btBoxBoxDetector.cpp File Reference

#include "btBoxBoxDetector.h"
#include "BulletCollision/CollisionShapes/btBoxShape.h"
#include <float.h>
#include <string.h>

Go to the source code of this file.

Macros
#define	dDOTpq(a, b, p, q)
#define	dInfinity   FLT_MAX
#define	dMULTIPLYOP1_331(A, op, B, C)
#define	dMULTIPLYOP0_331(A, op, B, C)
#define	dMULTIPLY1_331(A, B, C)
#define	dMULTIPLY0_331(A, B, C)
#define	M__PI   3.14159265f
#define	TST(expr1, expr2, norm, cc)
#define	TST(expr1, expr2, n1, n2, n3, cc)

Typedefs
typedef btScalar	dMatrix3[4 *3]

Functions
static btScalar	dDOT (const btScalar *a, const btScalar *b)
static btScalar	dDOT44 (const btScalar *a, const btScalar *b)
static btScalar	dDOT41 (const btScalar *a, const btScalar *b)
static btScalar	dDOT14 (const btScalar *a, const btScalar *b)
void	dLineClosestApproach (const btVector3 &pa, const btVector3 &ua, const btVector3 &pb, const btVector3 &ub, btScalar *alpha, btScalar *beta)
static int	intersectRectQuad2 (btScalar h[2], btScalar p[8], btScalar ret[16])
void	cullPoints2 (int n, btScalar p[], int m, int i0, int iret[])
int	dBoxBox2 (const btVector3 &p1, const dMatrix3 R1, const btVector3 &side1, const btVector3 &p2, const dMatrix3 R2, const btVector3 &side2, btVector3 &normal, btScalar *depth, int *return_code, int maxc, dContactGeom *, int, btDiscreteCollisionDetectorInterface::Result &output)

Macro Definition Documentation

dDOTpq

#define dDOTpq	(		a,
			b,
			p,
			q )

Value:

((a)[0] * (b)[0] + (a)[p] * (b)[q] + (a)[2 * (p)] * (b)[2 * (q)])

Definition at line 49 of file btBoxBoxDetector.cpp.

Referenced by dDOT(), dDOT14(), dDOT41(), and dDOT44().

dInfinity

#define dInfinity   FLT_MAX

Definition at line 50 of file btBoxBoxDetector.cpp.

Referenced by dBoxBox2().

dMULTIPLY0_331

#define dMULTIPLY0_331	(		A,
			B,
			C )

Value:

dMULTIPLYOP0_331(A, =, B, C)

Definition at line 76 of file btBoxBoxDetector.cpp.

Referenced by dBoxBox2().

dMULTIPLY1_331

#define dMULTIPLY1_331	(		A,
			B,
			C )

Value:

dMULTIPLYOP1_331(A, =, B, C)

Definition at line 75 of file btBoxBoxDetector.cpp.

Referenced by dBoxBox2().

dMULTIPLYOP0_331

#define dMULTIPLYOP0_331	(		A,
			op,
			B,
			C )

Value:

{                                 \
    (A)[0] op dDOT((B), (C));     \
    (A)[1] op dDOT((B + 4), (C)); \
    (A)[2] op dDOT((B + 8), (C)); \
}

Definition at line 68 of file btBoxBoxDetector.cpp.

dMULTIPLYOP1_331

#define dMULTIPLYOP1_331	(		A,
			op,
			B,
			C )

Value:

{                                   \
    (A)[0] op dDOT41((B), (C));     \
    (A)[1] op dDOT41((B + 1), (C)); \
    (A)[2] op dDOT41((B + 2), (C)); \
}

Definition at line 61 of file btBoxBoxDetector.cpp.

M__PI

#define M__PI   3.14159265f

Definition at line 177 of file btBoxBoxDetector.cpp.

Referenced by cullPoints2().

