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
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/*! \file gim_basic_geometry_operations.h
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*\author Francisco Leon Najera
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type independant geometry routines
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+
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*/
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/*
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-----------------------------------------------------------------------------
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This source file is part of GIMPACT Library.
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+
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For the latest info, see http://gimpact.sourceforge.net/
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+
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Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
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email: projectileman@yahoo.com
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+
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This library is free software; you can redistribute it and/or
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+
modify it under the terms of EITHER:
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(1) The GNU Lesser General Public License as published by the Free
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+
Software Foundation; either version 2.1 of the License, or (at
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+
your option) any later version. The text of the GNU Lesser
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+
General Public License is included with this library in the
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file GIMPACT-LICENSE-LGPL.TXT.
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(2) The BSD-style license that is included with this library in
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the file GIMPACT-LICENSE-BSD.TXT.
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(3) The zlib/libpng license that is included with this library in
|
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the file GIMPACT-LICENSE-ZLIB.TXT.
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+
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
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GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
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+
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-----------------------------------------------------------------------------
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+
*/
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+
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+
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+
#include "gim_linear_math.h"
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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 PLANEDIREPSILON 0.0000001f
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+
#define PARALELENORMALS 0.000001f
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+
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+
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+
#define TRIANGLE_NORMAL(v1,v2,v3,n)\
|
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+
{\
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51
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+
vec3f _dif1,_dif2;\
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+
VEC_DIFF(_dif1,v2,v1);\
|
53
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+
VEC_DIFF(_dif2,v3,v1);\
|
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+
VEC_CROSS(n,_dif1,_dif2);\
|
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+
VEC_NORMALIZE(n);\
|
56
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+
}\
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+
|
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+
#define TRIANGLE_NORMAL_FAST(v1,v2,v3,n){\
|
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+
vec3f _dif1,_dif2; \
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+
VEC_DIFF(_dif1,v2,v1); \
|
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+
VEC_DIFF(_dif2,v3,v1); \
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+
VEC_CROSS(n,_dif1,_dif2); \
|
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+
}\
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+
|
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+
/// plane is a vec4f
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+
