Axis aligned box. More...

#include <gim_box_collision.h>

Public Member Functions
	GIM_AABB ()
	GIM_AABB (const btVector3 &V1, const btVector3 &V2, const btVector3 &V3)
	GIM_AABB (const btVector3 &V1, const btVector3 &V2, const btVector3 &V3, GREAL margin)
	GIM_AABB (const GIM_AABB &other)
	GIM_AABB (const GIM_AABB &other, btScalar margin)
SIMD_FORCE_INLINE void	invalidate ()
SIMD_FORCE_INLINE void	increment_margin (btScalar margin)
SIMD_FORCE_INLINE void	copy_with_margin (const GIM_AABB &other, btScalar margin)
template<typename CLASS_POINT >
SIMD_FORCE_INLINE void	calc_from_triangle (const CLASS_POINT &V1, const CLASS_POINT &V2, const CLASS_POINT &V3)
template<typename CLASS_POINT >
SIMD_FORCE_INLINE void	calc_from_triangle_margin (const CLASS_POINT &V1, const CLASS_POINT &V2, const CLASS_POINT &V3, btScalar margin)
SIMD_FORCE_INLINE void	appy_transform (const btTransform &trans)
	Apply a transform to an AABB.
SIMD_FORCE_INLINE void	merge (const GIM_AABB &box)
	Merges a Box.
template<typename CLASS_POINT >
SIMD_FORCE_INLINE void	merge_point (const CLASS_POINT &point)
	Merges a point.
SIMD_FORCE_INLINE void	get_center_extend (btVector3 &center, btVector3 &extend) const
	Gets the extend and center.
SIMD_FORCE_INLINE void	find_intersection (const GIM_AABB &other, GIM_AABB &intersection) const
	Finds the intersecting box between this box and the other.
SIMD_FORCE_INLINE bool	has_collision (const GIM_AABB &other) const
SIMD_FORCE_INLINE bool	collide_ray (const btVector3 &vorigin, const btVector3 &vdir)
	Finds the Ray intersection parameter.
SIMD_FORCE_INLINE void	projection_interval (const btVector3 &direction, btScalar &vmin, btScalar &vmax) const
SIMD_FORCE_INLINE ePLANE_INTERSECTION_TYPE	plane_classify (const btVector4 &plane) const
SIMD_FORCE_INLINE bool	overlapping_trans_conservative (const GIM_AABB &box, btTransform &trans1_to_0)
SIMD_FORCE_INLINE bool	overlapping_trans_cache (const GIM_AABB &box, const GIM_BOX_BOX_TRANSFORM_CACHE &transcache, bool fulltest)
	transcache is the transformation cache from box to this AABB
SIMD_FORCE_INLINE bool	collide_plane (const btVector4 &plane)
	Simple test for planes.
SIMD_FORCE_INLINE bool	collide_triangle_exact (const btVector3 &p1, const btVector3 &p2, const btVector3 &p3, const btVector4 &triangle_plane)
	test for a triangle, with edges
Public Attributes
btVector3	m_min
btVector3	m_max

Detailed Description

Axis aligned box.

Definition at line 199 of file gim_box_collision.h.

Constructor & Destructor Documentation

GIM_AABB::GIM_AABB ( ) [inline]

Definition at line 205 of file gim_box_collision.h.

GIM_AABB::GIM_AABB	(	const btVector3 &	V1,
		const btVector3 &	V2,
		const btVector3 &	V3
	)		`[inline]`

Definition at line 209 of file gim_box_collision.h.

References GIM_MAX3, GIM_MIN3, m_max, and m_min.

GIM_AABB::GIM_AABB	(	const btVector3 &	V1,
		const btVector3 &	V2,
		const btVector3 &	V3,
		GREAL	margin
	)		`[inline]`

Definition at line 222 of file gim_box_collision.h.

References GIM_MAX3, GIM_MIN3, m_max, and m_min.

GIM_AABB::GIM_AABB ( const GIM_AABB & other ) [inline]

Definition at line 243 of file gim_box_collision.h.

GIM_AABB::GIM_AABB	(	const GIM_AABB &	other,
		btScalar	margin
	)		`[inline]`

Definition at line 248 of file gim_box_collision.h.

References m_max, and m_min.

Member Function Documentation

SIMD_FORCE_INLINE void GIM_AABB::appy_transform ( const btTransform & trans ) [inline]

Apply a transform to an AABB.

Definition at line 328 of file gim_box_collision.h.

References btTransform::getBasis(), btMatrix3x3::getRow(), m_max, and m_min.

Referenced by GIM_BOX_TREE_TEMPLATE_SET< _GIM_PRIMITIVE_MANAGER_PROTOTYPE, GIM_BOX_TREE >::boxQueryTrans(), and overlapping_trans_conservative().

template<typename CLASS_POINT >

SIMD_FORCE_INLINE void GIM_AABB::calc_from_triangle	(	const CLASS_POINT &	V1,
		const CLASS_POINT &	V2,
		const CLASS_POINT &	V3
	)		`[inline]`

Definition at line 291 of file gim_box_collision.h.

