@bloomengine/engine 0.4.0 → 0.4.1

package/native/third_party/JoltPhysics/Jolt/Geometry/IndexedTriangle.h

@@ -1,130 +0,0 @@
-// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
-// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
-// SPDX-License-Identifier: MIT
-
-#pragma once
-
-#include <Jolt/Core/HashCombine.h>
-
-JPH_NAMESPACE_BEGIN
-
-/// Triangle with 32-bit indices
-class IndexedTriangleNoMaterial
-{
-public:
-	JPH_OVERRIDE_NEW_DELETE
-
-	/// Constructor
-					IndexedTriangleNoMaterial() = default;
-	constexpr		IndexedTriangleNoMaterial(uint32 inI1, uint32 inI2, uint32 inI3) : mIdx { inI1, inI2, inI3 } { }
-
-	/// Check if two triangles are identical
-	bool			operator == (const IndexedTriangleNoMaterial &inRHS) const
-	{
-		return mIdx[0] == inRHS.mIdx[0] && mIdx[1] == inRHS.mIdx[1] && mIdx[2] == inRHS.mIdx[2];
-	}
-
-	/// Check if two triangles are equivalent (using the same vertices)
-	bool			IsEquivalent(const IndexedTriangleNoMaterial &inRHS) const
-	{
-		return (mIdx[0] == inRHS.mIdx[0] && mIdx[1] == inRHS.mIdx[1] && mIdx[2] == inRHS.mIdx[2])
-			|| (mIdx[0] == inRHS.mIdx[1] && mIdx[1] == inRHS.mIdx[2] && mIdx[2] == inRHS.mIdx[0])
-			|| (mIdx[0] == inRHS.mIdx[2] && mIdx[1] == inRHS.mIdx[0] && mIdx[2] == inRHS.mIdx[1]);
-	}
-
-	/// Check if two triangles are opposite (using the same vertices but in opposing order)
-	bool			IsOpposite(const IndexedTriangleNoMaterial &inRHS) const
-	{
-		return (mIdx[0] == inRHS.mIdx[0] && mIdx[1] == inRHS.mIdx[2] && mIdx[2] == inRHS.mIdx[1])
-			|| (mIdx[0] == inRHS.mIdx[1] && mIdx[1] == inRHS.mIdx[0] && mIdx[2] == inRHS.mIdx[2])
-			|| (mIdx[0] == inRHS.mIdx[2] && mIdx[1] == inRHS.mIdx[1] && mIdx[2] == inRHS.mIdx[0]);
-	}
-
-	/// Check if triangle is degenerate
-	bool			IsDegenerate(const VertexList &inVertices) const
-	{
-		Vec3 v0(inVertices[mIdx[0]]);
-		Vec3 v1(inVertices[mIdx[1]]);
-		Vec3 v2(inVertices[mIdx[2]]);
-
-		return (v1 - v0).Cross(v2 - v0).IsNearZero();
-	}
-
-	/// Rotate the vertices so that the second vertex becomes first etc. This does not change the represented triangle.
-	void			Rotate()
-	{
-		uint32 tmp = mIdx[0];
-		mIdx[0] = mIdx[1];
-		mIdx[1] = mIdx[2];
-		mIdx[2] = tmp;
-	}
-
-	/// Get center of triangle
-	Vec3			GetCentroid(const VertexList &inVertices) const
-	{
-		return (Vec3(inVertices[mIdx[0]]) + Vec3(inVertices[mIdx[1]]) + Vec3(inVertices[mIdx[2]])) / 3.0f;
-	}
-
-	/// Get the hash value of this structure
-	uint64			GetHash() const
-	{
-		static_assert(sizeof(IndexedTriangleNoMaterial) == 3 * sizeof(uint32), "Class should have no padding");
-		return HashBytes(this, sizeof(IndexedTriangleNoMaterial));
-	}
-
-	uint32			mIdx[3];
-};
-
-/// Triangle with 32-bit indices and material index
-class IndexedTriangle : public IndexedTriangleNoMaterial
-{
-public:
-	using IndexedTriangleNoMaterial::IndexedTriangleNoMaterial;
-
-	/// Constructor
-	constexpr		IndexedTriangle(uint32 inI1, uint32 inI2, uint32 inI3, uint32 inMaterialIndex, uint inUserData = 0) : IndexedTriangleNoMaterial(inI1, inI2, inI3), mMaterialIndex(inMaterialIndex), mUserData(inUserData) { }
-
-	/// Check if two triangles are identical
-	bool			operator == (const IndexedTriangle &inRHS) const
-	{
-		return mMaterialIndex == inRHS.mMaterialIndex && mUserData == inRHS.mUserData && IndexedTriangleNoMaterial::operator==(inRHS);
-	}
-
-	/// Rotate the vertices so that the lowest vertex becomes the first. This does not change the represented triangle.