#define TRIANGLE_PLANE(v1,v2,v3,plane) {\
|
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+
TRIANGLE_NORMAL(v1,v2,v3,plane);\
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+
plane[3] = VEC_DOT(v1,plane);\
|
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+
}\
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+
|
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/// plane is a vec4f
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|
+
#define TRIANGLE_PLANE_FAST(v1,v2,v3,plane) {\
|
73
|
+
TRIANGLE_NORMAL_FAST(v1,v2,v3,plane);\
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+
plane[3] = VEC_DOT(v1,plane);\
|
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|
+
}\
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|
+
|
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+
/// Calc a plane from an edge an a normal. plane is a vec4f
|
78
|
+
#define EDGE_PLANE(e1,e2,n,plane) {\
|
79
|
+
vec3f _dif; \
|
80
|
+
VEC_DIFF(_dif,e2,e1); \
|
81
|
+
VEC_CROSS(plane,_dif,n); \
|
82
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+
VEC_NORMALIZE(plane); \
|
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+
plane[3] = VEC_DOT(e1,plane);\
|
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|
+
}\
|
85
|
+
|
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|
+
#define DISTANCE_PLANE_POINT(plane,point) (VEC_DOT(plane,point) - plane[3])
|
87
|
+
|
88
|
+
#define PROJECT_POINT_PLANE(point,plane,projected) {\
|
89
|
+
GREAL _dis;\
|
90
|
+
_dis = DISTANCE_PLANE_POINT(plane,point);\
|
91
|
+
VEC_SCALE(projected,-_dis,plane);\
|
92
|
+
VEC_SUM(projected,projected,point); \
|
93
|
+
}\
|
94
|
+
|
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|
+
//! Verifies if a point is in the plane hull
|
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|
+
template<typename CLASS_POINT,typename CLASS_PLANE>
|
97
|
+
SIMD_FORCE_INLINE bool POINT_IN_HULL(
|
98
|
+
const CLASS_POINT& point,const CLASS_PLANE * planes,GUINT plane_count)
|
99
|
+
{
|
100
|
+
GREAL _dis;
|
101
|
+
for (GUINT _i = 0;_i< plane_count;++_i)
|
102
|
+
{
|
103
|
+
_dis = DISTANCE_PLANE_POINT(planes[_i],point);
|
104
|
+
if(_dis>0.0f) return false;
|
105
|
+
}
|
106
|
+
return true;
|
107
|
+
}
|
108
|
+
|
109
|
+
template<typename CLASS_POINT,typename CLASS_PLANE>
|
110
|
+
SIMD_FORCE_INLINE void PLANE_CLIP_SEGMENT(
|
111
|
+
const CLASS_POINT& s1,
|
112
|
+
const CLASS_POINT &s2,const CLASS_PLANE &plane,CLASS_POINT &clipped)
|
113
|
+
{
|
114
|
+
GREAL _dis1,_dis2;
|
115
|
+
_dis1 = DISTANCE_PLANE_POINT(plane,s1);
|
116
|
+
VEC_DIFF(clipped,s2,s1);
|
117
|
+
_dis2 = VEC_DOT(clipped,plane);
|
118
|
+
VEC_SCALE(clipped,-_dis1/_dis2,clipped);
|
119
|
+
VEC_SUM(clipped,clipped,s1);
|
120
|
+
}
|
121
|
+
|
122
|
+
enum ePLANE_INTERSECTION_TYPE
|
123
|
+
{
|
124
|
+
G_BACK_PLANE = 0,
|
125
|
+
G_COLLIDE_PLANE,
|
126
|
+
G_FRONT_PLANE
|
127
|
+
};
|
128
|
+
|
129
|
+
enum eLINE_PLANE_INTERSECTION_TYPE
|
130
|
+
{
|
131
|
+
G_FRONT_PLANE_S1 = 0,
|
132
|
+
G_FRONT_PLANE_S2,
|
133
|
+
G_BACK_PLANE_S1,
|
134
|
+
G_BACK_PLANE_S2,
|
135
|
+
G_COLLIDE_PLANE_S1,
|
136
|
+
G_COLLIDE_PLANE_S2
|
137
|
+
};
|
138
|
+
|
139
|
+
//! Confirms if the plane intersect the edge or nor
|
140
|
+
/*!
|
141
|
+
intersection type must have the following values
|
142
|
+
<ul>
|
143
|
+
<li> 0 : Segment in front of plane, s1 closest
|
144
|
+
<li> 1 : Segment in front of plane, s2 closest
|
145
|
+
<li> 2 : Segment in back of plane, s1 closest
|
146
|
+
<li> 3 : Segment in back of plane, s2 closest
|
147
|
+
<li> 4 : Segment collides plane, s1 in back
|
148
|
+
<li> 5 : Segment collides plane, s2 in back
|
149
|
+
</ul>
|
150
|
+
*/
|
151
|
+
|
152
|
+
template<typename CLASS_POINT,typename CLASS_PLANE>
|
153
|
+
SIMD_FORCE_INLINE eLINE_PLANE_INTERSECTION_TYPE PLANE_CLIP_SEGMENT2(
|
154
|
+
const CLASS_POINT& s1,
|
155
|
+
const CLASS_POINT &s2,
|
156
|
+
const CLASS_PLANE &plane,CLASS_POINT &clipped)
|
157
|
+
{
|
158
|
+
GREAL _dis1 = DISTANCE_PLANE_POINT(plane,s1);
|
159
|
+
GREAL _dis2 = DISTANCE_PLANE_POINT(plane,s2);
|
160
|
+
if(_dis1 >-G_EPSILON && _dis2 >-G_EPSILON)
|
161
|
+
{
|
162
|
+
if(_dis1<_dis2) return G_FRONT_PLANE_S1;
|
163
|
+
return G_FRONT_PLANE_S2;
|
164
|
+
}
|
165
|
+
else if(_dis1 <G_EPSILON && _dis2 <G_EPSILON)
|
166
|
+
{
|
167
|
+
if(_dis1>_dis2) return G_BACK_PLANE_S1;
|
168
|
+
return G_BACK_PLANE_S2;
|
169
|
+
}
|
170
|
+
|
171
|
+
VEC_DIFF(clipped,s2,s1);
|
172
|
+
_dis2 = VEC_DOT(clipped,plane);
|
173
|
+
VEC_SCALE(clipped,-_dis1/_dis2,clipped);
|
174
|
+
VEC_SUM(clipped,clipped,s1);
|
175
|
+
if(_dis1<_dis2) return G_COLLIDE_PLANE_S1;
|
176
|
+
return G_COLLIDE_PLANE_S2;
|
177
|
+
}
|
178
|
+
|
179
|
+
//! Confirms if the plane intersect the edge or not
|
180
|
+
/*!
