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;               
    };

    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__