-	IndexedTriangle	GetLowestIndexFirst() const
-	{
-		if (mIdx[0] < mIdx[1])
-		{
-			if (mIdx[0] < mIdx[2])
-				return IndexedTriangle(mIdx[0], mIdx[1], mIdx[2], mMaterialIndex, mUserData); // 0 is smallest
-			else
-				return IndexedTriangle(mIdx[2], mIdx[0], mIdx[1], mMaterialIndex, mUserData); // 2 is smallest
-		}
-		else
-		{
-			if (mIdx[1] < mIdx[2])
-				return IndexedTriangle(mIdx[1], mIdx[2], mIdx[0], mMaterialIndex, mUserData); // 1 is smallest
-			else
-				return IndexedTriangle(mIdx[2], mIdx[0], mIdx[1], mMaterialIndex, mUserData); // 2 is smallest
-		}
-	}
-
-	/// Get the hash value of this structure
-	uint64			GetHash() const
-	{
-		static_assert(sizeof(IndexedTriangle) == 5 * sizeof(uint32), "Class should have no padding");
-		return HashBytes(this, sizeof(IndexedTriangle));
-	}
-
-	uint32			mMaterialIndex = 0;
-	uint32			mUserData = 0;				///< User data that can be used for anything by the application, e.g. for tracking the original index of the triangle
-};
-
-using IndexedTriangleNoMaterialList = Array<IndexedTriangleNoMaterial>;
-using IndexedTriangleList = Array<IndexedTriangle>;
-
-JPH_NAMESPACE_END
-
-// Create a std::hash for IndexedTriangleNoMaterial and IndexedTriangle
-JPH_MAKE_STD_HASH(JPH::IndexedTriangleNoMaterial)
-JPH_MAKE_STD_HASH(JPH::IndexedTriangle)

package/native/third_party/JoltPhysics/Jolt/Geometry/Indexify.cpp

@@ -1,222 +0,0 @@
-// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
-// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
-// SPDX-License-Identifier: MIT
-
-#include <Jolt/Jolt.h>
-
-#include <Jolt/Geometry/Indexify.h>
-#include <Jolt/Geometry/AABox.h>
-
-JPH_NAMESPACE_BEGIN
-
-static JPH_INLINE const Float3 &sIndexifyGetFloat3(const TriangleList &inTriangles, uint32 inVertexIndex)
-{
-	return inTriangles[inVertexIndex / 3].mV[inVertexIndex % 3];
-}
-
-static JPH_INLINE Vec3 sIndexifyGetVec3(const TriangleList &inTriangles, uint32 inVertexIndex)
-{
-	return Vec3::sLoadFloat3Unsafe(sIndexifyGetFloat3(inTriangles, inVertexIndex));
-}
-
-static void sIndexifyVerticesBruteForce(const TriangleList &inTriangles, const uint32 *inVertexIndices, const uint32 *inVertexIndicesEnd, Array<uint32> &ioWeldedVertices, float inVertexWeldDistance)
-{
-	float weld_dist_sq = Square(inVertexWeldDistance);
-
-	// Compare every vertex
-	for (const uint32 *v1_idx = inVertexIndices; v1_idx < inVertexIndicesEnd; ++v1_idx)
-	{
-		Vec3 v1 = sIndexifyGetVec3(inTriangles, *v1_idx);
-
-		// with every other vertex...