TST [1/2]

#define TST	(		expr1,
			expr2,
			n1,
			n2,
			n3,
			cc )

Value:

s2 = btFabs(expr1) - (expr2);                        \
if (s2 > SIMD_EPSILON) return 0;                     \
l = btSqrt((n1) * (n1) + (n2) * (n2) + (n3) * (n3)); \
if (l > SIMD_EPSILON)                                \
{                                                    \
    s2 /= l;                                         \
    if (s2 * fudge_factor > s)                       \
    {                                                \
        s = s2;                                      \
        normalR = 0;                                 \
        normalC[0] = (n1) / l;                       \
        normalC[1] = (n2) / l;                       \
        normalC[2] = (n3) / l;                       \
        invert_normal = ((expr1) < 0);               \
        code = (cc);                                 \
    }                                                \
}

TST [2/2]

#define TST	(		expr1,
			expr2,
			norm,
			cc )

Value:

s2 = btFabs(expr1) - (expr2);      \
if (s2 > 0) return 0;              \
if (s2 > s)                        \
{                                  \
    s = s2;                        \
    normalR = norm;                \
    invert_normal = ((expr1) < 0); \
    code = (cc);                   \
}

Referenced by dBoxBox2().

Typedef Documentation

dMatrix3

typedef btScalar dMatrix3[4 *3]

Definition at line 78 of file btBoxBoxDetector.cpp.

Function Documentation

cullPoints2()

void cullPoints2	(	int	n,
		btScalar	p[],
		int	m,
		int	i0,
		int	iret[] )

Definition at line 188 of file btBoxBoxDetector.cpp.

References A, BT_LARGE_FLOAT, btAssert, btAtan2(), btFabs(), cullPoints2(), diff(), i, M__PI, and SIMD_EPSILON.

Referenced by cullPoints2(), and dBoxBox2().

dBoxBox2()

int dBoxBox2	(	const btVector3 &	p1,
		const dMatrix3	R1,
		const btVector3 &	side1,
		const btVector3 &	p2,
		const dMatrix3	R2,
		const btVector3 &	side2,
		btVector3 &	normal,
		btScalar *	depth,
		int *	return_code,
		int	maxc,
		dContactGeom *	,
		int	,
		btDiscreteCollisionDetectorInterface::Result &	output )

Definition at line 272 of file btBoxBoxDetector.cpp.

References A, B, beta(), btFabs(), btVector3, cullPoints2(), dBoxBox2(), dDOT(), dDOT14(), dDOT41(), dDOT44(), dInfinity, dLineClosestApproach(), dMULTIPLY0_331, dMULTIPLY1_331, i, intersectRectQuad2(), l, output, ret, sign(), and TST.

Referenced by dBoxBox2(), and btBoxBoxDetector::getClosestPoints().

dDOT()

btScalar dDOT ( const btScalar * a, const btScalar * b )

static

Definition at line 57 of file btBoxBoxDetector.cpp.

References b, dDOT(), and dDOTpq.

Referenced by dBoxBox2(), dDOT(), and dLineClosestApproach().

dDOT14()

btScalar dDOT14 ( const btScalar * a, const btScalar * b )

static

Definition at line 60 of file btBoxBoxDetector.cpp.

References b, dDOT14(), and dDOTpq.

Referenced by dBoxBox2(), and dDOT14().

dDOT41()

btScalar dDOT41 ( const btScalar * a, const btScalar * b )

static

Definition at line 59 of file btBoxBoxDetector.cpp.

References b, dDOT41(), and dDOTpq.

Referenced by dBoxBox2(), and dDOT41().

dDOT44()

btScalar dDOT44 ( const btScalar * a, const btScalar * b )

static

Definition at line 58 of file btBoxBoxDetector.cpp.

References b, dDOT44(), and dDOTpq.

Referenced by dBoxBox2(), and dDOT44().

dLineClosestApproach()

void dLineClosestApproach	(	const btVector3 &	pa,
		const btVector3 &	ua,
		const btVector3 &	pb,
		const btVector3 &	ub,
		btScalar *	alpha,
		btScalar *	beta )

Definition at line 83 of file btBoxBoxDetector.cpp.

References beta(), btVector3, dDOT(), and dLineClosestApproach().

Referenced by dBoxBox2(), and dLineClosestApproach().

intersectRectQuad2()

int intersectRectQuad2 ( btScalar h[2], btScalar p[8], btScalar ret[16] )

static

Definition at line 117 of file btBoxBoxDetector.cpp.

References i, intersectRectQuad2(), ret, and sign().

Referenced by dBoxBox2(), and intersectRectQuad2().