Classes | Defines | Functions
gim_box_collision.h File Reference
#include "gim_basic_geometry_operations.h"
#include "LinearMath/btTransform.h"
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Classes

class  GIM_AABB
 Axis aligned box. More...
class  GIM_BOX_BOX_TRANSFORM_CACHE
 Class for transforming a model1 to the space of model0. More...

Defines

#define BOX_PLANE_EPSILON   0.000001f
#define TEST_CROSS_EDGE_BOX_MCR(edge, absolute_edge, pointa, pointb, _extend, i_dir_0, i_dir_1, i_comp_0, i_comp_1)
#define TEST_CROSS_EDGE_BOX_X_AXIS_MCR(edge, absolute_edge, pointa, pointb, _extend)
#define TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(edge, absolute_edge, pointa, pointb, _extend)
#define TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(edge, absolute_edge, pointa, pointb, _extend)

Functions

SIMD_FORCE_INLINE bool btCompareTransformsEqual (const btTransform &t1, const btTransform &t2)
 Compairison of transformation objects.

Detailed Description

Author:
Francisco Leon Najera

Definition in file gim_box_collision.h.


Define Documentation

#define BOX_PLANE_EPSILON   0.000001f

Definition at line 196 of file gim_box_collision.h.

#define TEST_CROSS_EDGE_BOX_MCR (   edge,
  absolute_edge,
  pointa,
  pointb,
  _extend,
  i_dir_0,
  i_dir_1,
  i_comp_0,
  i_comp_1 
)
Value:
{\
        const btScalar dir0 = -edge[i_dir_0];\
        const btScalar dir1 = edge[i_dir_1];\
        btScalar pmin = pointa[i_comp_0]*dir0 + pointa[i_comp_1]*dir1;\
        btScalar pmax = pointb[i_comp_0]*dir0 + pointb[i_comp_1]*dir1;\
        if(pmin>pmax)\
        {\
                GIM_SWAP_NUMBERS(pmin,pmax); \
        }\
        const btScalar abs_dir0 = absolute_edge[i_dir_0];\
        const btScalar abs_dir1 = absolute_edge[i_dir_1];\
        const btScalar rad = _extend[i_comp_0] * abs_dir0 + _extend[i_comp_1] * abs_dir1;\
        if(pmin>rad || -rad>pmax) return false;\
}\

Definition at line 100 of file gim_box_collision.h.

#define TEST_CROSS_EDGE_BOX_X_AXIS_MCR (   edge,
  absolute_edge,
  pointa,
  pointb,
  _extend 
)
Value:
{\
        TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,2,1,1,2);\
}\

Definition at line 117 of file gim_box_collision.h.

#define TEST_CROSS_EDGE_BOX_Y_AXIS_MCR (   edge,
  absolute_edge,
  pointa,
  pointb,
  _extend 
)
Value:
{\
        TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,0,2,2,0);\
}\

Definition at line 122 of file gim_box_collision.h.

#define TEST_CROSS_EDGE_BOX_Z_AXIS_MCR (   edge,
  absolute_edge,
  pointa,
  pointb,
  _extend 
)
Value:
{\
        TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,1,0,0,1);\
}\

Definition at line 127 of file gim_box_collision.h.


Function Documentation

SIMD_FORCE_INLINE bool btCompareTransformsEqual ( const btTransform t1,
const btTransform t2 
)

Compairison of transformation objects.

Definition at line 578 of file gim_box_collision.h.

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Author(s): Erwin Coumans, ROS package maintained by Tully Foote
autogenerated on Wed Oct 31 2012 07:54:32