upgrade Filament to v1.41

ios/include/filament/Box.h

@@ -104,22 +104,24 @@ public:
     }
 
     /**
-     * Computes the bounding box of a box transformed by a rigid transform
+     * Transform a Box by a linear transform and a translation.
+     *
+     * @param m a 3x3 matrix, the linear transform
+     * @param t a float3, the translation
      * @param box the box to transform
-     * @param m a 4x4 matrix that must be a rigid transform
-     * @return the bounding box of the transformed box.
-     *         Result is undefined if \p m is not a rigid transform
+     * @return the bounding box of the transformed box
      */
-    friend Box rigidTransform(Box const& box, const math::mat4f& m) noexcept;
+    static Box transform(const math::mat3f& m, math::float3 const& t, const Box& box) noexcept {
+        return { m * box.center + t, abs(m) * box.halfExtent };
+    }
 
     /**
-     * Computes the bounding box of a box transformed by a rigid transform
-     * @param box the box to transform
-     * @param m a 3x3 matrix that must be a rigid transform
-     * @return the bounding box of the transformed box.
-     *         Result is undefined if \p m is not a rigid transform
+     * @deprecated Use transform() instead
+     * @see transform()
      */
-    friend Box rigidTransform(Box const& box, const math::mat3f& m) noexcept;
+    friend Box rigidTransform(Box const& box, const math::mat4f& m) noexcept {
+        return transform(m.upperLeft(), m[3].xyz, box);
+    }
 };
 
 /**
@@ -174,7 +176,18 @@ struct UTILS_PUBLIC Aabb {
     /**
      * Returns the 8 corner vertices of the AABB.
      */
-    Corners getCorners() const;
+    Corners getCorners() const {
+        return Aabb::Corners{ .vertices = {
+                { min.x, min.y, min.z },
+                { max.x, min.y, min.z },
+                { min.x, max.y, min.z },
+                { max.x, max.y, min.z },
+                { min.x, min.y, max.z },
+                { max.x, min.y, max.z },
+                { min.x, max.y, max.z },
+                { max.x, max.y, max.z },
+        }};
+    }
 
     /**
      * Returns whether the box contains a given point.
@@ -182,15 +195,44 @@ struct UTILS_PUBLIC Aabb {
      * @param p the point to test
      * @return the maximum signed distance to the box. Negative if p is in the box
      */
-    float contains(math::float3 p) const noexcept;
+    float contains(math::float3 p) const noexcept {
+        float d = min.x - p.x;
+        d = std::max(d, min.y - p.y);
+        d = std::max(d, min.z - p.z);
+        d = std::max(d, p.x - max.x);
+        d = std::max(d, p.y - max.y);
+        d = std::max(d, p.z - max.z);
+        return d;
+    }
 
     /**
      * Applies an affine transformation to the AABB.
      *
-     * @param m the 4x4 transformation to apply
+     * @param m the 3x3 transformation to apply
+     * @param t the translation
      * @return the transformed box
      */
-    Aabb transform(const math::mat4f& m) const noexcept;
+    static Aabb transform(const math::mat3f& m, math::float3 const& t, const Aabb& box) noexcept {
+        // Fast AABB transformation per Jim Arvo in Graphics Gems (1990).
+        Aabb result{ t, t };
+        for (size_t col = 0; col < 3; ++col) {
+            for (size_t row = 0; row < 3; ++row) {
+                const float a = m[col][row] * box.min[col];
+                const float b = m[col][row] * box.max[col];
+                result.min[row] += a < b ? a : b;
+                result.max[row] += a < b ? b : a;
+            }
+        }
+        return result;
+    }
+
+    /**
+     * @deprecated Use transform() instead
+     * @see transform()
+     */
+    Aabb transform(const math::mat4f& m) const noexcept {
+        return transform(m.upperLeft(), m[3].xyz, *this);
+    }
 };
 
 } // namespace filament