| #ifndef BT_QUANTIZATION_H_INCLUDED |
| #define BT_QUANTIZATION_H_INCLUDED |
| |
| /*! \file btQuantization.h |
| *\author Francisco Len Nßjera |
| |
| */ |
| /* |
| This source file is part of GIMPACT Library. |
| |
| For the latest info, see http://gimpact.sourceforge.net/ |
| |
| Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. |
| email: projectileman@yahoo.com |
| |
| |
| This software is provided 'as-is', without any express or implied warranty. |
| In no event will the authors be held liable for any damages arising from the use of this software. |
| Permission is granted to anyone to use this software for any purpose, |
| including commercial applications, and to alter it and redistribute it freely, |
| subject to the following restrictions: |
| |
| 1. 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. |
| 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
| 3. This notice may not be removed or altered from any source distribution. |
| */ |
| |
| #include "LinearMath/btTransform.h" |
| |
| |
| |
| |
| |
| |
| SIMD_FORCE_INLINE void bt_calc_quantization_parameters( |
| btVector3 & outMinBound, |
| btVector3 & outMaxBound, |
| btVector3 & bvhQuantization, |
| const btVector3& srcMinBound,const btVector3& srcMaxBound, |
| btScalar quantizationMargin) |
| { |
| //enlarge the AABB to avoid division by zero when initializing the quantization values |
| btVector3 clampValue(quantizationMargin,quantizationMargin,quantizationMargin); |
| outMinBound = srcMinBound - clampValue; |
| outMaxBound = srcMaxBound + clampValue; |
| btVector3 aabbSize = outMaxBound - outMinBound; |
| bvhQuantization = btVector3(btScalar(65535.0), |
| btScalar(65535.0), |
| btScalar(65535.0)) / aabbSize; |
| } |
| |
| |
| SIMD_FORCE_INLINE void bt_quantize_clamp( |
| unsigned short* out, |
| const btVector3& point, |
| const btVector3 & min_bound, |
| const btVector3 & max_bound, |
| const btVector3 & bvhQuantization) |
| { |
| |
| btVector3 clampedPoint(point); |
| clampedPoint.setMax(min_bound); |
| clampedPoint.setMin(max_bound); |
| |
| btVector3 v = (clampedPoint - min_bound) * bvhQuantization; |
| out[0] = (unsigned short)(v.getX()+0.5f); |
| out[1] = (unsigned short)(v.getY()+0.5f); |
| out[2] = (unsigned short)(v.getZ()+0.5f); |
| } |
| |
| |
| SIMD_FORCE_INLINE btVector3 bt_unquantize( |
| const unsigned short* vecIn, |
| const btVector3 & offset, |
| const btVector3 & bvhQuantization) |
| { |
| btVector3 vecOut; |
| vecOut.setValue( |
| (btScalar)(vecIn[0]) / (bvhQuantization.getX()), |
| (btScalar)(vecIn[1]) / (bvhQuantization.getY()), |
| (btScalar)(vecIn[2]) / (bvhQuantization.getZ())); |
| vecOut += offset; |
| return vecOut; |
| } |
| |
| |
| |
| #endif // GIM_VECTOR_H_INCLUDED |