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source: code/branches/masterserver2/src/external/bullet/BulletCollision/Gimpact/gim_box_collision.h @ 8740

Last change on this file since 8740 was 5781, checked in by rgrieder, 15 years ago
Reverted trunk again. We might want to find a way to delete these revisions again (x3n's changes are still available as diff in the commit mails).
Property svn:eol-style set to `native`
File size: 16.3 KB

Line
1	#ifndef GIM_BOX_COLLISION_H_INCLUDED
2	#define GIM_BOX_COLLISION_H_INCLUDED
3
4	/*! \file gim_box_collision.h
5	\author Francisco Len Nßjera
6	*/
7	/*
8	-----------------------------------------------------------------------------
9	This source file is part of GIMPACT Library.
10
11	For the latest info, see http://gimpact.sourceforge.net/
12
13	Copyright (c) 2006 Francisco Leon Najera. C.C. 80087371.
14	email: projectileman@yahoo.com
15
16	This library is free software; you can redistribute it and/or
17	modify it under the terms of EITHER:
18	(1) The GNU Lesser General Public License as published by the Free
19	Software Foundation; either version 2.1 of the License, or (at
20	your option) any later version. The text of the GNU Lesser
21	General Public License is included with this library in the
22	file GIMPACT-LICENSE-LGPL.TXT.
23	(2) The BSD-style license that is included with this library in
24	the file GIMPACT-LICENSE-BSD.TXT.
25	(3) The zlib/libpng license that is included with this library in
26	the file GIMPACT-LICENSE-ZLIB.TXT.
27
28	This library is distributed in the hope that it will be useful,
29	but WITHOUT ANY WARRANTY; without even the implied warranty of
30	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files
31	GIMPACT-LICENSE-LGPL.TXT, GIMPACT-LICENSE-ZLIB.TXT and GIMPACT-LICENSE-BSD.TXT for more details.
32
33	-----------------------------------------------------------------------------
34	*/
35	#include "gim_basic_geometry_operations.h"
36	#include "LinearMath/btTransform.h"
37
38
39
40	//SIMD_FORCE_INLINE bool test_cross_edge_box(
41	// const btVector3 & edge,
42	// const btVector3 & absolute_edge,
43	// const btVector3 & pointa,
44	// const btVector3 & pointb, const btVector3 & extend,
45	// int dir_index0,
46	// int dir_index1
47	// int component_index0,
48	// int component_index1)
49	//{
50	// // dir coords are -z and y
51	//
52	// const btScalar dir0 = -edge[dir_index0];
53	// const btScalar dir1 = edge[dir_index1];
54	// btScalar pmin = pointa[component_index0]dir0 + pointa[component_index1]dir1;
55	// btScalar pmax = pointb[component_index0]dir0 + pointb[component_index1]dir1;
56	// //find minmax
57	// if(pmin>pmax)
58	// {
59	// GIM_SWAP_NUMBERS(pmin,pmax);
60	// }
61	// //find extends
62	// const btScalar rad = extend[component_index0] * absolute_edge[dir_index0] +
63	// extend[component_index1] * absolute_edge[dir_index1];
64	//
65	// if(pmin>rad \|\| -rad>pmax) return false;
66	// return true;
67	//}
68	//
69	//SIMD_FORCE_INLINE bool test_cross_edge_box_X_axis(
70	// const btVector3 & edge,
71	// const btVector3 & absolute_edge,
72	// const btVector3 & pointa,
73	// const btVector3 & pointb, btVector3 & extend)
74	//{
75	//