|
181
|
+
clipped1 and clipped2 are the vertices behind the plane.
|
182
|
+
clipped1 is the closest
|
183
|
+
|
184
|
+
intersection_type must have the following values
|
185
|
+
<ul>
|
186
|
+
<li> 0 : Segment in front of plane, s1 closest
|
187
|
+
<li> 1 : Segment in front of plane, s2 closest
|
188
|
+
<li> 2 : Segment in back of plane, s1 closest
|
189
|
+
<li> 3 : Segment in back of plane, s2 closest
|
190
|
+
<li> 4 : Segment collides plane, s1 in back
|
191
|
+
<li> 5 : Segment collides plane, s2 in back
|
192
|
+
</ul>
|
193
|
+
*/
|
194
|
+
template<typename CLASS_POINT,typename CLASS_PLANE>
|
195
|
+
SIMD_FORCE_INLINE eLINE_PLANE_INTERSECTION_TYPE PLANE_CLIP_SEGMENT_CLOSEST(
|
196
|
+
const CLASS_POINT& s1,
|
197
|
+
const CLASS_POINT &s2,
|
198
|
+
const CLASS_PLANE &plane,
|
199
|
+
CLASS_POINT &clipped1,CLASS_POINT &clipped2)
|
200
|
+
{
|
201
|
+
eLINE_PLANE_INTERSECTION_TYPE intersection_type = PLANE_CLIP_SEGMENT2(s1,s2,plane,clipped1);
|
202
|
+
switch(intersection_type)
|
203
|
+
{
|
204
|
+
case G_FRONT_PLANE_S1:
|
205
|
+
VEC_COPY(clipped1,s1);
|
206
|
+
VEC_COPY(clipped2,s2);
|
207
|
+
break;
|
208
|
+
case G_FRONT_PLANE_S2:
|
209
|
+
VEC_COPY(clipped1,s2);
|
210
|
+
VEC_COPY(clipped2,s1);
|
211
|
+
break;
|
212
|
+
case G_BACK_PLANE_S1:
|
213
|
+
VEC_COPY(clipped1,s1);
|
214
|
+
VEC_COPY(clipped2,s2);
|
215
|
+
break;
|
216
|
+
case G_BACK_PLANE_S2:
|
217
|
+
VEC_COPY(clipped1,s2);
|
218
|
+
VEC_COPY(clipped2,s1);
|
219
|
+
break;
|
220
|
+
case G_COLLIDE_PLANE_S1:
|
221
|
+
VEC_COPY(clipped2,s1);
|
222
|
+
break;
|
223
|
+
case G_COLLIDE_PLANE_S2:
|
224
|
+
VEC_COPY(clipped2,s2);
|
225
|
+
break;
|
226
|
+
}
|
227
|
+
return intersection_type;
|
228
|
+
}
|
229
|
+
|
230
|
+
|
231
|
+
//! Finds the 2 smallest cartesian coordinates of a plane normal
|
232
|
+
#define PLANE_MINOR_AXES(plane, i0, i1) VEC_MINOR_AXES(plane, i0, i1)
|
233
|
+
|
234
|
+
//! Ray plane collision in one way
|
235
|
+
/*!
|
236
|
+
Intersects plane in one way only. The ray must face the plane (normals must be in opossite directions).<br/>
|
237
|
+
It uses the PLANEDIREPSILON constant.