-		for (const uint32 *v2_idx = v1_idx + 1; v2_idx < inVertexIndicesEnd; ++v2_idx)
-		{
-			Vec3 v2 = sIndexifyGetVec3(inTriangles, *v2_idx);
-
-			// If they're weldable
-			if ((v2 - v1).LengthSq() <= weld_dist_sq)
-			{
-				// Find the lowest indices both indices link to
-				uint32 idx1 = *v1_idx;
-				for (;;)
-				{
-					uint32 new_idx1 = ioWeldedVertices[idx1];
-					if (new_idx1 >= idx1)
-						break;
-					idx1 = new_idx1;
-				}
-				uint32 idx2 = *v2_idx;
-				for (;;)
-				{
-					uint32 new_idx2 = ioWeldedVertices[idx2];
-					if (new_idx2 >= idx2)
-						break;
-					idx2 = new_idx2;
-				}
-
-				// Order the vertices
-				uint32 lowest = min(idx1, idx2);
-				uint32 highest = max(idx1, idx2);
-
-				// Link highest to lowest
-				ioWeldedVertices[highest] = lowest;
-
-				// Also update the vertices we started from to avoid creating long chains
-				ioWeldedVertices[*v1_idx] = lowest;
-				ioWeldedVertices[*v2_idx] = lowest;
-				break;
-			}
-		}
-	}
-}
-
-static void sIndexifyVerticesRecursively(const TriangleList &inTriangles, uint32 *ioVertexIndices, uint inNumVertices, uint32 *ioScratch, Array<uint32> &ioWeldedVertices, float inVertexWeldDistance, uint inMaxRecursion)
-{
-	// Check if we have few enough vertices to do a brute force search
-	// Or if we've recursed too deep (this means we chipped off a few vertices each iteration because all points are very close)
-	if (inNumVertices <= 8 || inMaxRecursion == 0)
-	{
-		sIndexifyVerticesBruteForce(inTriangles, ioVertexIndices, ioVertexIndices + inNumVertices, ioWeldedVertices, inVertexWeldDistance);
-		return;
-	}
-
-	// Calculate bounds
-	AABox bounds;
-	for (const uint32 *v = ioVertexIndices, *v_end = ioVertexIndices + inNumVertices; v < v_end; ++v)
-		bounds.Encapsulate(sIndexifyGetVec3(inTriangles, *v));
-
-	// Determine split plane
-	int split_axis = bounds.GetExtent().GetHighestComponentIndex();
-	float split_value = bounds.GetCenter()[split_axis];
-
-	// Partition vertices
-	uint32 *v_read = ioVertexIndices, *v_write = ioVertexIndices, *v_end = ioVertexIndices + inNumVertices;
-	uint32 *scratch = ioScratch;
-	while (v_read < v_end)
-	{
-		// Calculate distance to plane
-		float distance_to_split_plane = sIndexifyGetFloat3(inTriangles, *v_read)[split_axis] - split_value;
-		if (distance_to_split_plane < -inVertexWeldDistance)
-		{
-			// Vertex is on the right side
-			*v_write = *v_read;
-			++v_read;
-			++v_write;
-		}
-		else if (distance_to_split_plane > inVertexWeldDistance)
-		{
-			// Vertex is on the wrong side, swap with the last vertex
-			--v_end;
-			std::swap(*v_read, *v_end);
-		}
-		else
-		{
-			// Vertex is too close to the split plane, it goes on both sides
-			*scratch++ = *v_read++;
-		}
-	}
-
-	// Check if we made any progress
-	uint num_vertices_on_both_sides = (uint)(scratch - ioScratch);
-	if (num_vertices_on_both_sides == inNumVertices)
-	{
-		sIndexifyVerticesBruteForce(inTriangles, ioVertexIndices, ioVertexIndices + inNumVertices, ioWeldedVertices, inVertexWeldDistance);
-		return;
-	}
-
-	// Calculate how we classified the vertices
-	uint num_vertices_left = (uint)(v_write - ioVertexIndices);
-	uint num_vertices_right = (uint)(ioVertexIndices + inNumVertices - v_end);
-	JPH_ASSERT(num_vertices_left + num_vertices_right + num_vertices_on_both_sides == inNumVertices);
-	memcpy(v_write, ioScratch, num_vertices_on_both_sides * sizeof(uint32));
-
-	// Recurse
-	uint max_recursion = inMaxRecursion - 1;
