
void
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173
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+
VertexBFaceATests(
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+
bool & done,
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175
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+
float & minDistSqr,
|
176
|
+
vmPoint3 & localPointA,
|
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|
+
vmPoint3 & localPointB,
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+
FeatureType & featureA,
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+
FeatureType & featureB,
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180
|
+
const vmVector3 & hA,
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|
+
PE_REF(vmVector3) faceOffsetAB,
|
182
|
+
PE_REF(vmVector3) faceOffsetBA,
|
183
|
+
const vmMatrix3 & matrixAB,
|
184
|
+
const vmMatrix3 & matrixBA,
|
185
|
+
PE_REF(vmVector3) signsB,
|
186
|
+
PE_REF(vmVector3) scalesB,
|
187
|
+
bool first )
|
188
|
+
{
|
189
|
+
|
190
|
+
float t0, t1;
|
191
|
+
float distSqr;
|
192
|
+
|
193
|
+
distSqr = VertexBFaceATest( done, t0, t1, hA, faceOffsetAB, faceOffsetBA,
|
194
|
+
matrixAB, matrixBA, signsB, scalesB );
|
195
|
+
|
196
|
+
if ( first ) {
|
197
|
+
VertexBFaceA_SetNewMin();
|
198
|
+
} else {
|
199
|
+
if ( distSqr < minDistSqr ) {
|
200
|
+
VertexBFaceA_SetNewMin();
|
201
|
+
}
|
202
|
+
}
|
203
|
+
|
204
|
+
if ( done )
|
205
|
+
return;
|
206
|
+
|
207
|
+
signsB.setX( -signsB.getX() );
|
208
|
+
scalesB.setX( -scalesB.getX() );
|
209
|
+
|
210
|
+
distSqr = VertexBFaceATest( done, t0, t1, hA, faceOffsetAB, faceOffsetBA,
|
211
|
+
matrixAB, matrixBA, signsB, scalesB );
|
212
|
+
|
213
|
+
if ( distSqr < minDistSqr ) {
|
214
|
+
VertexBFaceA_SetNewMin();
|
215
|
+
}
|
216
|
+
|
217
|
+
if ( done )
|
218
|
+
return;
|
219
|
+
|
220
|
+
signsB.setY( -signsB.getY() );
|
221
|
+
scalesB.setY( -scalesB.getY() );
|
222
|
+
|
223
|
+
distSqr = VertexBFaceATest( done, t0, t1, hA, faceOffsetAB, faceOffsetBA,
|
224
|
+
matrixAB, matrixBA, signsB, scalesB );
|
225
|
+
|
226
|
+
if ( distSqr < minDistSqr ) {
|
227
|
+
VertexBFaceA_SetNewMin();
|
228
|
+
}
|
229
|
+
|
230
|
+
if ( done )
|
231
|
+
return;
|
232
|
+
|
233
|
+
signsB.setX( -signsB.getX() );
|
234
|
+
scalesB.setX( -scalesB.getX() );
|
235
|
+
|
236
|
+
distSqr = VertexBFaceATest( done, t0, t1, hA, faceOffsetAB, faceOffsetBA,
|
237
|
+
matrixAB, matrixBA, signsB, scalesB );
|
238
|
+
|
239
|
+
if ( distSqr < minDistSqr ) {
|
240
|
+
VertexBFaceA_SetNewMin();
|
241
|
+
}
|
242
|
+
}
|
243
|
+
|
244
|
+
//-------------------------------------------------------------------------------------------------
|
245
|
+
// VertexAFaceBTest: tests whether a vertex of box A and a face of box B are the closest features
|
246
|
+
//-------------------------------------------------------------------------------------------------
|
247
|
+
|
248
|
+
inline
|
249
|
+
float
|
250
|
+
VertexAFaceBTest(
|
251
|
+
bool & inVoronoi,
|
252
|
+
float & t0,
|
253
|
+
float & t1,
|
254
|
+
const vmVector3 & hB,
|
255
|
+
PE_REF(vmVector3) faceOffsetAB,
|
256
|
+
PE_REF(vmVector3) faceOffsetBA,
|
257
|
+
const vmMatrix3 & matrixAB,
|
258
|
+
const vmMatrix3 & matrixBA,
|
259
|
+
PE_REF(vmVector3) signsA,
|
260
|
+
PE_REF(vmVector3) scalesA )
|
261
|
+
{
|
262
|
+
vmVector3 corner =
|
263
|
+
vmVector3( faceOffsetBA + matrixBA.getCol0() * scalesA.getX() + matrixBA.getCol1() * scalesA.getY() );
|
264
|
+
|
265
|
+
t0 = corner[0];
|
266
|
+
t1 = corner[1];
|
267
|
+
|
268
|
+
if ( t0 > hB[0] )
|
269
|
+
t0 = hB[0];
|
270
|
+
else if ( t0 < -hB[0] )
|
271
|
+
t0 = -hB[0];
|
272
|
+
if ( t1 > hB[1] )
|
273
|
+
t1 = hB[1];
|
274
|
+
else if ( t1 < -hB[1] )
|
275
|
+
t1 = -hB[1];
|
276
|
+
|
277
|
+
vmVector3 facePointA =
|
278
|
+
vmVector3( mulPerElem( faceOffsetAB + matrixAB.getCol0() * t0 + matrixAB.getCol1() * t1 - scalesA, signsA ) );
|
279
|
+
|
280
|
+
inVoronoi = ( ( facePointA[0] >= voronoiTol * facePointA[2] ) &&
|
281
|
+
( facePointA[1] >= voronoiTol * facePointA[0] ) &&
|
282
|
+
( facePointA[2] >= voronoiTol * facePointA[1] ) );
|
283
|
+
|
284
|
+
return (sqr( corner[0] - t0 ) + sqr( corner[1] - t1 ) + sqr( corner[2] ));
|
285
|
+
}
|
286
|
+
|
287
|
+
#define VertexAFaceB_SetNewMin() \
|
288
|
+
{ \
|
289
|
+
minDistSqr = distSqr; \
|
290
|
+
localPointB.setX(t0); \