76	// return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,2,1,1,2);
77	//}
78	//
79	//
80	//SIMD_FORCE_INLINE bool test_cross_edge_box_Y_axis(
81	// const btVector3 & edge,
82	// const btVector3 & absolute_edge,
83	// const btVector3 & pointa,
84	// const btVector3 & pointb, btVector3 & extend)
85	//{
86	//
87	// return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,0,2,2,0);
88	//}
89	//
90	//SIMD_FORCE_INLINE bool test_cross_edge_box_Z_axis(
91	// const btVector3 & edge,
92	// const btVector3 & absolute_edge,
93	// const btVector3 & pointa,
94	// const btVector3 & pointb, btVector3 & extend)
95	//{
96	//
97	// return test_cross_edge_box(edge,absolute_edge,pointa,pointb,extend,1,0,0,1);
98	//}
99
100	#define TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,i_dir_0,i_dir_1,i_comp_0,i_comp_1)\
101	{\
102	const btScalar dir0 = -edge[i_dir_0];\
103	const btScalar dir1 = edge[i_dir_1];\
104	btScalar pmin = pointa[i_comp_0]dir0 + pointa[i_comp_1]dir1;\
105	btScalar pmax = pointb[i_comp_0]dir0 + pointb[i_comp_1]dir1;\
106	if(pmin>pmax)\
107	{\
108	GIM_SWAP_NUMBERS(pmin,pmax); \
109	}\
110	const btScalar abs_dir0 = absolute_edge[i_dir_0];\
111	const btScalar abs_dir1 = absolute_edge[i_dir_1];\
112	const btScalar rad = _extend[i_comp_0] * abs_dir0 + _extend[i_comp_1] * abs_dir1;\
113	if(pmin>rad \|\| -rad>pmax) return false;\
114	}\
115
116
117	#define TEST_CROSS_EDGE_BOX_X_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\
118	{\
119	TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,2,1,1,2);\
120	}\
121
122	#define TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\
123	{\
124	TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,0,2,2,0);\
125	}\
126
127	#define TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(edge,absolute_edge,pointa,pointb,_extend)\
128	{\
129	TEST_CROSS_EDGE_BOX_MCR(edge,absolute_edge,pointa,pointb,_extend,1,0,0,1);\
130	}\
131
132
133
134	//! Class for transforming a model1 to the space of model0
135	class GIM_BOX_BOX_TRANSFORM_CACHE
136	{
137	public:
138	btVector3 m_T1to0;//!< Transforms translation of model1 to model 0
139	btMatrix3x3 m_R1to0;//!< Transforms Rotation of model1 to model 0, equal to R0' * R1
140	btMatrix3x3 m_AR;//!< Absolute value of m_R1to0
141
142	SIMD_FORCE_INLINE void calc_absolute_matrix()
143	{
144	static const btVector3 vepsi(1e-6f,1e-6f,1e-6f);
145	m_AR[0] = vepsi + m_R1to0[0].absolute();
146	m_AR[1] = vepsi + m_R1to0[1].absolute();
147	m_AR[2] = vepsi + m_R1to0[2].absolute();
148	}
149
150	GIM_BOX_BOX_TRANSFORM_CACHE()
151	{
152	}
153
154
155	GIM_BOX_BOX_TRANSFORM_CACHE(mat4f trans1_to_0)
156	{
157	COPY_MATRIX_3X3(m_R1to0,trans1_to_0)
158	MAT_GET_TRANSLATION(trans1_to_0,m_T1to0)
159	calc_absolute_matrix();
160	}
161
162	//! Calc the transformation relative 1 to 0. Inverts matrics by transposing
163	SIMD_FORCE_INLINE void calc_from_homogenic(const btTransform & trans0,const btTransform & trans1)
164	{
165
166	m_R1to0 = trans0.getBasis().transpose();
167	m_T1to0 = m_R1to0 * (-trans0.getOrigin());
168
169	m_T1to0 += m_R1to0*trans1.getOrigin();
170	m_R1to0 *= trans1.getBasis();
171
172	calc_absolute_matrix();
173	}
174
175	//! Calcs the full invertion of the matrices. Useful for scaling matrices