References GIM_MAX3, GIM_MIN3, m_max, and m_min.

template<typename CLASS_POINT >

SIMD_FORCE_INLINE void GIM_AABB::calc_from_triangle_margin	(	const CLASS_POINT &	V1,
		const CLASS_POINT &	V2,
		const CLASS_POINT &	V3,
		btScalar	margin
	)		`[inline]`

Definition at line 306 of file gim_box_collision.h.

References GIM_MAX3, GIM_MIN3, m_max, and m_min.

SIMD_FORCE_INLINE bool GIM_AABB::collide_plane ( const btVector4 & plane ) [inline]

Simple test for planes.

Definition at line 520 of file gim_box_collision.h.

References G_COLLIDE_PLANE, and plane_classify().

Referenced by collide_triangle_exact().

SIMD_FORCE_INLINE bool GIM_AABB::collide_ray	(	const btVector3 &	vorigin,
		const btVector3 &	vdir
	)		`[inline]`

Finds the Ray intersection parameter.

Parameters:

aabb	Aligned box
vorigin	A vec3f with the origin of the ray
vdir	A vec3f with the direction of the ray

Definition at line 407 of file gim_box_collision.h.

References btFabs(), get_center_extend(), and GIM_GREATER.

Referenced by GIM_BOX_TREE_TEMPLATE_SET< _GIM_PRIMITIVE_MANAGER_PROTOTYPE, GIM_BOX_TREE >::rayQuery().

SIMD_FORCE_INLINE bool GIM_AABB::collide_triangle_exact	(	const btVector3 &	p1,
		const btVector3 &	p2,
		const btVector3 &	p3,
		const btVector4 &	triangle_plane
	)		`[inline]`

test for a triangle, with edges

Definition at line 528 of file gim_box_collision.h.

References collide_plane(), KDL::diff(), get_center_extend(), TEST_CROSS_EDGE_BOX_X_AXIS_MCR, TEST_CROSS_EDGE_BOX_Y_AXIS_MCR, and TEST_CROSS_EDGE_BOX_Z_AXIS_MCR.

Referenced by GIM_TREE_TREE_COLLIDER< BOX_SET_CLASS0, BOX_SET_CLASS1 >::node_collision().

SIMD_FORCE_INLINE void GIM_AABB::copy_with_margin	(	const GIM_AABB &	other,
		btScalar	margin
	)		`[inline]`

Definition at line 279 of file gim_box_collision.h.

References m_max, and m_min.

SIMD_FORCE_INLINE void GIM_AABB::find_intersection	(	const GIM_AABB &	other,
		GIM_AABB &	intersection
	)		const `[inline]`

Finds the intersecting box between this box and the other.

Definition at line 376 of file gim_box_collision.h.

References GIM_MAX, GIM_MIN, m_max, and m_min.

SIMD_FORCE_INLINE void GIM_AABB::get_center_extend	(	btVector3 &	center,
		btVector3 &	extend
	)		const `[inline]`

Gets the extend and center.

Definition at line 369 of file gim_box_collision.h.

References m_max, and m_min.

Referenced by collide_ray(), collide_triangle_exact(), and overlapping_trans_cache().

SIMD_FORCE_INLINE bool GIM_AABB::has_collision ( const GIM_AABB & other ) const [inline]

Definition at line 388 of file gim_box_collision.h.

References m_max, and m_min.

Referenced by GIM_BOX_TREE_TEMPLATE_SET< _GIM_PRIMITIVE_MANAGER_PROTOTYPE, GIM_BOX_TREE >::boxQuery(), GIM_TRIANGLE::collide_triangle(), and overlapping_trans_conservative().

SIMD_FORCE_INLINE void GIM_AABB::increment_margin ( btScalar margin ) [inline]

Definition at line 269 of file gim_box_collision.h.

References m_max, and m_min.

Referenced by GIM_TREE_TREE_COLLIDER< BOX_SET_CLASS0, BOX_SET_CLASS1 >::node_collision().

SIMD_FORCE_INLINE void GIM_AABB::invalidate ( void ) [inline]

Definition at line 259 of file gim_box_collision.h.

References G_REAL_INFINITY, m_max, and m_min.

SIMD_FORCE_INLINE void GIM_AABB::merge ( const GIM_AABB & box ) [inline]

Merges a Box.

Definition at line 344 of file gim_box_collision.h.

References GIM_MAX, GIM_MIN, m_max, and m_min.

Referenced by GIM_BOX_TREE_TEMPLATE_SET< _GIM_PRIMITIVE_MANAGER_PROTOTYPE, GIM_BOX_TREE >::refit().

template<typename CLASS_POINT >

SIMD_FORCE_INLINE void GIM_AABB::merge_point ( const CLASS_POINT & point ) [inline]

Merges a point.

Definition at line 357 of file gim_box_collision.h.

References GIM_MAX, GIM_MIN, m_max, and m_min.

SIMD_FORCE_INLINE bool GIM_AABB::overlapping_trans_cache	(	const GIM_AABB &	box,
		const GIM_BOX_BOX_TRANSFORM_CACHE &	transcache,
		bool	fulltest
	)		`[inline]`