|
291
|
+
localPointB.setY(t1); \
|
292
|
+
localPointA.setX( scalesA.getX() ); \
|
293
|
+
localPointA.setY( scalesA.getY() ); \
|
294
|
+
featureA = V; \
|
295
|
+
featureB = F; \
|
296
|
+
}
|
297
|
+
|
298
|
+
void
|
299
|
+
VertexAFaceBTests(
|
300
|
+
bool & done,
|
301
|
+
float & minDistSqr,
|
302
|
+
vmPoint3 & localPointA,
|
303
|
+
vmPoint3 & localPointB,
|
304
|
+
FeatureType & featureA,
|
305
|
+
FeatureType & featureB,
|
306
|
+
const vmVector3 & hB,
|
307
|
+
PE_REF(vmVector3) faceOffsetAB,
|
308
|
+
PE_REF(vmVector3) faceOffsetBA,
|
309
|
+
const vmMatrix3 & matrixAB,
|
310
|
+
const vmMatrix3 & matrixBA,
|
311
|
+
PE_REF(vmVector3) signsA,
|
312
|
+
PE_REF(vmVector3) scalesA,
|
313
|
+
bool first )
|
314
|
+
{
|
315
|
+
float t0, t1;
|
316
|
+
float distSqr;
|
317
|
+
|
318
|
+
distSqr = VertexAFaceBTest( done, t0, t1, hB, faceOffsetAB, faceOffsetBA,
|
319
|
+
matrixAB, matrixBA, signsA, scalesA );
|
320
|
+
|
321
|
+
if ( first ) {
|
322
|
+
VertexAFaceB_SetNewMin();
|
323
|
+
} else {
|
324
|
+
if ( distSqr < minDistSqr ) {
|
325
|
+
VertexAFaceB_SetNewMin();
|
326
|
+
}
|
327
|
+
}
|
328
|
+
|
329
|
+
if ( done )
|
330
|
+
return;
|
331
|
+
|
332
|
+
signsA.setX( -signsA.getX() );
|
333
|
+
scalesA.setX( -scalesA.getX() );
|
334
|
+
|
335
|
+
distSqr = VertexAFaceBTest( done, t0, t1, hB, faceOffsetAB, faceOffsetBA,
|
336
|
+
matrixAB, matrixBA, signsA, scalesA );
|
337
|
+
|
338
|
+
if ( distSqr < minDistSqr ) {
|
339
|
+
VertexAFaceB_SetNewMin();
|
340
|
+
}
|
341
|
+
|
342
|
+
if ( done )
|
343
|
+
return;
|
344
|
+
|
345
|
+
signsA.setY( -signsA.getY() );
|
346
|
+
scalesA.setY( -scalesA.getY() );
|
347
|
+
|
348
|
+
distSqr = VertexAFaceBTest( done, t0, t1, hB, faceOffsetAB, faceOffsetBA,
|
349
|
+
matrixAB, matrixBA, signsA, scalesA );
|
350
|
+
|
351
|
+
if ( distSqr < minDistSqr ) {
|
352
|
+
VertexAFaceB_SetNewMin();
|
353
|
+
}
|
354
|
+
|
355
|
+
if ( done )
|
356
|
+
return;
|
357
|
+
|
358
|
+
signsA.setX( -signsA.getX() );
|
359
|
+
scalesA.setX( -scalesA.getX() );
|
360
|
+
|
361
|
+
distSqr = VertexAFaceBTest( done, t0, t1, hB, faceOffsetAB, faceOffsetBA,
|
362
|
+
matrixAB, matrixBA, signsA, scalesA );
|
363
|
+
|
364
|
+
if ( distSqr < minDistSqr ) {
|
365
|
+
VertexAFaceB_SetNewMin();
|
366
|
+
}
|
367
|
+
}
|
368
|
+
|
369
|
+
//-------------------------------------------------------------------------------------------------
|
370
|
+
// CustomEdgeEdgeTest:
|
371
|
+
//
|
372
|
+
// tests whether a pair of edges are the closest features
|
373
|
+
//
|
374
|
+
// note on the shorthand:
|
375
|
+
// 'a' & 'b' refer to the edges.
|
376
|
+
// 'c' is the dimension of the axis that points from the face center to the edge Center
|
377
|
+
// 'd' is the dimension of the edge Direction
|
378
|
+
// the dimension of the face normal is 2
|
379
|
+
//-------------------------------------------------------------------------------------------------
|
380
|
+
|
381
|
+
#define CustomEdgeEdgeTest( ac, ac_letter, ad, ad_letter, bc, bc_letter, bd, bd_letter ) \
|
382
|
+
{ \
|
383
|
+
vmVector3 edgeOffsetAB; \
|
384
|
+
vmVector3 edgeOffsetBA; \
|
385
|
+
\
|
386
|
+
edgeOffsetAB = faceOffsetAB + matrixAB.getCol##bc() * scalesB.get##bc_letter(); \
|
387
|
+
edgeOffsetAB.set##ac_letter( edgeOffsetAB.get##ac_letter() - scalesA.get##ac_letter() ); \
|
388
|
+
\
|
389
|
+
edgeOffsetBA = faceOffsetBA + matrixBA.getCol##ac() * scalesA.get##ac_letter(); \
|
390
|
+
edgeOffsetBA.set##bc_letter( edgeOffsetBA.get##bc_letter() - scalesB.get##bc_letter() ); \
|
391
|
+
\
|
392
|
+
float dirDot = matrixAB.getCol##bd().get##ad_letter(); \
|
393
|
+
float denom = 1.0f - dirDot*dirDot; \
|
394
|
+
float edgeOffsetAB_ad = edgeOffsetAB.get##ad_letter(); \
|
395
|
+
float edgeOffsetBA_bd = edgeOffsetBA.get##bd_letter(); \
|
396
|
+
\
|
397
|
+
if ( denom == 0.0f ) \
|
398
|
+
{ \
|
399
|
+
tA = 0.0f; \
|
400
|
+
} \
|
401
|
+
else \
|
402
|
+
{ \
|
403
|
+
tA = ( edgeOffsetAB_ad + edgeOffsetBA_bd * dirDot ) / denom; \
|
404
|
+
} \
|
405
|
+
\
|
406
|
+
if ( tA < -hA[ad] ) tA = -hA[ad]; \
|
407
|
+
else if ( tA > hA[ad] ) tA = hA[ad]; \
|
408
|
+
\
|
409
|
+
tB = tA * dirDot + edgeOffsetBA_bd; \
|
410
|
+
\
|
411
|
+
if ( tB < -hB[bd] ) \
|
412
|
+
{ \
|
413
|
+
tB = -hB[bd]; \
|
414
|
+
tA = tB * dirDot + edgeOffsetAB_ad; \
|
415
|
+
\
|
416
|
+
if ( tA < -hA[ad] ) tA = -hA[ad]; \