176	SIMD_FORCE_INLINE void calc_from_full_invert(const btTransform & trans0,const btTransform & trans1)
177	{
178	m_R1to0 = trans0.getBasis().inverse();
179	m_T1to0 = m_R1to0 * (-trans0.getOrigin());
180
181	m_T1to0 += m_R1to0*trans1.getOrigin();
182	m_R1to0 *= trans1.getBasis();
183
184	calc_absolute_matrix();
185	}
186
187	SIMD_FORCE_INLINE btVector3 transform(const btVector3 & point)
188	{
189	return btVector3(m_R1to0[0].dot(point) + m_T1to0.x(),
190	m_R1to0[1].dot(point) + m_T1to0.y(),
191	m_R1to0[2].dot(point) + m_T1to0.z());
192	}
193	};
194
195
196	#define BOX_PLANE_EPSILON 0.000001f
197
198	//! Axis aligned box
199	class GIM_AABB
200	{
201	public:
202	btVector3 m_min;
203	btVector3 m_max;
204
205	GIM_AABB()
206	{}
207
208
209	GIM_AABB(const btVector3 & V1,
210	const btVector3 & V2,
211	const btVector3 & V3)
212	{
213	m_min[0] = GIM_MIN3(V1[0],V2[0],V3[0]);
214	m_min[1] = GIM_MIN3(V1[1],V2[1],V3[1]);
215	m_min[2] = GIM_MIN3(V1[2],V2[2],V3[2]);
216
217	m_max[0] = GIM_MAX3(V1[0],V2[0],V3[0]);
218	m_max[1] = GIM_MAX3(V1[1],V2[1],V3[1]);
219	m_max[2] = GIM_MAX3(V1[2],V2[2],V3[2]);
220	}
221
222	GIM_AABB(const btVector3 & V1,
223	const btVector3 & V2,
224	const btVector3 & V3,
225	GREAL margin)
226	{
227	m_min[0] = GIM_MIN3(V1[0],V2[0],V3[0]);
228	m_min[1] = GIM_MIN3(V1[1],V2[1],V3[1]);
229	m_min[2] = GIM_MIN3(V1[2],V2[2],V3[2]);
230
231	m_max[0] = GIM_MAX3(V1[0],V2[0],V3[0]);
232	m_max[1] = GIM_MAX3(V1[1],V2[1],V3[1]);
233	m_max[2] = GIM_MAX3(V1[2],V2[2],V3[2]);
234
235	m_min[0] -= margin;
236	m_min[1] -= margin;
237	m_min[2] -= margin;
238	m_max[0] += margin;
239	m_max[1] += margin;
240	m_max[2] += margin;
241	}
242
243	GIM_AABB(const GIM_AABB &other):
244	m_min(other.m_min),m_max(other.m_max)
245	{
246	}
247
248	GIM_AABB(const GIM_AABB &other,btScalar margin ):
249	m_min(other.m_min),m_max(other.m_max)
250	{
251	m_min[0] -= margin;
252	m_min[1] -= margin;
253	m_min[2] -= margin;
254	m_max[0] += margin;
255	m_max[1] += margin;
256	m_max[2] += margin;
257	}
258
259	SIMD_FORCE_INLINE void invalidate()
260	{
261	m_min[0] = G_REAL_INFINITY;
262	m_min[1] = G_REAL_INFINITY;
263	m_min[2] = G_REAL_INFINITY;
264	m_max[0] = -G_REAL_INFINITY;
265	m_max[1] = -G_REAL_INFINITY;
266	m_max[2] = -G_REAL_INFINITY;
267	}
268
269	SIMD_FORCE_INLINE void increment_margin(btScalar margin)
270	{
271	m_min[0] -= margin;
272	m_min[1] -= margin;
273	m_min[2] -= margin;
274	m_max[0] += margin;
275	m_max[1] += margin;
276	m_max[2] += margin;
277	}
278
279	SIMD_FORCE_INLINE void copy_with_margin(const GIM_AABB &other, btScalar margin)
280	{
281	m_min[0] = other.m_min[0] - margin;
282	m_min[1] = other.m_min[1] - margin;
283	m_min[2] = other.m_min[2] - margin;
284
285	m_max[0] = other.m_max[0] + margin;
286	m_max[1] = other.m_max[1] + margin;
287	m_max[2] = other.m_max[2] + margin;
288	}
289
290	template<typename CLASS_POINT>
291	SIMD_FORCE_INLINE void calc_from_triangle(
292	const CLASS_POINT & V1,
293	const CLASS_POINT & V2,
294	const CLASS_POINT & V3)
295	{
296	m_min[0] = GIM_MIN3(V1[0],V2[0],V3[0]);
297	m_min[1] = GIM_MIN3(V1[1],V2[1],V3[1]);
298	m_min[2] = GIM_MIN3(V1[2],V2[2],V3[2]);
299
300	m_max[0] = GIM_MAX3(V1[0],V2[0],V3[0]);
