/usr/include/bullet/Bullet3Collision/NarrowPhaseCollision/shared/b3UpdateAabbs.h is in libbullet-dev 2.87+dfsg-2.
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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 | #ifndef B3_UPDATE_AABBS_H
#define B3_UPDATE_AABBS_H
#include "Bullet3Collision/BroadPhaseCollision/shared/b3Aabb.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3Collidable.h"
#include "Bullet3Collision/NarrowPhaseCollision/shared/b3RigidBodyData.h"
void b3ComputeWorldAabb( int bodyId, __global const b3RigidBodyData_t* bodies, __global const b3Collidable_t* collidables, __global const b3Aabb_t* localShapeAABB, __global b3Aabb_t* worldAabbs)
{
__global const b3RigidBodyData_t* body = &bodies[bodyId];
b3Float4 position = body->m_pos;
b3Quat orientation = body->m_quat;
int collidableIndex = body->m_collidableIdx;
int shapeIndex = collidables[collidableIndex].m_shapeIndex;
if (shapeIndex>=0)
{
b3Aabb_t localAabb = localShapeAABB[collidableIndex];
b3Aabb_t worldAabb;
b3Float4 aabbAMinOut,aabbAMaxOut;
float margin = 0.f;
b3TransformAabb2(localAabb.m_minVec,localAabb.m_maxVec,margin,position,orientation,&aabbAMinOut,&aabbAMaxOut);
worldAabb.m_minVec =aabbAMinOut;
worldAabb.m_minIndices[3] = bodyId;
worldAabb.m_maxVec = aabbAMaxOut;
worldAabb.m_signedMaxIndices[3] = body[bodyId].m_invMass==0.f? 0 : 1;
worldAabbs[bodyId] = worldAabb;
}
}
#endif //B3_UPDATE_AABBS_H
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