-	sIndexifyVerticesRecursively(inTriangles, ioVertexIndices, num_vertices_left + num_vertices_on_both_sides, ioScratch, ioWeldedVertices, inVertexWeldDistance, max_recursion);
-	sIndexifyVerticesRecursively(inTriangles, ioVertexIndices + num_vertices_left, num_vertices_right + num_vertices_on_both_sides, ioScratch, ioWeldedVertices, inVertexWeldDistance, max_recursion);
-}
-
-void Indexify(const TriangleList &inTriangles, VertexList &outVertices, IndexedTriangleList &outTriangles, float inVertexWeldDistance)
-{
-	uint num_triangles = (uint)inTriangles.size();
-	uint num_vertices = num_triangles * 3;
-
-	// Create a list of all vertex indices
-	Array<uint32> vertex_indices;
-	vertex_indices.resize(num_vertices);
-	for (uint i = 0; i < num_vertices; ++i)
-		vertex_indices[i] = i;
-
-	// Link each vertex to itself
-	Array<uint32> welded_vertices;
-	welded_vertices.resize(num_vertices);
-	for (uint i = 0; i < num_vertices; ++i)
-		welded_vertices[i] = i;
-
-	// A scope to free memory used by the scratch array
-	{
-		// Some scratch memory, used for the vertices that fall in both partitions
-		Array<uint32> scratch;
-		scratch.resize(num_vertices);
-
-		// Recursively split the vertices
-		sIndexifyVerticesRecursively(inTriangles, vertex_indices.data(), num_vertices, scratch.data(), welded_vertices, inVertexWeldDistance, 32);
-	}
-
-	// Do a pass to complete the welding, linking each vertex to the vertex it is welded to
-	// (and since we're going from 0 to N we can be sure that the vertex we're linking to is already linked to the lowest vertex)
-	uint num_resulting_vertices = 0;
-	for (uint i = 0; i < num_vertices; ++i)
-	{
-		JPH_ASSERT(welded_vertices[welded_vertices[i]] <= welded_vertices[i]);
-		welded_vertices[i] = welded_vertices[welded_vertices[i]];
-		if (welded_vertices[i] == i)
-			++num_resulting_vertices;
-	}
-
-	// Collect the vertices
-	outVertices.clear();
-	outVertices.reserve(num_resulting_vertices);
-	for (uint i = 0; i < num_vertices; ++i)
-		if (welded_vertices[i] == i)
-		{
-			// New vertex
-			welded_vertices[i] = (uint32)outVertices.size();
-			outVertices.push_back(sIndexifyGetFloat3(inTriangles, i));
-		}
-		else
-		{
-			// Reused vertex, remap index
-			welded_vertices[i] = welded_vertices[welded_vertices[i]];
-		}
-
-	// Create indexed triangles
-	outTriangles.clear();
-	outTriangles.reserve(num_triangles);
-	for (uint t = 0; t < num_triangles; ++t)
-	{
-		IndexedTriangle it;
-		it.mMaterialIndex = inTriangles[t].mMaterialIndex;
-		it.mUserData = inTriangles[t].mUserData;
-		for (int v = 0; v < 3; ++v)
-			it.mIdx[v] = welded_vertices[t * 3 + v];
-		if (!it.IsDegenerate(outVertices))
-			outTriangles.push_back(it);
-	}
-}
-
-void Deindexify(const VertexList &inVertices, const IndexedTriangleList &inTriangles, TriangleList &outTriangles)
-{
-	outTriangles.resize(inTriangles.size());
-	for (size_t t = 0; t < inTriangles.size(); ++t)
-	{
-		const IndexedTriangle &in = inTriangles[t];
-		Triangle &out = outTriangles[t];
-		out.mMaterialIndex = in.mMaterialIndex;
-		out.mUserData = in.mUserData;
-		for (int v = 0; v < 3; ++v)
-			out.mV[v] = inVertices[in.mIdx[v]];
-	}
-}
-
-JPH_NAMESPACE_END

package/native/third_party/JoltPhysics/Jolt/Geometry/Indexify.h

@@ -1,19 +0,0 @@
-// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
-// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
-// SPDX-License-Identifier: MIT
-
-#pragma once
-
-#include <Jolt/Geometry/Triangle.h>
-#include <Jolt/Geometry/IndexedTriangle.h>
-
-JPH_NAMESPACE_BEGIN
-
-/// Take a list of triangles and get the unique set of vertices and use them to create indexed triangles.