|
238
|
+
*/
|
239
|
+
template<typename T,typename CLASS_POINT,typename CLASS_PLANE>
|
240
|
+
SIMD_FORCE_INLINE bool RAY_PLANE_COLLISION(
|
241
|
+
const CLASS_PLANE & plane,
|
242
|
+
const CLASS_POINT & vDir,
|
243
|
+
const CLASS_POINT & vPoint,
|
244
|
+
CLASS_POINT & pout,T &tparam)
|
245
|
+
{
|
246
|
+
GREAL _dis,_dotdir;
|
247
|
+
_dotdir = VEC_DOT(plane,vDir);
|
248
|
+
if(_dotdir<PLANEDIREPSILON)
|
249
|
+
{
|
250
|
+
return false;
|
251
|
+
}
|
252
|
+
_dis = DISTANCE_PLANE_POINT(plane,vPoint);
|
253
|
+
tparam = -_dis/_dotdir;
|
254
|
+
VEC_SCALE(pout,tparam,vDir);
|
255
|
+
VEC_SUM(pout,vPoint,pout);
|
256
|
+
return true;
|
257
|
+
}
|
258
|
+
|
259
|
+
//! line collision
|
260
|
+
/*!
|
261
|
+
*\return
|
262
|
+
-0 if the ray never intersects
|
263
|
+
-1 if the ray collides in front
|
264
|
+
-2 if the ray collides in back
|
265
|
+
*/
|
266
|
+
template<typename T,typename CLASS_POINT,typename CLASS_PLANE>
|
267
|
+
SIMD_FORCE_INLINE GUINT LINE_PLANE_COLLISION(
|
268
|
+
const CLASS_PLANE & plane,
|
269
|
+
const CLASS_POINT & vDir,
|
270
|
+
const CLASS_POINT & vPoint,
|
271
|
+
CLASS_POINT & pout,
|
272
|
+
T &tparam,
|
273
|
+
T tmin, T tmax)
|
274
|
+
{
|
275
|
+
GREAL _dis,_dotdir;
|
276
|
+
_dotdir = VEC_DOT(plane,vDir);
|
277
|
+
if(btFabs(_dotdir)<PLANEDIREPSILON)
|
278
|
+
{
|
279
|
+
tparam = tmax;
|
280
|
+
return 0;
|
281
|
+
}
|
282
|
+
_dis = DISTANCE_PLANE_POINT(plane,vPoint);
|
283
|
+
char returnvalue = _dis<0.0f?2:1;
|
284
|
+
tparam = -_dis/_dotdir;
|
285
|
+
|
286
|
+
if(tparam<tmin)
|
287
|
+
{
|
288
|
+
returnvalue = 0;
|
289
|
+
tparam = tmin;
|
290
|
+
}
|
291
|
+
else if(tparam>tmax)
|
292
|
+
{
|
293
|
+
returnvalue = 0;
|
294
|
+
tparam = tmax;
|
295
|
+
}
|
296
|
+
|
297
|
+
VEC_SCALE(pout,tparam,vDir);
|
298
|
+
VEC_SUM(pout,vPoint,pout);
|
299
|
+
return returnvalue;
|
300
|
+
}
|
301
|
+
|
302
|
+
/*! \brief Returns the Ray on which 2 planes intersect if they do.
|
303
|
+
Written by Rodrigo Hernandez on ODE convex collision
|
304
|
+
|
305
|
+
\param p1 Plane 1
|
306
|
+
\param p2 Plane 2
|
307
|
+
\param p Contains the origin of the ray upon returning if planes intersect
|
308
|
+
\param d Contains the direction of the ray upon returning if planes intersect
|
309
|
+
\return true if the planes intersect, 0 if paralell.
