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.

Defines
#define	dDOTpq(a, b, p, q)   ((a)[0]*(b)[0] + (a)[p]*(b)[q] + (a)[2*(p)]*(b)[2*(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)   dMULTIPLYOP1_331(A,=,B,C)
#define	dMULTIPLY0_331(A, B, C)   dMULTIPLYOP0_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)

---

Define Documentation

#define dDOTpq	(		a,
			b,
			p,
			q
	)		((a)[0]*(b)[0] + (a)[p]*(b)[q] + (a)[2*(p)]*(b)[2*(q)])

Definition at line 51 of file btBoxBoxDetector.cpp.

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

#define dInfinity   FLT_MAX

Definition at line 52 of file btBoxBoxDetector.cpp.

Referenced by dBoxBox2().

#define dMULTIPLY0_331	(		A,
			B,
			C
	)		dMULTIPLYOP0_331(A,=,B,C)

Definition at line 79 of file btBoxBoxDetector.cpp.

Referenced by dBoxBox2().

#define dMULTIPLY1_331	(		A,
			B,
			C
	)		dMULTIPLYOP1_331(A,=,B,C)

Definition at line 78 of file btBoxBoxDetector.cpp.

Referenced by dBoxBox2().

#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 71 of file btBoxBoxDetector.cpp.

#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 64 of file btBoxBoxDetector.cpp.

#define M__PI   3.14159265f

Definition at line 174 of file btBoxBoxDetector.cpp.

Referenced by cullPoints2().

#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); \
    } \
  }

#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

typedef btScalar dMatrix3[4 *3]

Definition at line 81 of file btBoxBoxDetector.cpp.

---

Function Documentation

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

Definition at line 185 of file btBoxBoxDetector.cpp.

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

Referenced by 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 262 of file btBoxBoxDetector.cpp.

References A, btDiscreteCollisionDetectorInterface::Result::addContactPoint(), B, btFabs(), cullPoints2(), dDOT(), dDOT14(), dDOT41(), dDOT44(), dInfinity, dLineClosestApproach(), dMULTIPLY0_331, dMULTIPLY1_331, credits_svn_gen::e, i, intersectRectQuad2(), p, pp, TNT::sign(), and TST.

Referenced by btBoxBoxDetector::getClosestPoints().

static btScalar dDOT	(	const btScalar *	a,
		const btScalar *	b
	)		[static]

Definition at line 60 of file btBoxBoxDetector.cpp.

References dDOTpq.

Referenced by dBoxBox2(), and dLineClosestApproach().

static btScalar dDOT14	(	const btScalar *	a,
		const btScalar *	b
	)		[static]

Definition at line 63 of file btBoxBoxDetector.cpp.

References dDOTpq.

Referenced by dBoxBox2().

static btScalar dDOT41	(	const btScalar *	a,
		const btScalar *	b
	)		[static]

Definition at line 62 of file btBoxBoxDetector.cpp.

References dDOTpq.

Referenced by dBoxBox2().

static btScalar dDOT44	(	const btScalar *	a,
		const btScalar *	b
	)		[static]

Definition at line 61 of file btBoxBoxDetector.cpp.

References dDOTpq.

Referenced by dBoxBox2().

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

Definition at line 86 of file btBoxBoxDetector.cpp.

References simple_enum_gen::d, dDOT(), and p.

Referenced by dBoxBox2().

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

Definition at line 120 of file btBoxBoxDetector.cpp.

References i, p, and TNT::sign().

Referenced by dBoxBox2().