-/// Vertices that are less than inVertexWeldDistance apart will be combined to a single vertex.
-JPH_EXPORT void Indexify(const TriangleList &inTriangles, VertexList &outVertices, IndexedTriangleList &outTriangles, float inVertexWeldDistance = 1.0e-4f);
-
-/// Take a list of indexed triangles and unpack them
-JPH_EXPORT void Deindexify(const VertexList &inVertices, const IndexedTriangleList &inTriangles, TriangleList &outTriangles);
-
-JPH_NAMESPACE_END

package/native/third_party/JoltPhysics/Jolt/Geometry/MortonCode.h

@@ -1,40 +0,0 @@
-// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
-// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
-// SPDX-License-Identifier: MIT
-
-#pragma once
-
-#include <Jolt/Geometry/AABox.h>
-
-JPH_NAMESPACE_BEGIN
-
-class MortonCode
-{
-public:
-	/// First converts a floating point value in the range [0, 1] to a 10 bit fixed point integer.
-	/// Then expands a 10-bit integer into 30 bits by inserting 2 zeros after each bit.
-	static uint32 sExpandBits(float inV)
-	{
-		JPH_ASSERT(inV >= 0.0f && inV <= 1.0f);
-		uint32 v = uint32(inV * 1023.0f + 0.5f);
-		JPH_ASSERT(v < 1024);
-		v = (v * 0x00010001u) & 0xFF0000FFu;
-		v = (v * 0x00000101u) & 0x0F00F00Fu;
-		v = (v * 0x00000011u) & 0xC30C30C3u;
-		v = (v * 0x00000005u) & 0x49249249u;
-		return v;
-	}
-
-	/// Calculate the morton code for inVector, given that all vectors lie in inVectorBounds
-	static uint32 sGetMortonCode(Vec3Arg inVector, const AABox &inVectorBounds)
-	{
-		// Convert to 10 bit fixed point
-		Vec3 scaled = (inVector - inVectorBounds.mMin) / inVectorBounds.GetSize();
-		uint x = sExpandBits(scaled.GetX());
-		uint y = sExpandBits(scaled.GetY());
-		uint z = sExpandBits(scaled.GetZ());
-		return (x << 2) + (y << 1) + z;
-	}
-};
-
-JPH_NAMESPACE_END

package/native/third_party/JoltPhysics/Jolt/Geometry/OrientedBox.cpp

@@ -1,178 +0,0 @@
-// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
-// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
-// SPDX-License-Identifier: MIT
-
-#include <Jolt/Jolt.h>
-
-#include <Jolt/Geometry/OrientedBox.h>
-#include <Jolt/Geometry/AABox.h>
-
-JPH_NAMESPACE_BEGIN
-
-bool OrientedBox::Overlaps(const AABox &inBox, float inEpsilon) const
-{
-	// Taken from: Real Time Collision Detection - Christer Ericson
-	// Chapter 4.4.1, page 103-105.