|
417
|
+
else if ( tA > hA[ad] ) tA = hA[ad]; \
|
418
|
+
} \
|
419
|
+
else if ( tB > hB[bd] ) \
|
420
|
+
{ \
|
421
|
+
tB = hB[bd]; \
|
422
|
+
tA = tB * dirDot + edgeOffsetAB_ad; \
|
423
|
+
\
|
424
|
+
if ( tA < -hA[ad] ) tA = -hA[ad]; \
|
425
|
+
else if ( tA > hA[ad] ) tA = hA[ad]; \
|
426
|
+
} \
|
427
|
+
\
|
428
|
+
vmVector3 edgeOffAB = vmVector3( mulPerElem( edgeOffsetAB + matrixAB.getCol##bd() * tB, signsA ) );\
|
429
|
+
vmVector3 edgeOffBA = vmVector3( mulPerElem( edgeOffsetBA + matrixBA.getCol##ad() * tA, signsB ) );\
|
430
|
+
\
|
431
|
+
inVoronoi = ( edgeOffAB[ac] >= voronoiTol * edgeOffAB[2] ) && \
|
432
|
+
( edgeOffAB[2] >= voronoiTol * edgeOffAB[ac] ) && \
|
433
|
+
( edgeOffBA[bc] >= voronoiTol * edgeOffBA[2] ) && \
|
434
|
+
( edgeOffBA[2] >= voronoiTol * edgeOffBA[bc] ); \
|
435
|
+
\
|
436
|
+
edgeOffAB[ad] -= tA; \
|
437
|
+
edgeOffBA[bd] -= tB; \
|
438
|
+
\
|
439
|
+
return dot(edgeOffAB,edgeOffAB); \
|
440
|
+
}
|
441
|
+
|
442
|
+
float
|
443
|
+
CustomEdgeEdgeTest_0101(
|
444
|
+
bool & inVoronoi,
|
445
|
+
float & tA,
|
446
|
+
float & tB,
|
447
|
+
const vmVector3 & hA,
|
448
|
+
const vmVector3 & hB,
|
449
|
+
PE_REF(vmVector3) faceOffsetAB,
|
450
|
+
PE_REF(vmVector3) faceOffsetBA,
|
451
|
+
const vmMatrix3 & matrixAB,
|
452
|
+
const vmMatrix3 & matrixBA,
|
453
|
+
PE_REF(vmVector3) signsA,
|
454
|
+
PE_REF(vmVector3) signsB,
|
455
|
+
PE_REF(vmVector3) scalesA,
|
456
|
+
PE_REF(vmVector3) scalesB )
|
457
|
+
{
|
458
|
+
CustomEdgeEdgeTest( 0, X, 1, Y, 0, X, 1, Y );
|
459
|
+
}
|
460
|
+
|
461
|
+
float
|
462
|
+
CustomEdgeEdgeTest_0110(
|
463
|
+
bool & inVoronoi,
|
464
|
+
float & tA,
|
465
|
+
float & tB,
|
466
|
+
const vmVector3 & hA,
|
467
|
+
const vmVector3 & hB,
|
468
|
+
PE_REF(vmVector3) faceOffsetAB,
|
469
|
+
PE_REF(vmVector3) faceOffsetBA,
|
470
|
+
const vmMatrix3 & matrixAB,
|
471
|
+
const vmMatrix3 & matrixBA,
|
472
|
+
PE_REF(vmVector3) signsA,
|
473
|
+
PE_REF(vmVector3) signsB,
|
474
|
+
PE_REF(vmVector3) scalesA,
|
475
|
+
PE_REF(vmVector3) scalesB )
|
476
|
+
{
|
477
|
+
CustomEdgeEdgeTest( 0, X, 1, Y, 1, Y, 0, X );
|
478
|
+
}
|
479
|
+
|
480
|
+
float
|
481
|
+
CustomEdgeEdgeTest_1001(
|
482
|
+
bool & inVoronoi,
|
483
|
+
float & tA,
|
484
|
+
float & tB,
|
485
|
+
const vmVector3 & hA,
|
486
|
+
const vmVector3 & hB,
|
487
|
+
PE_REF(vmVector3) faceOffsetAB,
|
488
|
+
PE_REF(vmVector3) faceOffsetBA,
|
489
|
+
const vmMatrix3 & matrixAB,
|
490
|
+
const vmMatrix3 & matrixBA,
|
491
|
+
PE_REF(vmVector3) signsA,
|
492
|
+
PE_REF(vmVector3) signsB,
|
493
|
+
PE_REF(vmVector3) scalesA,
|
494
|
+
PE_REF(vmVector3) scalesB )
|
495
|
+
{
|
496
|
+
CustomEdgeEdgeTest( 1, Y, 0, X, 0, X, 1, Y );
|
497
|
+
}
|
498
|
+
|
499
|
+
float
|
500
|
+
CustomEdgeEdgeTest_1010(
|
501
|
+
bool & inVoronoi,
|
502
|
+
float & tA,
|
503
|
+
float & tB,
|
504
|
+
const vmVector3 & hA,
|
505
|
+
const vmVector3 & hB,
|
506
|
+
PE_REF(vmVector3) faceOffsetAB,
|
507
|
+
PE_REF(vmVector3) faceOffsetBA,
|
508
|
+
const vmMatrix3 & matrixAB,
|
509
|
+
const vmMatrix3 & matrixBA,
|
510
|
+
PE_REF(vmVector3) signsA,
|
511
|
+
PE_REF(vmVector3) signsB,
|
512
|
+
PE_REF(vmVector3) scalesA,
|
513
|
+
PE_REF(vmVector3) scalesB )
|
514
|
+
{
|
515
|
+
CustomEdgeEdgeTest( 1, Y, 0, X, 1, Y, 0, X );
|
516
|
+
}
|
517
|
+
|
518
|
+
#define EdgeEdge_SetNewMin( ac_letter, ad_letter, bc_letter, bd_letter ) \
|
519
|
+
{ \
|
520
|
+
minDistSqr = distSqr; \
|
521
|
+
localPointA.set##ac_letter(scalesA.get##ac_letter()); \
|
522
|
+
localPointA.set##ad_letter(tA); \
|
523
|
+
localPointB.set##bc_letter(scalesB.get##bc_letter()); \
|
524
|
+
localPointB.set##bd_letter(tB); \
|
525
|
+
otherFaceDimA = testOtherFaceDimA; \
|
526
|
+
otherFaceDimB = testOtherFaceDimB; \
|
527
|
+
featureA = E; \
|
528
|
+
featureB = E; \
|
529
|
+
}
|
530
|
+
|
531
|
+
void
|
532
|
+
EdgeEdgeTests(
|
533
|
+
bool & done,
|
534
|
+
float & minDistSqr,
|
535
|
+
vmPoint3 & localPointA,
|
536
|
+
vmPoint3 & localPointB,
|
537
|
+
int & otherFaceDimA,
|
538
|
+
int & otherFaceDimB,
|
539
|
+
FeatureType & featureA,
|
540
|
+
FeatureType & featureB,
|
541
|
+
const vmVector3 & hA,
|
542
|
+
const vmVector3 & hB,
|
543
|
+
PE_REF(vmVector3) faceOffsetAB,
|
544
|
+
PE_REF(vmVector3) faceOffsetBA,
|
545
|
+
const vmMatrix3 & matrixAB,
|
546
|
+
const vmMatrix3 & matrixBA,
|
