| 1 | #ifndef BT_QUANTIZATION_H_INCLUDED |
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| 2 | #define BT_QUANTIZATION_H_INCLUDED |
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| 3 | |
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| 4 | /*! \file btQuantization.h |
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| 5 | *\author Francisco Len Nßjera |
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| 6 | |
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| 7 | */ |
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| 8 | /* |
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| 9 | This source file is part of GIMPACT Library. |
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| 10 | |
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| 11 | For the latest info, see http://gimpact.sourceforge.net/ |
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| 12 | |
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| 13 | Copyright (c) 2007 Francisco Leon Najera. C.C. 80087371. |
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| 14 | email: projectileman@yahoo.com |
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| 15 | |
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| 16 | |
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| 17 | This software is provided 'as-is', without any express or implied warranty. |
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| 18 | In no event will the authors be held liable for any damages arising from the use of this software. |
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| 19 | Permission is granted to anyone to use this software for any purpose, |
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| 20 | including commercial applications, and to alter it and redistribute it freely, |
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| 21 | subject to the following restrictions: |
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| 22 | |
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| 23 | 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. |
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| 24 | 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. |
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| 25 | 3. This notice may not be removed or altered from any source distribution. |
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| 26 | */ |
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| 27 | |
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| 28 | #include "LinearMath/btTransform.h" |
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| 29 | |
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| 30 | |
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| 31 | |
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| 32 | |
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| 33 | |
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| 34 | |
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| 35 | SIMD_FORCE_INLINE void bt_calc_quantization_parameters( |
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| 36 | btVector3 & outMinBound, |
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| 37 | btVector3 & outMaxBound, |
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| 38 | btVector3 & bvhQuantization, |
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| 39 | const btVector3& srcMinBound,const btVector3& srcMaxBound, |
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| 40 | btScalar quantizationMargin) |
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| 41 | { |
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| 42 | //enlarge the AABB to avoid division by zero when initializing the quantization values |
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| 43 | btVector3 clampValue(quantizationMargin,quantizationMargin,quantizationMargin); |
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| 44 | outMinBound = srcMinBound - clampValue; |
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| 45 | outMaxBound = srcMaxBound + clampValue; |
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| 46 | btVector3 aabbSize = outMaxBound - outMinBound; |
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| 47 | bvhQuantization = btVector3(btScalar(65535.0), |
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| 48 | btScalar(65535.0), |
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| 49 | btScalar(65535.0)) / aabbSize; |
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| 50 | } |
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| 51 | |
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| 52 | |
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| 53 | SIMD_FORCE_INLINE void bt_quantize_clamp( |
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| 54 | unsigned short* out, |
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| 55 | const btVector3& point, |
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| 56 | const btVector3 & min_bound, |
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| 57 | const btVector3 & max_bound, |
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| 58 | const btVector3 & bvhQuantization) |
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| 59 | { |
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| 60 | |
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| 61 | btVector3 clampedPoint(point); |
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| 62 | clampedPoint.setMax(min_bound); |
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| 63 | clampedPoint.setMin(max_bound); |
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| 64 | |
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| 65 | btVector3 v = (clampedPoint - min_bound) * bvhQuantization; |
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| 66 | out[0] = (unsigned short)(v.getX()+0.5f); |
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| 67 | out[1] = (unsigned short)(v.getY()+0.5f); |
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| 68 | out[2] = (unsigned short)(v.getZ()+0.5f); |
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| 69 | } |
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| 70 | |
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| 71 | |
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| 72 | SIMD_FORCE_INLINE btVector3 bt_unquantize( |
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| 73 | const unsigned short* vecIn, |
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| 74 | const btVector3 & offset, |
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| 75 | const btVector3 & bvhQuantization) |
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| 76 | { |
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| 77 | btVector3 vecOut; |
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| 78 | vecOut.setValue( |
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| 79 | (btScalar)(vecIn[0]) / (bvhQuantization.getX()), |
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| 80 | (btScalar)(vecIn[1]) / (bvhQuantization.getY()), |
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| 81 | (btScalar)(vecIn[2]) / (bvhQuantization.getZ())); |
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| 82 | vecOut += offset; |
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| 83 | return vecOut; |
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| 84 | } |
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| 85 | |
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| 86 | |
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| 87 | |
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| 88 | #endif // GIM_VECTOR_H_INCLUDED |
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