Bullet Collision Detection & Physics Library: btQuantization.h Source File

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btQuantization.h
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1#ifndef BT_GIMPACT_QUANTIZATION_H_INCLUDED
2#define BT_GIMPACT_QUANTIZATION_H_INCLUDED
3
8/*
9This source file is part of GIMPACT Library.
10
11For the latest info, see http://gimpact.sourceforge.net/
12
13Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371.
14email: projectileman@yahoo.com
15
16
17This software is provided 'as-is', without any express or implied warranty.
18In no event will the authors be held liable for any damages arising from the use of this software.
19Permission is granted to anyone to use this software for any purpose,
20including commercial applications, and to alter it and redistribute it freely,
21subject to the following restrictions:
22
231. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
242. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
253. This notice may not be removed or altered from any source distribution.
26*/
27
28#include "LinearMath/btTransform.h"
29
30 SIMD_FORCE_INLINE void bt_calc_quantization_parameters(
31 btVector3& outMinBound,
32 btVector3& outMaxBound,
33 btVector3& bvhQuantization,
34 const btVector3& srcMinBound, const btVector3& srcMaxBound,
35 btScalar quantizationMargin)
36{
37 //enlarge the AABB to avoid division by zero when initializing the quantization values
38 btVector3 clampValue(quantizationMargin, quantizationMargin, quantizationMargin);
39 outMinBound = srcMinBound - clampValue;
40 outMaxBound = srcMaxBound + clampValue;
41 btVector3 aabbSize = outMaxBound - outMinBound;
42 bvhQuantization = btVector3(btScalar(65535.0),
43 btScalar(65535.0),
44 btScalar(65535.0)) /
45 aabbSize;
46}
47
48 SIMD_FORCE_INLINE void bt_quantize_clamp(
49 unsigned short* out,
50 const btVector3& point,
51 const btVector3& min_bound,
52 const btVector3& max_bound,
53 const btVector3& bvhQuantization)
54{
55 btVector3 clampedPoint(point);
56 clampedPoint.setMax(min_bound);
57 clampedPoint.setMin(max_bound);
58
59 btVector3 v = (clampedPoint - min_bound) * bvhQuantization;
60 out[0] = (unsigned short)(v.getX() + 0.5f);
61 out[1] = (unsigned short)(v.getY() + 0.5f);
62 out[2] = (unsigned short)(v.getZ() + 0.5f);
63}
64
65 SIMD_FORCE_INLINE btVector3 bt_unquantize(
66 const unsigned short* vecIn,
67 const btVector3& offset,
68 const btVector3& bvhQuantization)
69{
70 btVector3 vecOut;
71 vecOut.setValue(
72 (btScalar)(vecIn[0]) / (bvhQuantization.getX()),
73 (btScalar)(vecIn[1]) / (bvhQuantization.getY()),
74 (btScalar)(vecIn[2]) / (bvhQuantization.getZ()));
75 vecOut += offset;
76 return vecOut;
77}
78
79#endif // BT_GIMPACT_QUANTIZATION_H_INCLUDED
bt_calc_quantization_parameters
void bt_calc_quantization_parameters(btVector3 &outMinBound, btVector3 &outMaxBound, btVector3 &bvhQuantization, const btVector3 &srcMinBound, const btVector3 &srcMaxBound, btScalar quantizationMargin)
Definition: btQuantization.h:30
bt_quantize_clamp
void bt_quantize_clamp(unsigned short *out, const btVector3 &point, const btVector3 &min_bound, const btVector3 &max_bound, const btVector3 &bvhQuantization)
Definition: btQuantization.h:48
bt_unquantize
btVector3 bt_unquantize(const unsigned short *vecIn, const btVector3 &offset, const btVector3 &bvhQuantization)
Definition: btQuantization.h:65
btScalar
float btScalar
The btScalar type abstracts floating point numbers, to easily switch between double and single floati...
Definition: btScalar.h:314
SIMD_FORCE_INLINE
#define SIMD_FORCE_INLINE
Definition: btScalar.h:98
btTransform.h
btVector3
btVector3 can be used to represent 3D points and vectors.
Definition: btVector3.h:82
btVector3::getZ
const btScalar & getZ() const
Return the z value.
Definition: btVector3.h:565
btVector3::setMax
void setMax(const btVector3 &other)
Set each element to the max of the current values and the values of another btVector3.
Definition: btVector3.h:609
btVector3::setValue
void setValue(const btScalar &_x, const btScalar &_y, const btScalar &_z)
Definition: btVector3.h:640
btVector3::getY
const btScalar & getY() const
Return the y value.
Definition: btVector3.h:563
btVector3::setMin
void setMin(const btVector3 &other)
Set each element to the min of the current values and the values of another btVector3.
Definition: btVector3.h:626
btVector3::getX
const btScalar & getX() const
Return the x value.
Definition: btVector3.h:561