547
|
+
PE_REF(vmVector3) signsA,
|
548
|
+
PE_REF(vmVector3) signsB,
|
549
|
+
PE_REF(vmVector3) scalesA,
|
550
|
+
PE_REF(vmVector3) scalesB,
|
551
|
+
bool first )
|
552
|
+
{
|
553
|
+
|
554
|
+
float distSqr;
|
555
|
+
float tA, tB;
|
556
|
+
|
557
|
+
int testOtherFaceDimA, testOtherFaceDimB;
|
558
|
+
|
559
|
+
testOtherFaceDimA = 0;
|
560
|
+
testOtherFaceDimB = 0;
|
561
|
+
|
562
|
+
distSqr = CustomEdgeEdgeTest_0101( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA,
|
563
|
+
matrixAB, matrixBA, signsA, signsB, scalesA, scalesB );
|
564
|
+
|
565
|
+
if ( first ) {
|
566
|
+
EdgeEdge_SetNewMin( X, Y, X, Y );
|
567
|
+
} else {
|
568
|
+
if ( distSqr < minDistSqr ) {
|
569
|
+
EdgeEdge_SetNewMin( X, Y, X, Y );
|
570
|
+
}
|
571
|
+
}
|
572
|
+
|
573
|
+
if ( done )
|
574
|
+
return;
|
575
|
+
|
576
|
+
signsA.setX( -signsA.getX() );
|
577
|
+
scalesA.setX( -scalesA.getX() );
|
578
|
+
|
579
|
+
distSqr = CustomEdgeEdgeTest_0101( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA,
|
580
|
+
matrixAB, matrixBA, signsA, signsB, scalesA, scalesB );
|
581
|
+
|
582
|
+
if ( distSqr < minDistSqr ) {
|
583
|
+
EdgeEdge_SetNewMin( X, Y, X, Y );
|
584
|
+
}
|
585
|
+
|
586
|
+
if ( done )
|
587
|
+
return;
|
588
|
+
|
589
|
+
signsB.setX( -signsB.getX() );
|
590
|
+
scalesB.setX( -scalesB.getX() );
|
591
|
+
|
592
|
+
distSqr = CustomEdgeEdgeTest_0101( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA,
|
593
|
+
matrixAB, matrixBA, signsA, signsB, scalesA, scalesB );
|
594
|
+
|
595
|
+
if ( distSqr < minDistSqr ) {
|
596
|
+
EdgeEdge_SetNewMin( X, Y, X, Y );
|
597
|
+
}
|
598
|
+
|
599
|
+
if ( done )
|
600
|
+
return;
|
601
|
+
|
602
|
+
signsA.setX( -signsA.getX() );
|
603
|
+
scalesA.setX( -scalesA.getX() );
|
604
|
+
|
605
|
+
distSqr = CustomEdgeEdgeTest_0101( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA,
|
606
|
+
matrixAB, matrixBA, signsA, signsB, scalesA, scalesB );
|
607
|
+
|
608
|
+
if ( distSqr < minDistSqr ) {
|
609
|
+
EdgeEdge_SetNewMin( X, Y, X, Y );
|
610
|
+
}
|
611
|
+
|
612
|
+
if ( done )
|
613
|
+
return;
|
614
|
+
|
615
|
+
testOtherFaceDimA = 1;
|
616
|
+
testOtherFaceDimB = 0;
|
617
|
+
signsB.setX( -signsB.getX() );
|
618
|
+
scalesB.setX( -scalesB.getX() );
|
619
|
+
|
620
|
+
distSqr = CustomEdgeEdgeTest_1001( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA,
|
621
|
+
matrixAB, matrixBA, signsA, signsB, scalesA, scalesB );
|
622
|
+
|
623
|
+
if ( distSqr < minDistSqr ) {
|
624
|
+
EdgeEdge_SetNewMin( Y, X, X, Y );
|
625
|
+
}
|
626
|
+
|
627
|
+
if ( done )
|
628
|
+
return;
|
629
|
+
|
630
|
+
signsA.setY( -signsA.getY() );
|
631
|
+
scalesA.setY( -scalesA.getY() );
|
632
|
+
|
633
|
+
distSqr = CustomEdgeEdgeTest_1001( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA,
|
634
|
+
matrixAB, matrixBA, signsA, signsB, scalesA, scalesB );
|
635
|
+
|
636
|
+
if ( distSqr < minDistSqr ) {
|
637
|
+
EdgeEdge_SetNewMin( Y, X, X, Y );
|
638
|
+
}
|
639
|
+
|
640
|
+
if ( done )
|
641
|
+
return;
|
642
|
+
|
643
|
+
signsB.setX( -signsB.getX() );
|
644
|
+
scalesB.setX( -scalesB.getX() );
|
645
|
+
|
646
|
+
distSqr = CustomEdgeEdgeTest_1001( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA,
|
647
|
+
matrixAB, matrixBA, signsA, signsB, scalesA, scalesB );
|
648
|
+
|
649
|
+
if ( distSqr < minDistSqr ) {
|
650
|
+
EdgeEdge_SetNewMin( Y, X, X, Y );
|
651
|
+
}
|
652
|
+
|
653
|
+
if ( done )
|
654
|
+
return;
|
655
|
+
|
656
|
+
signsA.setY( -signsA.getY() );
|
657
|
+
scalesA.setY( -scalesA.getY() );
|
658
|
+
|
659
|
+
distSqr = CustomEdgeEdgeTest_1001( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA,
|
660
|
+
matrixAB, matrixBA, signsA, signsB, scalesA, scalesB );
|
661
|
+
|
662
|
+
if ( distSqr < minDistSqr ) {
|
663
|
+
EdgeEdge_SetNewMin( Y, X, X, Y );
|
664
|
+
}
|
665
|
+
|
666
|
+
if ( done )
|
667
|
+
return;
|
668
|
+
|
669
|
+
testOtherFaceDimA = 0;
|
670
|
+
testOtherFaceDimB = 1;
|
671
|
+
signsB.setX( -signsB.getX() );
|
672
|
+
scalesB.setX( -scalesB.getX() );
|
673
|
+
|
674
|
+
distSqr = CustomEdgeEdgeTest_0110( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA,
|
675
|
+
matrixAB, matrixBA, signsA, signsB, scalesA, scalesB );
|
676
|
+
|
677
|
+
if ( distSqr < minDistSqr ) {
|
678
|
+
EdgeEdge_SetNewMin( X, Y, Y, X );
|
679
|
+
}
|
680
|
+
|
681
|
+
if ( done )
|
682
|
+
return;
|
683
|
+
|