|
310
|
+
|
311
|
+
*/
|
312
|
+
template<typename CLASS_POINT,typename CLASS_PLANE>
|
313
|
+
SIMD_FORCE_INLINE bool INTERSECT_PLANES(
|
314
|
+
const CLASS_PLANE &p1,
|
315
|
+
const CLASS_PLANE &p2,
|
316
|
+
CLASS_POINT &p,
|
317
|
+
CLASS_POINT &d)
|
318
|
+
{
|
319
|
+
VEC_CROSS(d,p1,p2);
|
320
|
+
GREAL denom = VEC_DOT(d, d);
|
321
|
+
if(GIM_IS_ZERO(denom)) return false;
|
322
|
+
vec3f _n;
|
323
|
+
_n[0]=p1[3]*p2[0] - p2[3]*p1[0];
|
324
|
+
_n[1]=p1[3]*p2[1] - p2[3]*p1[1];
|
325
|
+
_n[2]=p1[3]*p2[2] - p2[3]*p1[2];
|
326
|
+
VEC_CROSS(p,_n,d);
|
327
|
+
p[0]/=denom;
|
328
|
+
p[1]/=denom;
|
329
|
+
p[2]/=denom;
|
330
|
+
return true;
|
331
|
+
}
|
332
|
+
|
333
|
+
//***************** SEGMENT and LINE FUNCTIONS **********************************///
|
334
|
+
|
335
|
+
/*! Finds the closest point(cp) to (v) on a segment (e1,e2)
|
336
|
+
*/
|
337
|
+
template<typename CLASS_POINT>
|
338
|
+
SIMD_FORCE_INLINE void CLOSEST_POINT_ON_SEGMENT(
|
339
|
+
CLASS_POINT & cp, const CLASS_POINT & v,
|
340
|
+
const CLASS_POINT &e1,const CLASS_POINT &e2)
|
341
|
+
{
|
342
|
+
vec3f _n;
|
343
|
+
VEC_DIFF(_n,e2,e1);
|
344
|
+
VEC_DIFF(cp,v,e1);
|
345
|
+
GREAL _scalar = VEC_DOT(cp, _n);
|
346
|
+
_scalar/= VEC_DOT(_n, _n);
|
347
|
+
if(_scalar <0.0f)
|
348
|
+
{
|
349
|
+
VEC_COPY(cp,e1);
|
350
|
+
}
|
351
|
+
else if(_scalar >1.0f)
|
352
|
+
{
|
353
|
+
VEC_COPY(cp,e2);
|
354
|
+
}
|
355
|
+
else
|
356
|
+
{
|
357
|
+
VEC_SCALE(cp,_scalar,_n);
|
358
|
+
VEC_SUM(cp,cp,e1);
|
359
|
+
}
|
360
|
+
}
|
361
|
+
|
362
|
+
|
363
|
+
/*! \brief Finds the line params where these lines intersect.
|
364
|
+
|
365
|
+
\param dir1 Direction of line 1
|
366
|
+
\param point1 Point of line 1
|
367
|
+
\param dir2 Direction of line 2
|
368
|
+
\param point2 Point of line 2
|
369
|
+
\param t1 Result Parameter for line 1
|
370
|
+
\param t2 Result Parameter for line 2
|
371
|
+
\param dointersect 0 if the lines won't intersect, else 1
|
372
|
+
|
373
|
+
*/
|
374
|
+
template<typename T,typename CLASS_POINT>
|
375
|
+
SIMD_FORCE_INLINE bool LINE_INTERSECTION_PARAMS(
|
376
|
+
const CLASS_POINT & dir1,
|
377
|
+
CLASS_POINT & point1,
|
378
|
+
const CLASS_POINT & dir2,
|
379
|
+
CLASS_POINT & point2,
|
380
|
+
T& t1,T& t2)
|
381
|
+
{
|
382
|
+
GREAL det;
|
383
|
+
GREAL e1e1 = VEC_DOT(dir1,dir1);
|
384
|
+
GREAL e1e2 = VEC_DOT(dir1,dir2);
|
385
|
+
GREAL e2e2 = VEC_DOT(dir2,dir2);
|
386
|
+
vec3f p1p2;
|
387
|
+
VEC_DIFF(p1p2,point1,point2);
|
388
|
+
GREAL p1p2e1 = VEC_DOT(p1p2,dir1);
|
389
|
+
GREAL p1p2e2 = VEC_DOT(p1p2,dir2);
|
390
|
+
det = e1e2*e1e2 - e1e1*e2e2;
|
391
|
+
if(GIM_IS_ZERO(det)) return false;
|
392
|
+