301	m_max[1] = GIM_MAX3(V1[1],V2[1],V3[1]);
302	m_max[2] = GIM_MAX3(V1[2],V2[2],V3[2]);
303	}
304
305	template<typename CLASS_POINT>
306	SIMD_FORCE_INLINE void calc_from_triangle_margin(
307	const CLASS_POINT & V1,
308	const CLASS_POINT & V2,
309	const CLASS_POINT & V3, btScalar margin)
310	{
311	m_min[0] = GIM_MIN3(V1[0],V2[0],V3[0]);
312	m_min[1] = GIM_MIN3(V1[1],V2[1],V3[1]);
313	m_min[2] = GIM_MIN3(V1[2],V2[2],V3[2]);
314
315	m_max[0] = GIM_MAX3(V1[0],V2[0],V3[0]);
316	m_max[1] = GIM_MAX3(V1[1],V2[1],V3[1]);
317	m_max[2] = GIM_MAX3(V1[2],V2[2],V3[2]);
318
319	m_min[0] -= margin;
320	m_min[1] -= margin;
321	m_min[2] -= margin;
322	m_max[0] += margin;
323	m_max[1] += margin;
324	m_max[2] += margin;
325	}
326
327	//! Apply a transform to an AABB
328	SIMD_FORCE_INLINE void appy_transform(const btTransform & trans)
329	{
330	btVector3 center = (m_max+m_min)*0.5f;
331	btVector3 extends = m_max - center;
332	// Compute new center
333	center = trans(center);
334
335	btVector3 textends(extends.dot(trans.getBasis().getRow(0).absolute()),
336	extends.dot(trans.getBasis().getRow(1).absolute()),
337	extends.dot(trans.getBasis().getRow(2).absolute()));
338
339	m_min = center - textends;
340	m_max = center + textends;
341	}
342
343	//! Merges a Box
344	SIMD_FORCE_INLINE void merge(const GIM_AABB & box)
345	{
346	m_min[0] = GIM_MIN(m_min[0],box.m_min[0]);
347	m_min[1] = GIM_MIN(m_min[1],box.m_min[1]);
348	m_min[2] = GIM_MIN(m_min[2],box.m_min[2]);
349
350	m_max[0] = GIM_MAX(m_max[0],box.m_max[0]);
351	m_max[1] = GIM_MAX(m_max[1],box.m_max[1]);
352	m_max[2] = GIM_MAX(m_max[2],box.m_max[2]);
353	}
354
355	//! Merges a point
356	template<typename CLASS_POINT>
357	SIMD_FORCE_INLINE void merge_point(const CLASS_POINT & point)
358	{
359	m_min[0] = GIM_MIN(m_min[0],point[0]);
360	m_min[1] = GIM_MIN(m_min[1],point[1]);
361	m_min[2] = GIM_MIN(m_min[2],point[2]);
362
363	m_max[0] = GIM_MAX(m_max[0],point[0]);
364	m_max[1] = GIM_MAX(m_max[1],point[1]);
365	m_max[2] = GIM_MAX(m_max[2],point[2]);
366	}
367
368	//! Gets the extend and center
369	SIMD_FORCE_INLINE void get_center_extend(btVector3 & center,btVector3 & extend) const
370	{
371	center = (m_max+m_min)*0.5f;
372	extend = m_max - center;
373	}
374
375	//! Finds the intersecting box between this box and the other.
376	SIMD_FORCE_INLINE void find_intersection(const GIM_AABB & other, GIM_AABB & intersection) const
377	{
378	intersection.m_min[0] = GIM_MAX(other.m_min[0],m_min[0]);
379	intersection.m_min[1] = GIM_MAX(other.m_min[1],m_min[1]);
380	intersection.m_min[2] = GIM_MAX(other.m_min[2],m_min[2]);
381
382	intersection.m_max[0] = GIM_MIN(other.m_max[0],m_max[0]);
383	intersection.m_max[1] = GIM_MIN(other.m_max[1],m_max[1]);
384	intersection.m_max[2] = GIM_MIN(other.m_max[2],m_max[2]);
385	}
386
387
388	SIMD_FORCE_INLINE bool has_collision(const GIM_AABB & other) const
389	{
390	if(m_min[0] > other.m_max[0] \|\|
391	m_max[0] < other.m_min[0] \|\|
392	m_min[1] > other.m_max[1] \|\|
393	m_max[1] < other.m_min[1] \|\|
394	m_min[2] > other.m_max[2] \|\|
395	m_max[2] < other.m_min[2])
396	{
397	return false;
398	}
399	return true;
400	}
401
402	/*! \brief Finds the Ray intersection parameter.