684
|
+
signsA.setX( -signsA.getX() );
|
685
|
+
scalesA.setX( -scalesA.getX() );
|
686
|
+
|
687
|
+
distSqr = CustomEdgeEdgeTest_0110( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA,
|
688
|
+
matrixAB, matrixBA, signsA, signsB, scalesA, scalesB );
|
689
|
+
|
690
|
+
if ( distSqr < minDistSqr ) {
|
691
|
+
EdgeEdge_SetNewMin( X, Y, Y, X );
|
692
|
+
}
|
693
|
+
|
694
|
+
if ( done )
|
695
|
+
return;
|
696
|
+
|
697
|
+
signsB.setY( -signsB.getY() );
|
698
|
+
scalesB.setY( -scalesB.getY() );
|
699
|
+
|
700
|
+
distSqr = CustomEdgeEdgeTest_0110( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA,
|
701
|
+
matrixAB, matrixBA, signsA, signsB, scalesA, scalesB );
|
702
|
+
|
703
|
+
if ( distSqr < minDistSqr ) {
|
704
|
+
EdgeEdge_SetNewMin( X, Y, Y, X );
|
705
|
+
}
|
706
|
+
|
707
|
+
if ( done )
|
708
|
+
return;
|
709
|
+
|
710
|
+
signsA.setX( -signsA.getX() );
|
711
|
+
scalesA.setX( -scalesA.getX() );
|
712
|
+
|
713
|
+
distSqr = CustomEdgeEdgeTest_0110( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA,
|
714
|
+
matrixAB, matrixBA, signsA, signsB, scalesA, scalesB );
|
715
|
+
|
716
|
+
if ( distSqr < minDistSqr ) {
|
717
|
+
EdgeEdge_SetNewMin( X, Y, Y, X );
|
718
|
+
}
|
719
|
+
|
720
|
+
if ( done )
|
721
|
+
return;
|
722
|
+
|
723
|
+
testOtherFaceDimA = 1;
|
724
|
+
testOtherFaceDimB = 1;
|
725
|
+
signsB.setY( -signsB.getY() );
|
726
|
+
scalesB.setY( -scalesB.getY() );
|
727
|
+
|
728
|
+
distSqr = CustomEdgeEdgeTest_1010( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA,
|
729
|
+
matrixAB, matrixBA, signsA, signsB, scalesA, scalesB );
|
730
|
+
|
731
|
+
if ( distSqr < minDistSqr ) {
|
732
|
+
EdgeEdge_SetNewMin( Y, X, Y, X );
|
733
|
+
}
|
734
|
+
|
735
|
+
if ( done )
|
736
|
+
return;
|
737
|
+
|
738
|
+
signsA.setY( -signsA.getY() );
|
739
|
+
scalesA.setY( -scalesA.getY() );
|
740
|
+
|
741
|
+
distSqr = CustomEdgeEdgeTest_1010( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA,
|
742
|
+
matrixAB, matrixBA, signsA, signsB, scalesA, scalesB );
|
743
|
+
|
744
|
+
if ( distSqr < minDistSqr ) {
|
745
|
+
EdgeEdge_SetNewMin( Y, X, Y, X );
|
746
|
+
}
|
747
|
+
|
748
|
+
if ( done )
|
749
|
+
return;
|
750
|
+
|
751
|
+
signsB.setY( -signsB.getY() );
|
752
|
+
scalesB.setY( -scalesB.getY() );
|
753
|
+
|
754
|
+
distSqr = CustomEdgeEdgeTest_1010( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA,
|
755
|
+
matrixAB, matrixBA, signsA, signsB, scalesA, scalesB );
|
756
|
+
|
757
|
+
if ( distSqr < minDistSqr ) {
|
758
|
+
EdgeEdge_SetNewMin( Y, X, Y, X );
|
759
|
+
}
|
760
|
+
|
761
|
+
if ( done )
|
762
|
+
return;
|
763
|
+
|
764
|
+
signsA.setY( -signsA.getY() );
|
765
|
+
scalesA.setY( -scalesA.getY() );
|
766
|
+
|
767
|
+
distSqr = CustomEdgeEdgeTest_1010( done, tA, tB, hA, hB, faceOffsetAB, faceOffsetBA,
|
768
|
+
matrixAB, matrixBA, signsA, signsB, scalesA, scalesB );
|
769
|
+
|
770
|
+
if ( distSqr < minDistSqr ) {
|
771
|
+
EdgeEdge_SetNewMin( Y, X, Y, X );
|
772
|
+
}
|
773
|
+
}
|
774
|
+
|
775
|
+
|
776
|
+
float
|
777
|
+
boxBoxDistance(vmVector3& normal, BoxPoint& boxPointA, BoxPoint& boxPointB,
|
778
|
+
PE_REF(Box) boxA, const vmTransform3 & transformA, PE_REF(Box) boxB,
|
779
|
+
const vmTransform3 & transformB,
|
780
|
+
float distanceThreshold)
|
781
|
+
{
|
782
|
+
vmMatrix3 identity;
|
783
|
+
identity = vmMatrix3::identity();
|
784
|
+
vmVector3 ident[3];
|
785
|
+
ident[0] = identity.getCol0();
|
786
|
+
ident[1] = identity.getCol1();
|
787
|
+
ident[2] = identity.getCol2();
|
788
|
+
|
789
|
+
// get relative transformations
|
790
|
+
|
791
|
+
vmTransform3 transformAB, transformBA;
|
792
|
+
vmMatrix3 matrixAB, matrixBA;
|
793
|
+
vmVector3 offsetAB, offsetBA;
|
794
|
+
|
795
|
+
transformAB = orthoInverse(transformA) * transformB;
|
796
|
+
transformBA = orthoInverse(transformAB);
|
797
|
+
|
798
|
+
matrixAB = transformAB.getUpper3x3();
|
799
|
+
offsetAB = transformAB.getTranslation();
|
800
|
+
matrixBA = transformBA.getUpper3x3();
|
801
|
+
offsetBA = transformBA.getTranslation();
|
802
|
+
|
803
|
+
vmMatrix3 absMatrixAB = absPerElem(matrixAB);
|
804
|
+
vmMatrix3 absMatrixBA = absPerElem(matrixBA);
|
805
|
+
|
806
|
+
// find separating axis with largest gap between projections
|
807
|
+
|
808
|
+
BoxSepAxisType axisType;
|
809
|
+
vmVector3 axisA(0.0f), axisB(0.0f);
|
810
|
+
float gap, maxGap;
|