t1 = (e1e2*p1p2e2 - e2e2*p1p2e1)/det;
|
393
|
+
t2 = (e1e1*p1p2e2 - e1e2*p1p2e1)/det;
|
394
|
+
return true;
|
395
|
+
}
|
396
|
+
|
397
|
+
//! Find closest points on segments
|
398
|
+
template<typename CLASS_POINT>
|
399
|
+
SIMD_FORCE_INLINE void SEGMENT_COLLISION(
|
400
|
+
const CLASS_POINT & vA1,
|
401
|
+
const CLASS_POINT & vA2,
|
402
|
+
const CLASS_POINT & vB1,
|
403
|
+
const CLASS_POINT & vB2,
|
404
|
+
CLASS_POINT & vPointA,
|
405
|
+
CLASS_POINT & vPointB)
|
406
|
+
{
|
407
|
+
CLASS_POINT _AD,_BD,_N;
|
408
|
+
vec4f _M;//plane
|
409
|
+
VEC_DIFF(_AD,vA2,vA1);
|
410
|
+
VEC_DIFF(_BD,vB2,vB1);
|
411
|
+
VEC_CROSS(_N,_AD,_BD);
|
412
|
+
GREAL _tp = VEC_DOT(_N,_N);
|
413
|
+
if(_tp<G_EPSILON)//ARE PARALELE
|
414
|
+
{
|
415
|
+
//project B over A
|
416
|
+
bool invert_b_order = false;
|
417
|
+
_M[0] = VEC_DOT(vB1,_AD);
|
418
|
+
_M[1] = VEC_DOT(vB2,_AD);
|
419
|
+
if(_M[0]>_M[1])
|
420
|
+
{
|
421
|
+
invert_b_order = true;
|
422
|
+
GIM_SWAP_NUMBERS(_M[0],_M[1]);
|
423
|
+
}
|
424
|
+
_M[2] = VEC_DOT(vA1,_AD);
|
425
|
+
_M[3] = VEC_DOT(vA2,_AD);
|
426
|
+
//mid points
|
427
|
+
_N[0] = (_M[0]+_M[1])*0.5f;
|
428
|
+
_N[1] = (_M[2]+_M[3])*0.5f;
|
429
|
+
|
430
|
+
if(_N[0]<_N[1])
|
431
|
+
{
|
432
|
+
if(_M[1]<_M[2])
|
433
|
+
{
|
434
|
+
vPointB = invert_b_order?vB1:vB2;
|
435
|
+
vPointA = vA1;
|
436
|
+
}
|
437
|
+
else if(_M[1]<_M[3])
|
438
|
+
{
|
439
|
+
vPointB = invert_b_order?vB1:vB2;
|
440
|
+
CLOSEST_POINT_ON_SEGMENT(vPointA,vPointB,vA1,vA2);
|
441
|
+
}
|
442
|
+
else
|
443
|
+
{
|
444
|
+
vPointA = vA2;
|
445
|
+
CLOSEST_POINT_ON_SEGMENT(vPointB,vPointA,vB1,vB2);
|
446
|
+
}
|
447
|
+
}
|
448
|
+
else
|
449
|
+
{
|
450
|
+
if(_M[3]<_M[0])
|
451
|
+
{
|
452
|
+
vPointB = invert_b_order?vB2:vB1;
|
453
|
+
vPointA = vA2;
|
454
|
+
}
|
455
|
+
else if(_M[3]<_M[1])
|
456
|
+
{
|
457
|
+
vPointA = vA2;
|
458
|
+
CLOSEST_POINT_ON_SEGMENT(vPointB,vPointA,vB1,vB2);
|
459
|
+
}
|
460
|
+
else
|
461
|
+
{
|
462
|
+
vPointB = invert_b_order?vB1:vB2;
|
463
|
+
CLOSEST_POINT_ON_SEGMENT(vPointA,vPointB,vA1,vA2);
|
464
|
+
}
|
465
|
+
}
|
466
|
+
return;
|
467
|
+
}
|
468
|
+
|
469
|
+
|
470
|
+
VEC_CROSS(_M,_N,_BD);
|
471
|
+
_M[3] = VEC_DOT(_M,vB1);
|
472
|
+
|
473
|
+
LINE_PLANE_COLLISION(_M,_AD,vA1,vPointA,_tp,btScalar(0), btScalar(1));
|
474
|
+
/*Closest point on segment*/
|
475
|
+
VEC_DIFF(vPointB,vPointA,vB1);
|
476
|
+
_tp = VEC_DOT(vPointB, _BD);
|
477
|
+
_tp/= VEC_DOT(_BD, _BD);
|
478
|
+
_tp = GIM_CLAMP(_tp,0.0f,1.0f);
|
479
|
+
VEC_SCALE(vPointB,_tp,_BD);
|
480
|
+
VEC_SUM(vPointB,vPointB,vB1);
|
481
|
+
}
|
482
|
+
|
483
|
+
|
484
|
+
|
485
|
+
|
486
|
+
//! Line box intersection in one dimension
|
487
|
+
/*!
