OPC_Common.h

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/*
 *      OPCODE - Optimized Collision Detection
 *      Copyright (C) 2001 Pierre Terdiman
 *      Homepage: http://www.codercorner.com/Opcode.htm
 */



// Include Guard
#ifndef __OPC_COMMON_H__
#define __OPC_COMMON_H__

// [GOTTFRIED]: Just a small change for readability.
#ifdef OPC_CPU_COMPARE
        #define GREATER(x, y)   AIR(x) > IR(y)
#else
        #define GREATER(x, y)   fabsf(x) > (y)
#endif

        class OPCODE_API CollisionAABB
        {
                public:
                inline_                         CollisionAABB()                                         {}
                inline_                         CollisionAABB(const AABB& b)            { b.GetCenter(mCenter); b.GetExtents(mExtents); }
                inline_                         ~CollisionAABB()                                        {}

                inline_ void            GetMin(Point& min)              const           { min = mCenter - mExtents;                                     }
                inline_ void            GetMax(Point& max)              const           { max = mCenter + mExtents;                                     }

                inline_ float           GetMin(udword axis)             const           { return mCenter[axis] - mExtents[axis];        }
                inline_ float           GetMax(udword axis)             const           { return mCenter[axis] + mExtents[axis];        }


                inline_ void            SetMinMax(const Point& min, const Point& max)           { mCenter = (max + min)*0.5f; mExtents = (max - min)*0.5f; }


                inline_ BOOL            IsInside(const CollisionAABB& box) const
                                                        {
                                                                if(box.GetMin(0)>GetMin(0))     return FALSE;
                                                                if(box.GetMin(1)>GetMin(1))     return FALSE;
                                                                if(box.GetMin(2)>GetMin(2))     return FALSE;
                                                                if(box.GetMax(0)<GetMax(0))     return FALSE;
                                                                if(box.GetMax(1)<GetMax(1))     return FALSE;
                                                                if(box.GetMax(2)<GetMax(2))     return FALSE;
                                                                return TRUE;
                                                        }

                                Point           mCenter;                                
                                Point           mExtents;                               
#if 1 // Added by AIST
                                typedef enum {SSV_PSS, SSV_LSS} ssv_type;
                                ssv_type        mType; 
                                float           mRadius;
                                Point           mPoint0, mPoint1; 
                                void CreateSSV(){
                                    PointComponent maxAxis, minAxis;
                                    maxAxis = mExtents.LargestAxis();
                                    minAxis = mExtents.SmallestAxis();
                                    if (mExtents[minAxis] > 0 && mExtents[maxAxis]/mExtents[minAxis] > 2){
                                        mType = SSV_LSS;
                                        mPoint0 = mCenter;
                                        mPoint0[maxAxis] -= mExtents[maxAxis];
                                        mPoint1 = mCenter;
                                        mPoint1[maxAxis] += mExtents[maxAxis];
                                        Point p = mExtents;
                                        p[maxAxis] = 0;
                                        mRadius = p.Magnitude();
                                    }else{
                                        mType = SSV_PSS;
                                        mRadius = mExtents.Magnitude();
                                    }
                                }
#endif
        };

        class OPCODE_API QuantizedAABB
        {
                public:
                inline_                         QuantizedAABB()                 {}
                inline_                         ~QuantizedAABB()                {}

                                sword           mCenter[3];                             
                                uword           mExtents[3];                    
        };

        inline_ void TransformPoint(Point& dest, const Point& source, const Matrix3x3& rot, const Point& trans)
        {
                dest.x = trans.x + source.x * rot.m[0][0] + source.y * rot.m[1][0] + source.z * rot.m[2][0];
                dest.y = trans.y + source.x * rot.m[0][1] + source.y * rot.m[1][1] + source.z * rot.m[2][1];
                dest.z = trans.z + source.x * rot.m[0][2] + source.y * rot.m[1][2] + source.z * rot.m[2][2];
        }

#endif //__OPC_COMMON_H__