811
|
+
int faceDimA = 0, faceDimB = 0, edgeDimA = 0, edgeDimB = 0;
|
812
|
+
|
813
|
+
// face axes
|
814
|
+
|
815
|
+
vmVector3 gapsA = absPerElem(offsetAB) - boxA.mHalf - absMatrixAB * boxB.mHalf;
|
816
|
+
|
817
|
+
AaxisTest(0,X,true);
|
818
|
+
AaxisTest(1,Y,false);
|
819
|
+
AaxisTest(2,Z,false);
|
820
|
+
|
821
|
+
vmVector3 gapsB = absPerElem(offsetBA) - boxB.mHalf - absMatrixBA * boxA.mHalf;
|
822
|
+
|
823
|
+
BaxisTest(0,X);
|
824
|
+
BaxisTest(1,Y);
|
825
|
+
BaxisTest(2,Z);
|
826
|
+
|
827
|
+
// cross product axes
|
828
|
+
|
829
|
+
// �O�ς��O�̂Ƃ��̑�
|
830
|
+
absMatrixAB += vmMatrix3(1.0e-5f);
|
831
|
+
absMatrixBA += vmMatrix3(1.0e-5f);
|
832
|
+
|
833
|
+
vmMatrix3 lsqrs, projOffset, projAhalf, projBhalf;
|
834
|
+
|
835
|
+
lsqrs.setCol0( mulPerElem( matrixBA.getCol2(), matrixBA.getCol2() ) +
|
836
|
+
mulPerElem( matrixBA.getCol1(), matrixBA.getCol1() ) );
|
837
|
+
lsqrs.setCol1( mulPerElem( matrixBA.getCol2(), matrixBA.getCol2() ) +
|
838
|
+
mulPerElem( matrixBA.getCol0(), matrixBA.getCol0() ) );
|
839
|
+
lsqrs.setCol2( mulPerElem( matrixBA.getCol1(), matrixBA.getCol1() ) +
|
840
|
+
mulPerElem( matrixBA.getCol0(), matrixBA.getCol0() ) );
|
841
|
+
|
842
|
+
projOffset.setCol0(matrixBA.getCol1() * offsetAB.getZ() - matrixBA.getCol2() * offsetAB.getY());
|
843
|
+
projOffset.setCol1(matrixBA.getCol2() * offsetAB.getX() - matrixBA.getCol0() * offsetAB.getZ());
|
844
|
+
projOffset.setCol2(matrixBA.getCol0() * offsetAB.getY() - matrixBA.getCol1() * offsetAB.getX());
|
845
|
+
|
846
|
+
projAhalf.setCol0(absMatrixBA.getCol1() * boxA.mHalf.getZ() + absMatrixBA.getCol2() * boxA.mHalf.getY());
|
847
|
+
projAhalf.setCol1(absMatrixBA.getCol2() * boxA.mHalf.getX() + absMatrixBA.getCol0() * boxA.mHalf.getZ());
|
848
|
+
projAhalf.setCol2(absMatrixBA.getCol0() * boxA.mHalf.getY() + absMatrixBA.getCol1() * boxA.mHalf.getX());
|
849
|
+
|
850
|
+
projBhalf.setCol0(absMatrixAB.getCol1() * boxB.mHalf.getZ() + absMatrixAB.getCol2() * boxB.mHalf.getY());
|
851
|
+
projBhalf.setCol1(absMatrixAB.getCol2() * boxB.mHalf.getX() + absMatrixAB.getCol0() * boxB.mHalf.getZ());
|
852
|
+
projBhalf.setCol2(absMatrixAB.getCol0() * boxB.mHalf.getY() + absMatrixAB.getCol1() * boxB.mHalf.getX());
|
853
|
+
|
854
|
+
vmMatrix3 gapsAxB = absPerElem(projOffset) - projAhalf - transpose(projBhalf);
|
855
|
+
|
856
|
+
CrossAxisTest(0,0,X);
|
857
|
+
CrossAxisTest(0,1,Y);
|
858
|
+
CrossAxisTest(0,2,Z);
|
859
|
+
CrossAxisTest(1,0,X);
|
860
|
+
CrossAxisTest(1,1,Y);
|
861
|
+
CrossAxisTest(1,2,Z);
|
862
|
+
CrossAxisTest(2,0,X);
|
863
|
+
CrossAxisTest(2,1,Y);
|
864
|
+
CrossAxisTest(2,2,Z);
|
865
|
+
|
866
|
+
// need to pick the face on each box whose normal best matches the separating axis.
|
867
|
+
// will transform vectors to be in the coordinate system of this face to simplify things later.
|
868
|
+
// for this, a permutation matrix can be used, which the next section computes.
|
869
|
+
|
870
|
+
int dimA[3], dimB[3];
|
871
|
+
|
872
|
+
if ( axisType == A_AXIS ) {
|
873
|
+
if ( dot(axisA,offsetAB) < 0.0f )
|
874
|
+
axisA = -axisA;
|
875
|
+
axisB = matrixBA * -axisA;
|
876
|
+
|
877
|
+
vmVector3 absAxisB = vmVector3(absPerElem(axisB));
|
878
|
+
|
879
|
+
if ( ( absAxisB[0] > absAxisB[1] ) && ( absAxisB[0] > absAxisB[2] ) )
|
880
|
+
faceDimB = 0;
|
881
|
+
else if ( absAxisB[1] > absAxisB[2] )
|
882
|
+
faceDimB = 1;
|
883
|
+
else
|
884
|
+
faceDimB = 2;
|
885
|
+
} else if ( axisType == B_AXIS ) {
|
886
|
+
if ( dot(axisB,offsetBA) < 0.0f )
|
887
|
+
axisB = -axisB;
|
888
|
+
axisA = matrixAB * -axisB;
|
889
|
+
|
890
|
+
vmVector3 absAxisA = vmVector3(absPerElem(axisA));
|
891
|
+
|
892
|
+
if ( ( absAxisA[0] > absAxisA[1] ) && ( absAxisA[0] > absAxisA[2] ) )
|
893
|
+
faceDimA = 0;
|
894
|
+
else if ( absAxisA[1] > absAxisA[2] )
|
895
|
+
faceDimA = 1;
|
896
|
+
else
|
897
|
+
faceDimA = 2;
|
898
|
+
}
|
899
|
+
|
900
|
+
if ( axisType == CROSS_AXIS ) {
|
901
|
+
if ( dot(axisA,offsetAB) < 0.0f )
|
902
|
+
axisA = -axisA;
|
903
|
+
axisB = matrixBA * -axisA;
|
904
|
+
|
905
|
+
vmVector3 absAxisA = vmVector3(absPerElem(axisA));
|
906
|
+
vmVector3 absAxisB = vmVector3(absPerElem(axisB));
|
907
|
+
|
908
|
+
dimA[1] = edgeDimA;
|
909
|
+
dimB[1] = edgeDimB;
|
910
|
+
|
911
|
+
if ( edgeDimA == 0 ) {
|
912
|
+
if ( absAxisA[1] > absAxisA[2] ) {
|
913
|
+
dimA[0] = 2;
|
914
|