403	\param aabb Aligned box
404	\param vorigin A vec3f with the origin of the ray
405	\param vdir A vec3f with the direction of the ray
406	*/
407	SIMD_FORCE_INLINE bool collide_ray(const btVector3 & vorigin,const btVector3 & vdir)
408	{
409	btVector3 extents,center;
410	this->get_center_extend(center,extents);;
411
412	btScalar Dx = vorigin[0] - center[0];
413	if(GIM_GREATER(Dx, extents[0]) && Dx*vdir[0]>=0.0f) return false;
414	btScalar Dy = vorigin[1] - center[1];
415	if(GIM_GREATER(Dy, extents[1]) && Dy*vdir[1]>=0.0f) return false;
416	btScalar Dz = vorigin[2] - center[2];
417	if(GIM_GREATER(Dz, extents[2]) && Dz*vdir[2]>=0.0f) return false;
418
419
420	btScalar f = vdir[1] * Dz - vdir[2] * Dy;
421	if(btFabs(f) > extents[1]btFabs(vdir[2]) + extents[2]btFabs(vdir[1])) return false;
422	f = vdir[2] * Dx - vdir[0] * Dz;
423	if(btFabs(f) > extents[0]btFabs(vdir[2]) + extents[2]btFabs(vdir[0]))return false;
424	f = vdir[0] * Dy - vdir[1] * Dx;
425	if(btFabs(f) > extents[0]btFabs(vdir[1]) + extents[1]btFabs(vdir[0]))return false;
426	return true;
427	}
428
429
430	SIMD_FORCE_INLINE void projection_interval(const btVector3 & direction, btScalar &vmin, btScalar &vmax) const
431	{
432	btVector3 center = (m_max+m_min)*0.5f;
433	btVector3 extend = m_max-center;
434
435	btScalar _fOrigin = direction.dot(center);
436	btScalar _fMaximumExtent = extend.dot(direction.absolute());
437	vmin = _fOrigin - _fMaximumExtent;
438	vmax = _fOrigin + _fMaximumExtent;
439	}
440
441	SIMD_FORCE_INLINE ePLANE_INTERSECTION_TYPE plane_classify(const btVector4 &plane) const
442	{
443	btScalar _fmin,_fmax;
444	this->projection_interval(plane,_fmin,_fmax);
445
446	if(plane[3] > _fmax + BOX_PLANE_EPSILON)
447	{
448	return G_BACK_PLANE; // 0
449	}
450
451	if(plane[3]+BOX_PLANE_EPSILON >=_fmin)
452	{
453	return G_COLLIDE_PLANE; //1
454	}
455	return G_FRONT_PLANE;//2
456	}
457
458	SIMD_FORCE_INLINE bool overlapping_trans_conservative(const GIM_AABB & box, btTransform & trans1_to_0)
459	{
460	GIM_AABB tbox = box;
461	tbox.appy_transform(trans1_to_0);
462	return has_collision(tbox);
463	}
464
465	//! transcache is the transformation cache from box to this AABB
466	SIMD_FORCE_INLINE bool overlapping_trans_cache(
467	const GIM_AABB & box,const GIM_BOX_BOX_TRANSFORM_CACHE & transcache, bool fulltest)
468	{
469
470	//Taken from OPCODE
471	btVector3 ea,eb;//extends
472	btVector3 ca,cb;//extends
473	get_center_extend(ca,ea);
474	box.get_center_extend(cb,eb);
475
476
477	btVector3 T;
478	btScalar t,t2;
479	int i;
480
481	// Class I : A's basis vectors
482	for(i=0;i<3;i++)
483	{
484	T[i] = transcache.m_R1to0[i].dot(cb) + transcache.m_T1to0[i] - ca[i];
485	t = transcache.m_AR[i].dot(eb) + ea[i];
486	if(GIM_GREATER(T[i], t)) return false;
487	}
488	// Class II : B's basis vectors
489	for(i=0;i<3;i++)
490	{
491	t = MAT_DOT_COL(transcache.m_R1to0,T,i);
492	t2 = MAT_DOT_COL(transcache.m_AR,ea,i) + eb[i];
