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authordan miller2007-10-19 05:15:33 +0000
committerdan miller2007-10-19 05:15:33 +0000
commit79eca25c945a535a7a0325999034bae17da92412 (patch)
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parentadding ode source to /libraries (diff)
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resubmitting ode
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1///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
2/*
3 * OPCODE - Optimized Collision Detection
4 * Copyright (C) 2001 Pierre Terdiman
5 * Homepage: http://www.codercorner.com/Opcode.htm
6 */
7///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
8
9///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
10/**
11 * Contains common classes & defs used in OPCODE.
12 * \file OPC_Common.h
13 * \author Pierre Terdiman
14 * \date March, 20, 2001
15 */
16///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
17
18///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
19// Include Guard
20#ifndef __OPC_COMMON_H__
21#define __OPC_COMMON_H__
22
23// [GOTTFRIED]: Just a small change for readability.
24#ifdef OPC_CPU_COMPARE
25 #define GREATER(x, y) AIR(x) > IR(y)
26#else
27 #define GREATER(x, y) fabsf(x) > (y)
28#endif
29
30 class OPCODE_API CollisionAABB
31 {
32 public:
33 //! Constructor
34 inline_ CollisionAABB() {}
35 //! Constructor
36 inline_ CollisionAABB(const AABB& b) { b.GetCenter(mCenter); b.GetExtents(mExtents); }
37 //! Destructor
38 inline_ ~CollisionAABB() {}
39
40 //! Get min point of the box
41 inline_ void GetMin(Point& min) const { min = mCenter - mExtents; }
42 //! Get max point of the box
43 inline_ void GetMax(Point& max) const { max = mCenter + mExtents; }
44
45 //! Get component of the box's min point along a given axis
46 inline_ float GetMin(udword axis) const { return mCenter[axis] - mExtents[axis]; }
47 //! Get component of the box's max point along a given axis
48 inline_ float GetMax(udword axis) const { return mCenter[axis] + mExtents[axis]; }
49
50 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
51 /**
52 * Setups an AABB from min & max vectors.
53 * \param min [in] the min point
54 * \param max [in] the max point
55 */
56 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
57 inline_ void SetMinMax(const Point& min, const Point& max) { mCenter = (max + min)*0.5f; mExtents = (max - min)*0.5f; }
58
59 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
60 /**
61 * Checks a box is inside another box.
62 * \param box [in] the other box
63 * \return true if current box is inside input box
64 */
65 ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
66 inline_ BOOL IsInside(const CollisionAABB& box) const
67 {
68 if(box.GetMin(0)>GetMin(0)) return FALSE;
69 if(box.GetMin(1)>GetMin(1)) return FALSE;
70 if(box.GetMin(2)>GetMin(2)) return FALSE;
71 if(box.GetMax(0)<GetMax(0)) return FALSE;
72 if(box.GetMax(1)<GetMax(1)) return FALSE;
73 if(box.GetMax(2)<GetMax(2)) return FALSE;
74 return TRUE;
75 }
76
77 Point mCenter; //!< Box center
78 Point mExtents; //!< Box extents
79 };
80
81 class OPCODE_API QuantizedAABB
82 {
83 public:
84 //! Constructor
85 inline_ QuantizedAABB() {}
86 //! Destructor
87 inline_ ~QuantizedAABB() {}
88
89 sword mCenter[3]; //!< Quantized center
90 uword mExtents[3]; //!< Quantized extents
91 };
92
93 //! Quickly rotates & translates a vector
94 inline_ void TransformPoint(Point& dest, const Point& source, const Matrix3x3& rot, const Point& trans)
95 {
96 dest.x = trans.x + source.x * rot.m[0][0] + source.y * rot.m[1][0] + source.z * rot.m[2][0];
97 dest.y = trans.y + source.x * rot.m[0][1] + source.y * rot.m[1][1] + source.z * rot.m[2][1];
98 dest.z = trans.z + source.x * rot.m[0][2] + source.y * rot.m[1][2] + source.z * rot.m[2][2];
99 }
100
101#endif //__OPC_COMMON_H__
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