|
488
|
+
|
489
|
+
*\param pos Position of the ray
|
490
|
+
*\param dir Projection of the Direction of the ray
|
491
|
+
*\param bmin Minimum bound of the box
|
492
|
+
*\param bmax Maximum bound of the box
|
493
|
+
*\param tfirst the minimum projection. Assign to 0 at first.
|
494
|
+
*\param tlast the maximum projection. Assign to INFINITY at first.
|
495
|
+
*\return true if there is an intersection.
|
496
|
+
*/
|
497
|
+
template<typename T>
|
498
|
+
SIMD_FORCE_INLINE bool BOX_AXIS_INTERSECT(T pos, T dir,T bmin, T bmax, T & tfirst, T & tlast)
|
499
|
+
{
|
500
|
+
if(GIM_IS_ZERO(dir))
|
501
|
+
{
|
502
|
+
return !(pos < bmin || pos > bmax);
|
503
|
+
}
|
504
|
+
GREAL a0 = (bmin - pos) / dir;
|
505
|
+
GREAL a1 = (bmax - pos) / dir;
|
506
|
+
if(a0 > a1) GIM_SWAP_NUMBERS(a0, a1);
|
507
|
+
tfirst = GIM_MAX(a0, tfirst);
|
508
|
+
tlast = GIM_MIN(a1, tlast);
|
509
|
+
if (tlast < tfirst) return false;
|
510
|
+
return true;
|
511
|
+
}
|
512
|
+
|
513
|
+
|
514
|
+
//! Sorts 3 componets
|
515
|
+
template<typename T>
|
516
|
+
SIMD_FORCE_INLINE void SORT_3_INDICES(
|
517
|
+
const T * values,
|
518
|
+
GUINT * order_indices)
|
519
|
+
{
|
520
|
+
//get minimum
|
521
|
+
order_indices[0] = values[0] < values[1] ? (values[0] < values[2] ? 0 : 2) : (values[1] < values[2] ? 1 : 2);
|
522
|
+
|
523
|
+
//get second and third
|
524
|
+
GUINT i0 = (order_indices[0] + 1)%3;
|
525
|
+
GUINT i1 = (i0 + 1)%3;
|
526
|
+
|
527
|
+
if(values[i0] < values[i1])
|
528
|
+
{
|
529
|
+
order_indices[1] = i0;
|
530
|
+
order_indices[2] = i1;
|
531
|
+
}
|
532
|
+
else
|
533
|
+
{
|
534
|
+
order_indices[1] = i1;
|
535
|
+
order_indices[2] = i0;
|
536
|
+
}
|
537
|
+
}
|
538
|
+
|
539
|
+
|
540
|
+
|
541
|
+
|
542
|
+
|
543
|
+
#endif // GIM_VECTOR_H_INCLUDED
|
@@ -0,0 +1,123 @@
|
|
1
|
+
#ifndef GIM_BITSET_H_INCLUDED
|
2
|
+
#define GIM_BITSET_H_INCLUDED
|
3
|
+
/*! \file gim_bitset.h
|
4
|
+
\author Francisco Leon Najera
|
5
|
+
*/
|
6
|
+
/*
|
7
|
+
-----------------------------------------------------------------------------
|
8
|
+
This source file is part of GIMPACT Library.
|
9
|
+
|
10
|
+
For the latest info, see http://gimpact.sourceforge.net/
|
11
|
+
|
12
|
+
Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
|
13
|
+
email: projectileman@yahoo.com
|
14
|
+
|
15
|
+
This library is free software; you can redistribute it and/or
|
16
|
+
modify it under the terms of EITHER:
|
17
|
+
(1) The GNU Lesser General Public License as published by the Free
|
18
|
+
Software Foundation; either version 2.1 of the License, or (at
|
19
|
+
your option) any later version. The text of the GNU Lesser
|
20
|
+
General Public License is included with this library in the
|
21
|
+
file GIMPACT-LICENSE-LGPL.TXT.