-	// Note that the code is swapped around: A is the aabox and B is the oriented box (this saves us from having to invert the orientation of the oriented box)
-
-	// Convert AABox to center / extent representation
-	Vec3 a_center = inBox.GetCenter();
-	Vec3 a_half_extents = inBox.GetExtent();
-
-	// Compute rotation matrix expressing b in a's coordinate frame
-	Mat44 rot(mOrientation.GetColumn4(0), mOrientation.GetColumn4(1), mOrientation.GetColumn4(2), mOrientation.GetColumn4(3) - Vec4(a_center, 0));
-
-	// Compute common subexpressions. Add in an epsilon term to
-	// counteract arithmetic errors when two edges are parallel and
-	// their cross product is (near) null (see text for details)
-	Vec3 epsilon = Vec3::sReplicate(inEpsilon);
-	Vec3 abs_r[3] { rot.GetAxisX().Abs() + epsilon, rot.GetAxisY().Abs() + epsilon, rot.GetAxisZ().Abs() + epsilon };
-
-	// Test axes L = A0, L = A1, L = A2
-	float ra, rb;
-	for (int i = 0; i < 3; i++)
-	{
-		ra = a_half_extents[i];
-		rb = mHalfExtents[0] * abs_r[0][i] + mHalfExtents[1] * abs_r[1][i] + mHalfExtents[2] * abs_r[2][i];
-		if (abs(rot(i, 3)) > ra + rb) return false;
-	}
-
-	// Test axes L = B0, L = B1, L = B2
-	for (int i = 0; i < 3; i++)
-	{
-		ra = a_half_extents.Dot(abs_r[i]);
-		rb = mHalfExtents[i];
-		if (abs(rot.GetTranslation().Dot(rot.GetColumn3(i))) > ra + rb) return false;
-	}
-
-	// Test axis L = A0 x B0
-	ra = a_half_extents[1] * abs_r[0][2] + a_half_extents[2] * abs_r[0][1];
-	rb = mHalfExtents[1] * abs_r[2][0] + mHalfExtents[2] * abs_r[1][0];
-	if (abs(rot(2, 3) * rot(1, 0) - rot(1, 3) * rot(2, 0)) > ra + rb) return false;
-
-	// Test axis L = A0 x B1
-	ra = a_half_extents[1] * abs_r[1][2] + a_half_extents[2] * abs_r[1][1];
-	rb = mHalfExtents[0] * abs_r[2][0] + mHalfExtents[2] * abs_r[0][0];
-	if (abs(rot(2, 3) * rot(1, 1) - rot(1, 3) * rot(2, 1)) > ra + rb) return false;
-
-	// Test axis L = A0 x B2
-	ra = a_half_extents[1] * abs_r[2][2] + a_half_extents[2] * abs_r[2][1];
-	rb = mHalfExtents[0] * abs_r[1][0] + mHalfExtents[1] * abs_r[0][0];
-	if (abs(rot(2, 3) * rot(1, 2) - rot(1, 3) * rot(2, 2)) > ra + rb) return false;
-
-	// Test axis L = A1 x B0
-	ra = a_half_extents[0] * abs_r[0][2] + a_half_extents[2] * abs_r[0][0];
-	rb = mHalfExtents[1] * abs_r[2][1] + mHalfExtents[2] * abs_r[1][1];
-	if (abs(rot(0, 3) * rot(2, 0) - rot(2, 3) * rot(0, 0)) > ra + rb) return false;
-
-	// Test axis L = A1 x B1
-	ra = a_half_extents[0] * abs_r[1][2] + a_half_extents[2] * abs_r[1][0];
-	rb = mHalfExtents[0] * abs_r[2][1] + mHalfExtents[2] * abs_r[0][1];
-	if (abs(rot(0, 3) * rot(2, 1) - rot(2, 3) * rot(0, 1)) > ra + rb) return false;
-
-	// Test axis L = A1 x B2
-	ra = a_half_extents[0] * abs_r[2][2] + a_half_extents[2] * abs_r[2][0];
-	rb = mHalfExtents[0] * abs_r[1][1] + mHalfExtents[1] * abs_r[0][1];
-	if (abs(rot(0, 3) * rot(2, 2) - rot(2, 3) * rot(0, 2)) > ra + rb) return false;
-
-	// Test axis L = A2 x B0
-	ra = a_half_extents[0] * abs_r[0][1] + a_half_extents[1] * abs_r[0][0];
-	rb = mHalfExtents[1] * abs_r[2][2] + mHalfExtents[2] * abs_r[1][2];
-	if (abs(rot(1, 3) * rot(0, 0) - rot(0, 3) * rot(1, 0)) > ra + rb) return false;
-
-	// Test axis L = A2 x B1
-	ra = a_half_extents[0] * abs_r[1][1] + a_half_extents[1] * abs_r[1][0];
-	rb = mHalfExtents[0] * abs_r[2][2] + mHalfExtents[2] * abs_r[0][2];
-	if (abs(rot(1, 3) * rot(0, 1) - rot(0, 3) * rot(1, 1)) > ra + rb) return false;
-
-	// Test axis L = A2 x B2
-	ra = a_half_extents[0] * abs_r[2][1] + a_half_extents[1] * abs_r[2][0];
-	rb = mHalfExtents[0] * abs_r[1][2] + mHalfExtents[1] * abs_r[0][2];
-	if (abs(rot(1, 3) * rot(0, 2) - rot(0, 3) * rot(1, 2)) > ra + rb) return false;
-
-	// Since no separating axis is found, the OBB and AAB must be intersecting
-	return true;
-}
-
-bool OrientedBox::Overlaps(const OrientedBox &inBox, float inEpsilon) const
-{
-	// Taken from: Real Time Collision Detection - Christer Ericson
-	// Chapter 4.4.1, page 103-105.