+
dimA[2] = 1;
|
915
|
+
} else {
|
916
|
+
dimA[0] = 1;
|
917
|
+
dimA[2] = 2;
|
918
|
+
}
|
919
|
+
} else if ( edgeDimA == 1 ) {
|
920
|
+
if ( absAxisA[2] > absAxisA[0] ) {
|
921
|
+
dimA[0] = 0;
|
922
|
+
dimA[2] = 2;
|
923
|
+
} else {
|
924
|
+
dimA[0] = 2;
|
925
|
+
dimA[2] = 0;
|
926
|
+
}
|
927
|
+
} else {
|
928
|
+
if ( absAxisA[0] > absAxisA[1] ) {
|
929
|
+
dimA[0] = 1;
|
930
|
+
dimA[2] = 0;
|
931
|
+
} else {
|
932
|
+
dimA[0] = 0;
|
933
|
+
dimA[2] = 1;
|
934
|
+
}
|
935
|
+
}
|
936
|
+
|
937
|
+
if ( edgeDimB == 0 ) {
|
938
|
+
if ( absAxisB[1] > absAxisB[2] ) {
|
939
|
+
dimB[0] = 2;
|
940
|
+
dimB[2] = 1;
|
941
|
+
} else {
|
942
|
+
dimB[0] = 1;
|
943
|
+
dimB[2] = 2;
|
944
|
+
}
|
945
|
+
} else if ( edgeDimB == 1 ) {
|
946
|
+
if ( absAxisB[2] > absAxisB[0] ) {
|
947
|
+
dimB[0] = 0;
|
948
|
+
dimB[2] = 2;
|
949
|
+
} else {
|
950
|
+
dimB[0] = 2;
|
951
|
+
dimB[2] = 0;
|
952
|
+
}
|
953
|
+
} else {
|
954
|
+
if ( absAxisB[0] > absAxisB[1] ) {
|
955
|
+
dimB[0] = 1;
|
956
|
+
dimB[2] = 0;
|
957
|
+
} else {
|
958
|
+
dimB[0] = 0;
|
959
|
+
dimB[2] = 1;
|
960
|
+
}
|
961
|
+
}
|
962
|
+
} else {
|
963
|
+
dimA[2] = faceDimA;
|
964
|
+
dimA[0] = (faceDimA+1)%3;
|
965
|
+
dimA[1] = (faceDimA+2)%3;
|
966
|
+
dimB[2] = faceDimB;
|
967
|
+
dimB[0] = (faceDimB+1)%3;
|
968
|
+
dimB[1] = (faceDimB+2)%3;
|
969
|
+
}
|
970
|
+
|
971
|
+
vmMatrix3 aperm_col, bperm_col;
|
972
|
+
|
973
|
+
aperm_col.setCol0(ident[dimA[0]]);
|
974
|
+
aperm_col.setCol1(ident[dimA[1]]);
|
975
|
+
aperm_col.setCol2(ident[dimA[2]]);
|
976
|
+
|
977
|
+
bperm_col.setCol0(ident[dimB[0]]);
|
978
|
+
bperm_col.setCol1(ident[dimB[1]]);
|
979
|
+
bperm_col.setCol2(ident[dimB[2]]);
|
980
|
+
|
981
|
+
vmMatrix3 aperm_row, bperm_row;
|
982
|
+
|
983
|
+
aperm_row = transpose(aperm_col);
|
984
|
+
bperm_row = transpose(bperm_col);
|
985
|
+
|
986
|
+
// permute all box parameters to be in the face coordinate systems
|
987
|
+
|
988
|
+
vmMatrix3 matrixAB_perm = aperm_row * matrixAB * bperm_col;
|
989
|
+
vmMatrix3 matrixBA_perm = transpose(matrixAB_perm);
|
990
|
+
|
991
|
+
vmVector3 offsetAB_perm, offsetBA_perm;
|
992
|
+
|
993
|
+
offsetAB_perm = aperm_row * offsetAB;
|
994
|
+
offsetBA_perm = bperm_row * offsetBA;
|
995
|
+
|
996
|
+
vmVector3 halfA_perm, halfB_perm;
|
997
|
+
|
998
|
+
halfA_perm = aperm_row * boxA.mHalf;
|
999
|
+
halfB_perm = bperm_row * boxB.mHalf;
|
1000
|
+
|
1001
|
+
// compute the vector between the centers of each face, in each face's coordinate frame
|
1002
|
+
|
1003
|
+
vmVector3 signsA_perm, signsB_perm, scalesA_perm, scalesB_perm, faceOffsetAB_perm, faceOffsetBA_perm;
|
1004
|
+
|
1005
|
+
signsA_perm = copySignPerElem(vmVector3(1.0f),aperm_row * axisA);
|
1006
|
+
signsB_perm = copySignPerElem(vmVector3(1.0f),bperm_row * axisB);
|
1007
|
+
scalesA_perm = mulPerElem( signsA_perm, halfA_perm );
|
1008
|
+
scalesB_perm = mulPerElem( signsB_perm, halfB_perm );
|
1009
|
+
|
1010
|
+
faceOffsetAB_perm = offsetAB_perm + matrixAB_perm.getCol2() * scalesB_perm.getZ();
|
1011
|
+
faceOffsetAB_perm.setZ( faceOffsetAB_perm.getZ() - scalesA_perm.getZ() );
|
1012
|
+
|
1013
|
+
faceOffsetBA_perm = offsetBA_perm + matrixBA_perm.getCol2() * scalesA_perm.getZ();
|
1014
|
+
faceOffsetBA_perm.setZ( faceOffsetBA_perm.getZ() - scalesB_perm.getZ() );
|
1015
|
+
|
1016
|
+
if ( maxGap < 0.0f ) {
|
1017
|
+
// if boxes overlap, this will separate the faces for finding points of penetration.
|
1018
|
+
|
1019
|
+
faceOffsetAB_perm -= aperm_row * axisA * maxGap * 1.01f;
|
1020
|
+
faceOffsetBA_perm -= bperm_row * axisB * maxGap * 1.01f;
|
1021
|
+
}
|
1022
|
+
|
1023
|
+
// for each vertex/face or edge/edge pair of the two faces, find the closest points.
|
1024
|
+
//
|
1025
|
+
// these points each have an associated box feature (vertex, edge, or face). if each
|
1026
|
+
// point is in the external Voronoi region of the other's feature, they are the
|
1027
|
+
// closest points of the boxes, and the algorithm can exit.
|
1028
|
+
//
|
1029
|
+
// the feature pairs are arranged so that in the general case, the first test will
|
1030
|
+
// succeed. degenerate cases (parallel faces) may require up to all tests in the
|
1031
|
+
// worst case.
|
1032
|
+
//
|
1033
|
+
// if for some reason no case passes the Voronoi test, the features with the minimum
|
1034
|
+
// distance are returned.