|
22
|
+
(2) The BSD-style license that is included with this library in
|
23
|
+
the file GIMPACT-LICENSE-BSD.TXT.
|
24
|
+
(3) The zlib/libpng license that is included with this library in
|
25
|
+
the file GIMPACT-LICENSE-ZLIB.TXT.
|
26
|
+
|
27
|
+
This library is distributed in the hope that it will be useful,
|
28
|
+
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
29
|
+
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
|
30
|
+
GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
|
31
|
+
|
32
|
+
-----------------------------------------------------------------------------
|
33
|
+
*/
|
34
|
+
|
35
|
+
#include "gim_array.h"
|
36
|
+
|
37
|
+
|
38
|
+
#define GUINT_BIT_COUNT 32
|
39
|
+
#define GUINT_EXPONENT 5
|
40
|
+
|
41
|
+
class gim_bitset
|
42
|
+
{
|
43
|
+
public:
|
44
|
+
gim_array<GUINT> m_container;
|
45
|
+
|
46
|
+
gim_bitset()
|
47
|
+
{
|
48
|
+
|
49
|
+
}
|
50
|
+
|
51
|
+
gim_bitset(GUINT bits_count)
|
52
|
+
{
|
53
|
+
resize(bits_count);
|
54
|
+
}
|
55
|
+
|
56
|
+
~gim_bitset()
|
57
|
+
{
|
58
|
+
}
|
59
|
+
|
60
|
+
inline bool resize(GUINT newsize)
|
61
|
+
{
|
62
|
+
GUINT oldsize = m_container.size();
|
63
|
+
m_container.resize(newsize/GUINT_BIT_COUNT + 1,false);
|
64
|
+
while(oldsize<m_container.size())
|
65
|
+
{
|
66
|
+
m_container[oldsize] = 0;
|
67
|
+
}
|
68
|
+
return true;
|
69
|
+
}
|
70
|
+
|
71
|
+
inline GUINT size()
|
72
|
+
{
|
73
|
+
return m_container.size()*GUINT_BIT_COUNT;
|
74
|
+
}
|
75
|
+
|
76
|
+
inline void set_all()
|
77
|
+
{
|
78
|
+
for(GUINT i = 0;i<m_container.size();++i)
|
79
|
+
{
|
80
|
+
m_container[i] = 0xffffffff;
|
81
|
+
}
|
82
|
+
}
|
83
|
+
|
84
|
+
inline void clear_all()
|
85
|
+
{
|
86
|
+
for(GUINT i = 0;i<m_container.size();++i)
|
87
|
+
{
|
88
|
+
m_container[i] = 0;
|
89
|
+
}
|
90
|
+
}
|
91
|
+
|
92
|
+
inline void set(GUINT bit_index)
|
93
|
+
{
|
94
|
+
if(bit_index>=size())
|
95
|
+
{
|
96
|
+
resize(bit_index);
|
97
|
+
}
|
98
|
+
m_container[bit_index >> GUINT_EXPONENT] |= (1 << (bit_index & (GUINT_BIT_COUNT-1)));
|
99
|
+
}
|
100
|
+
|
101
|
+
///Return 0 or 1
|
102
|
+
inline char get(GUINT bit_index)
|
103
|
+
{
|
104
|
+
if(bit_index>=size())
|
105
|
+
{
|
106
|
+
return 0;
|
107
|
+
}
|
108
|
+
char value = m_container[bit_index >> GUINT_EXPONENT] &
|
109
|
+
(1 << (bit_index & (GUINT_BIT_COUNT-1)));
|
110
|
+
return value;
|
111
|
+
}
|
112
|
+
|
113
|
+
inline void clear(GUINT bit_index)
|
114
|
+
{
|
115
|
+
m_container[bit_index >> GUINT_EXPONENT] &= ~(1 << (bit_index & (GUINT_BIT_COUNT-1)));
|
116
|
+
}
|
117
|
+
};
|
118
|
+
|
119
|
+
|
120
|
+
|
121
|
+
|
122
|
+
|
123
|
+
#endif // GIM_CONTAINERS_H_INCLUDED
|