-	// Note that A is this, B is inBox
-
-	// Compute rotation matrix expressing b in a's coordinate frame
-	Mat44 rot = mOrientation.InversedRotationTranslation() * inBox.mOrientation;
-
-	// Compute common subexpressions. Add in an epsilon term to
-	// counteract arithmetic errors when two edges are parallel and
-	// their cross product is (near) null (see text for details)
-	Vec3 epsilon = Vec3::sReplicate(inEpsilon);
-	Vec3 abs_r[3] { rot.GetAxisX().Abs() + epsilon, rot.GetAxisY().Abs() + epsilon, rot.GetAxisZ().Abs() + epsilon };
-
-	// Test axes L = A0, L = A1, L = A2
-	float ra, rb;
-	for (int i = 0; i < 3; i++)
-	{
-		ra = mHalfExtents[i];
-		rb = inBox.mHalfExtents[0] * abs_r[0][i] + inBox.mHalfExtents[1] * abs_r[1][i] + inBox.mHalfExtents[2] * abs_r[2][i];
-		if (abs(rot(i, 3)) > ra + rb) return false;
-	}
-
-	// Test axes L = B0, L = B1, L = B2
-	for (int i = 0; i < 3; i++)
-	{
-		ra = mHalfExtents.Dot(abs_r[i]);
-		rb = inBox.mHalfExtents[i];
-		if (abs(rot.GetTranslation().Dot(rot.GetColumn3(i))) > ra + rb) return false;
-	}
-
-	// Test axis L = A0 x B0
-	ra = mHalfExtents[1] * abs_r[0][2] + mHalfExtents[2] * abs_r[0][1];
-	rb = inBox.mHalfExtents[1] * abs_r[2][0] + inBox.mHalfExtents[2] * abs_r[1][0];
-	if (abs(rot(2, 3) * rot(1, 0) - rot(1, 3) * rot(2, 0)) > ra + rb) return false;
-
-	// Test axis L = A0 x B1
-	ra = mHalfExtents[1] * abs_r[1][2] + mHalfExtents[2] * abs_r[1][1];
-	rb = inBox.mHalfExtents[0] * abs_r[2][0] + inBox.mHalfExtents[2] * abs_r[0][0];
-	if (abs(rot(2, 3) * rot(1, 1) - rot(1, 3) * rot(2, 1)) > ra + rb) return false;
-
-	// Test axis L = A0 x B2
-	ra = mHalfExtents[1] * abs_r[2][2] + mHalfExtents[2] * abs_r[2][1];
-	rb = inBox.mHalfExtents[0] * abs_r[1][0] + inBox.mHalfExtents[1] * abs_r[0][0];
-	if (abs(rot(2, 3) * rot(1, 2) - rot(1, 3) * rot(2, 2)) > ra + rb) return false;
-
-	// Test axis L = A1 x B0
-	ra = mHalfExtents[0] * abs_r[0][2] + mHalfExtents[2] * abs_r[0][0];
-	rb = inBox.mHalfExtents[1] * abs_r[2][1] + inBox.mHalfExtents[2] * abs_r[1][1];
-	if (abs(rot(0, 3) * rot(2, 0) - rot(2, 3) * rot(0, 0)) > ra + rb) return false;
-
-	// Test axis L = A1 x B1
-	ra = mHalfExtents[0] * abs_r[1][2] + mHalfExtents[2] * abs_r[1][0];
-	rb = inBox.mHalfExtents[0] * abs_r[2][1] + inBox.mHalfExtents[2] * abs_r[0][1];
-	if (abs(rot(0, 3) * rot(2, 1) - rot(2, 3) * rot(0, 1)) > ra + rb) return false;
-
-	// Test axis L = A1 x B2
-	ra = mHalfExtents[0] * abs_r[2][2] + mHalfExtents[2] * abs_r[2][0];
-	rb = inBox.mHalfExtents[0] * abs_r[1][1] + inBox.mHalfExtents[1] * abs_r[0][1];