|
1035
|
+
|
1036
|
+
vmPoint3 localPointA_perm, localPointB_perm;
|
1037
|
+
float minDistSqr;
|
1038
|
+
bool done;
|
1039
|
+
|
1040
|
+
vmVector3 hA_perm( halfA_perm ), hB_perm( halfB_perm );
|
1041
|
+
|
1042
|
+
localPointA_perm.setZ( scalesA_perm.getZ() );
|
1043
|
+
localPointB_perm.setZ( scalesB_perm.getZ() );
|
1044
|
+
scalesA_perm.setZ(0.0f);
|
1045
|
+
scalesB_perm.setZ(0.0f);
|
1046
|
+
|
1047
|
+
int otherFaceDimA, otherFaceDimB;
|
1048
|
+
FeatureType featureA, featureB;
|
1049
|
+
|
1050
|
+
if ( axisType == CROSS_AXIS ) {
|
1051
|
+
EdgeEdgeTests( done, minDistSqr, localPointA_perm, localPointB_perm,
|
1052
|
+
otherFaceDimA, otherFaceDimB, featureA, featureB,
|
1053
|
+
hA_perm, hB_perm, faceOffsetAB_perm, faceOffsetBA_perm,
|
1054
|
+
matrixAB_perm, matrixBA_perm, signsA_perm, signsB_perm,
|
1055
|
+
scalesA_perm, scalesB_perm, true );
|
1056
|
+
|
1057
|
+
if ( !done ) {
|
1058
|
+
VertexBFaceATests( done, minDistSqr, localPointA_perm, localPointB_perm,
|
1059
|
+
featureA, featureB,
|
1060
|
+
hA_perm, faceOffsetAB_perm, faceOffsetBA_perm,
|
1061
|
+
matrixAB_perm, matrixBA_perm, signsB_perm, scalesB_perm, false );
|
1062
|
+
|
1063
|
+
if ( !done ) {
|
1064
|
+
VertexAFaceBTests( done, minDistSqr, localPointA_perm, localPointB_perm,
|
1065
|
+
featureA, featureB,
|
1066
|
+
hB_perm, faceOffsetAB_perm, faceOffsetBA_perm,
|
1067
|
+
matrixAB_perm, matrixBA_perm, signsA_perm, scalesA_perm, false );
|
1068
|
+
}
|
1069
|
+
}
|
1070
|
+
} else if ( axisType == B_AXIS ) {
|
1071
|
+
VertexAFaceBTests( done, minDistSqr, localPointA_perm, localPointB_perm,
|
1072
|
+
featureA, featureB,
|
1073
|
+
hB_perm, faceOffsetAB_perm, faceOffsetBA_perm,
|
1074
|
+
matrixAB_perm, matrixBA_perm, signsA_perm, scalesA_perm, true );
|
1075
|
+
|
1076
|
+
if ( !done ) {
|
1077
|
+
VertexBFaceATests( done, minDistSqr, localPointA_perm, localPointB_perm,
|
1078
|
+
featureA, featureB,
|
1079
|
+
hA_perm, faceOffsetAB_perm, faceOffsetBA_perm,
|
1080
|
+
matrixAB_perm, matrixBA_perm, signsB_perm, scalesB_perm, false );
|
1081
|
+
|
1082
|
+
if ( !done ) {
|
1083
|
+
EdgeEdgeTests( done, minDistSqr, localPointA_perm, localPointB_perm,
|
1084
|
+
otherFaceDimA, otherFaceDimB, featureA, featureB,
|
1085
|
+
hA_perm, hB_perm, faceOffsetAB_perm, faceOffsetBA_perm,
|
1086
|
+
matrixAB_perm, matrixBA_perm, signsA_perm, signsB_perm,
|
1087
|
+
scalesA_perm, scalesB_perm, false );
|
1088
|
+
}
|
1089
|
+
}
|
1090
|
+
} else {
|
1091
|
+
VertexBFaceATests( done, minDistSqr, localPointA_perm, localPointB_perm,
|
1092
|
+
featureA, featureB,
|
1093
|
+
hA_perm, faceOffsetAB_perm, faceOffsetBA_perm,
|
1094
|
+
matrixAB_perm, matrixBA_perm, signsB_perm, scalesB_perm, true );
|
1095
|
+
|
1096
|
+
if ( !done ) {
|
1097
|
+
VertexAFaceBTests( done, minDistSqr, localPointA_perm, localPointB_perm,
|
1098
|
+
featureA, featureB,
|
1099
|
+
hB_perm, faceOffsetAB_perm, faceOffsetBA_perm,
|
1100
|
+
matrixAB_perm, matrixBA_perm, signsA_perm, scalesA_perm, false );
|
1101
|
+
|
1102
|
+
if ( !done ) {
|
1103
|
+
EdgeEdgeTests( done, minDistSqr, localPointA_perm, localPointB_perm,
|
1104
|
+
otherFaceDimA, otherFaceDimB, featureA, featureB,
|
1105
|
+
hA_perm, hB_perm, faceOffsetAB_perm, faceOffsetBA_perm,
|
1106
|
+
matrixAB_perm, matrixBA_perm, signsA_perm, signsB_perm,
|
1107
|
+
scalesA_perm, scalesB_perm, false );
|
1108
|
+
}
|
1109
|
+
}
|
1110
|
+
}
|
1111
|
+
|
1112
|
+
// convert local points from face-local to box-local coordinate system
|
1113
|
+
|
1114
|
+
|
1115
|
+
boxPointA.localPoint = vmPoint3( aperm_col * vmVector3( localPointA_perm )) ;
|
1116
|
+
boxPointB.localPoint = vmPoint3( bperm_col * vmVector3( localPointB_perm )) ;
|
1117
|
+
|
1118
|
+
#if 0
|
1119
|
+
// find which features of the boxes are involved.
|
1120
|
+
// the only feature pairs which occur in this function are VF, FV, and EE, even though the
|
1121
|
+
// closest points might actually lie on sub-features, as in a VF contact might be used for
|
1122
|
+
// what's actually a VV contact. this means some feature pairs could possibly seem distinct
|
1123
|
+
// from others, although their contact positions are the same. don't know yet whether this
|
1124
|
+
// matters.
|
1125
|
+
|
1126
|
+
int sA[3], sB[3];
|
1127
|
+
|
1128
|
+
sA[0] = boxPointA.localPoint.getX() > 0.0f;
|
1129
|
+
sA[1] = boxPointA.localPoint.getY() > 0.0f;
|
1130
|
+
sA[2] = boxPointA.localPoint.getZ() > 0.0f;
|
1131
|
+
|
1132
|
+
sB[0] = boxPointB.localPoint.getX() > 0.0f;
|
1133
|
+
sB[1] = boxPointB.localPoint.getY() > 0.0f;
|
1134
|
+
sB[2] = boxPointB.localPoint.getZ() > 0.0f;
|
1135
|
+
|
1136
|
+
if ( featureA == F ) {
|
1137
|
+
boxPointA.setFaceFeature( dimA[2], sA[dimA[2]] );
|
1138
|
+
} else if ( featureA == E ) {
|
1139
|
+
boxPointA.setEdgeFeature( dimA[2], sA[dimA[2]], dimA[otherFaceDimA], sA[dimA[otherFaceDimA]] );
|
1140
|
+
} else {
|
1141
|
+
boxPointA.setVertexFeature( sA[0], sA[1], sA[2] );
|
1142
|
+
}
|
1143
|
+
|
1144
|
+
if ( featureB == F ) {
|
1145
|
+
boxPointB.setFaceFeature( dimB[2], sB[dimB[2]] );
|
1146
|
+
} else if ( featureB == E ) {
|
1147
|
+
boxPointB.setEdgeFeature( dimB[2], sB[dimB[2]], dimB[otherFaceDimB], sB[dimB[otherFaceDimB]] );
|
1148
|
+
} else {
|
1149
|
+
boxPointB.setVertexFeature( sB[0], sB[1], sB[2] );
|
1150
|
+
}
|
1151
|
+
#endif
|
1152
|
+
|
1153
|
+
normal = transformA * axisA;
|
1154
|
+
|
1155
|
+
if ( maxGap < 0.0f ) {
|
1156
|
+
return (maxGap);
|
1157
|
+
} else {
|
1158
|
+
return (sqrtf( minDistSqr ));
|
1159
|
+
}
|
1160
|
+
}
|