493	if(GIM_GREATER(t,t2)) return false;
494	}
495	// Class III : 9 cross products
496	if(fulltest)
497	{
498	int j,m,n,o,p,q,r;
499	for(i=0;i<3;i++)
500	{
501	m = (i+1)%3;
502	n = (i+2)%3;
503	o = i==0?1:0;
504	p = i==2?1:2;
505	for(j=0;j<3;j++)
506	{
507	q = j==2?1:2;
508	r = j==0?1:0;
509	t = T[n]transcache.m_R1to0[m][j] - T[m]transcache.m_R1to0[n][j];
510	t2 = ea[o]transcache.m_AR[p][j] + ea[p]transcache.m_AR[o][j] +
511	eb[r]transcache.m_AR[i][q] + eb[q]transcache.m_AR[i][r];
512	if(GIM_GREATER(t,t2)) return false;
513	}
514	}
515	}
516	return true;
517	}
518
519	//! Simple test for planes.
520	SIMD_FORCE_INLINE bool collide_plane(
521	const btVector4 & plane)
522	{
523	ePLANE_INTERSECTION_TYPE classify = plane_classify(plane);
524	return (classify == G_COLLIDE_PLANE);
525	}
526
527	//! test for a triangle, with edges
528	SIMD_FORCE_INLINE bool collide_triangle_exact(
529	const btVector3 & p1,
530	const btVector3 & p2,
531	const btVector3 & p3,
532	const btVector4 & triangle_plane)
533	{
534	if(!collide_plane(triangle_plane)) return false;
535
536	btVector3 center,extends;
537	this->get_center_extend(center,extends);
538
539	const btVector3 v1(p1 - center);
540	const btVector3 v2(p2 - center);
541	const btVector3 v3(p3 - center);
542
543	//First axis
544	btVector3 diff(v2 - v1);
545	btVector3 abs_diff = diff.absolute();
546	//Test With X axis
547	TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v1,v3,extends);
548	//Test With Y axis
549	TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v1,v3,extends);
550	//Test With Z axis
551	TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v1,v3,extends);
552
553
554	diff = v3 - v2;
555	abs_diff = diff.absolute();
556	//Test With X axis
557	TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v2,v1,extends);
558	//Test With Y axis
559	TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v2,v1,extends);
560	//Test With Z axis
561	TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v2,v1,extends);
562
563	diff = v1 - v3;
564	abs_diff = diff.absolute();
565	//Test With X axis
566	TEST_CROSS_EDGE_BOX_X_AXIS_MCR(diff,abs_diff,v3,v2,extends);
567	//Test With Y axis
568	TEST_CROSS_EDGE_BOX_Y_AXIS_MCR(diff,abs_diff,v3,v2,extends);
569	//Test With Z axis
570	TEST_CROSS_EDGE_BOX_Z_AXIS_MCR(diff,abs_diff,v3,v2,extends);
571
572	return true;
573	}
574	};
575
576
577	//! Compairison of transformation objects
578	SIMD_FORCE_INLINE bool btCompareTransformsEqual(const btTransform & t1,const btTransform & t2)
579	{
580	if(!(t1.getOrigin() == t2.getOrigin()) ) return false;
581
582	if(!(t1.getBasis().getRow(0) == t2.getBasis().getRow(0)) ) return false;
583	if(!(t1.getBasis().getRow(1) == t2.getBasis().getRow(1)) ) return false;
584	if(!(t1.getBasis().getRow(2) == t2.getBasis().getRow(2)) ) return false;
585	return true;
586	}
587
588
589
590	#endif // GIM_BOX_COLLISION_H_INCLUDED

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