-	if (abs(rot(0, 3) * rot(2, 2) - rot(2, 3) * rot(0, 2)) > ra + rb) return false;
-
-	// Test axis L = A2 x B0
-	ra = mHalfExtents[0] * abs_r[0][1] + mHalfExtents[1] * abs_r[0][0];
-	rb = inBox.mHalfExtents[1] * abs_r[2][2] + inBox.mHalfExtents[2] * abs_r[1][2];
-	if (abs(rot(1, 3) * rot(0, 0) - rot(0, 3) * rot(1, 0)) > ra + rb) return false;
-
-	// Test axis L = A2 x B1
-	ra = mHalfExtents[0] * abs_r[1][1] + mHalfExtents[1] * abs_r[1][0];
-	rb = inBox.mHalfExtents[0] * abs_r[2][2] + inBox.mHalfExtents[2] * abs_r[0][2];
-	if (abs(rot(1, 3) * rot(0, 1) - rot(0, 3) * rot(1, 1)) > ra + rb) return false;
-
-	// Test axis L = A2 x B2
-	ra = mHalfExtents[0] * abs_r[2][1] + mHalfExtents[1] * abs_r[2][0];
-	rb = inBox.mHalfExtents[0] * abs_r[1][2] + inBox.mHalfExtents[1] * abs_r[0][2];
-	if (abs(rot(1, 3) * rot(0, 2) - rot(0, 3) * rot(1, 2)) > ra + rb) return false;
-
-	// Since no separating axis is found, the OBBs must be intersecting
-	return true;
-}
-
-JPH_NAMESPACE_END

package/native/third_party/JoltPhysics/Jolt/Geometry/OrientedBox.h

@@ -1,39 +0,0 @@
-// Jolt Physics Library (https://github.com/jrouwe/JoltPhysics)
-// SPDX-FileCopyrightText: 2021 Jorrit Rouwe
-// SPDX-License-Identifier: MIT
-
-#pragma once
-
-#include <Jolt/Geometry/Triangle.h>
-#include <Jolt/Geometry/IndexedTriangle.h>
-#include <Jolt/Geometry/AABox.h>
-#include <Jolt/Math/Mat44.h>
-
-JPH_NAMESPACE_BEGIN
-
-class AABox;
-
-/// Oriented box
-class JPH_EXPORT_GCC_BUG_WORKAROUND [[nodiscard]] OrientedBox
-{
-public:
-	JPH_OVERRIDE_NEW_DELETE
-
-	/// Constructor
-					OrientedBox() = default;
-					OrientedBox(Mat44Arg inOrientation, Vec3Arg inHalfExtents)			: mOrientation(inOrientation), mHalfExtents(inHalfExtents) { }
-
-	/// Construct from axis aligned box and transform. Only works for rotation/translation matrix (no scaling / shearing).
-					OrientedBox(Mat44Arg inOrientation, const AABox &inBox)				: OrientedBox(inOrientation.PreTranslated(inBox.GetCenter()), inBox.GetExtent()) { }
-
-	/// Test if oriented box overlaps with axis aligned box each other
-	bool			Overlaps(const AABox &inBox, float inEpsilon = 1.0e-6f) const;
-
-	/// Test if two oriented boxes overlap each other
-	bool			Overlaps(const OrientedBox &inBox, float inEpsilon = 1.0e-6f) const;
-
-	Mat44			mOrientation;														///< Transform that positions and rotates the local space axis aligned box into world space
-	Vec3			mHalfExtents;														///< Half extents (half the size of the edge) of the local space axis aligned box
-};
-
-JPH_NAMESPACE_END