/**
This routine is basically determining the gridpoint indices for a given
input vector, answering the question: "which gridpoint is closest to the
provided point?".
"with clamp" means that we restrict the point to be in the heightfield's
axis-aligned bounding box.
*/
void btHeightfieldTerrainShape::quantizeWithClamp(int* out, const btVector3& point,int /*isMax*/) const
{
btVector3 clampedPoint(point);
clampedPoint.setMax(m_localAabbMin);
clampedPoint.setMin(m_localAabbMax);
out[0] = getQuantized(clampedPoint.getX());
out[1] = getQuantized(clampedPoint.getY());
out[2] = getQuantized(clampedPoint.getZ());
}
void btHeightfieldTerrainShape::quantizeWithClamp(int* out, const btVector3& point,int /*isMax*/) const
{
btVector3 clampedPoint(point);
clampedPoint.setMax(m_localAabbMin);
clampedPoint.setMin(m_localAabbMax);
btVector3 v = (clampedPoint);// - m_bvhAabbMin) * m_bvhQuantization;
//TODO: optimization: check out how to removed this btFabs
out[0] = (int)(v.getX() + v.getX() / btFabs(v.getX())* btScalar(0.5) );
out[1] = (int)(v.getY() + v.getY() / btFabs(v.getY())* btScalar(0.5) );
out[2] = (int)(v.getZ() + v.getZ() / btFabs(v.getZ())* btScalar(0.5) );
}
void AxisSweep3::Quantize(unsigned short* out, const SimdPoint3& point, int isMax) const
{
SimdPoint3 clampedPoint(point);
/*
if (isMax)
clampedPoint += SimdVector3(10,10,10);
else
{
clampedPoint -= SimdVector3(10,10,10);
}
*/
clampedPoint.setMax(m_worldAabbMin);
clampedPoint.setMin(m_worldAabbMax);
SimdVector3 v = (clampedPoint - m_worldAabbMin) * m_quantize;
out[0] = (unsigned short)(((int)v.getX() & 0xfffc) | isMax);
out[1] = (unsigned short)(((int)v.getY() & 0xfffc) | isMax);
out[2] = (unsigned short)(((int)v.getZ() & 0xfffc) | isMax);
}
