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/*
* Copyright (c) 2016-2017, NVIDIA CORPORATION. All rights reserved.
*
* NVIDIA CORPORATION and its licensors retain all intellectual property
* and proprietary rights in and to this software, related documentation
* and any modifications thereto. Any use, reproduction, disclosure or
* distribution of this software and related documentation without an express
* license agreement from NVIDIA CORPORATION is strictly prohibited.
*/
#ifndef NVBLASTGEOMETRY_H
#define NVBLASTGEOMETRY_H
#include "NvBlastTypes.h"
#include "NvBlastMath.h"
#include<limits>
namespace Nv {
namespace Blast{
NV_FORCE_INLINE uint32_t findNodeByPositionLinked(const float point[4],
const uint32_t firstGraphNodeIndex, const uint32_t* familyGraphNodeIndexLinks,
const uint32_t* adjacencyPartition, const uint32_t* adjacentNodeIndices, const uint32_t* adjacentBondIndices,
const NvBlastBond* bonds, const float* bondHealths)
{
uint32_t nodeIndex = firstGraphNodeIndex;
uint32_t closestNode = nodeIndex;
float minDist = std::numeric_limits<float>().max();
while (!Nv::Blast::isInvalidIndex(nodeIndex))
{
const uint32_t startIndex = adjacencyPartition[nodeIndex];
const uint32_t stopIndex = adjacencyPartition[nodeIndex + 1];
for (uint32_t adjacentIndex = startIndex; adjacentIndex < stopIndex; adjacentIndex++)
{
const uint32_t neighbourIndex = adjacentNodeIndices[adjacentIndex];
if (nodeIndex < neighbourIndex)
{
const uint32_t bondIndex = adjacentBondIndices[adjacentIndex];
if (bondHealths[bondIndex] > 0.0f)
{
const NvBlastBond& bond = bonds[bondIndex];
const float* centroid = bond.centroid;
float d[3]; VecMath::sub(point, centroid, d);
float dist = VecMath::dot(d, d);
if (dist < minDist)
{
minDist = dist;
float s = VecMath::dot(d, bond.normal);
closestNode = s < 0 ? nodeIndex : neighbourIndex;
}
}
}
}
nodeIndex = familyGraphNodeIndexLinks[nodeIndex];
}
return closestNode;
}
NV_FORCE_INLINE uint32_t findNodeByPosition(const float point[4],
const uint32_t graphNodesCount, const uint32_t* graphNodeIndices,
const uint32_t* adjacencyPartition, const uint32_t* adjacentNodeIndices, const uint32_t* adjacentBondIndices,
const NvBlastBond* bonds, const float* bondHealths)
{
uint32_t closestNode = graphNodesCount > 2 ? invalidIndex<uint32_t>() : graphNodeIndices[0];
float minDist = std::numeric_limits<float>().max();
for (uint32_t i = 0; i < graphNodesCount; i++)
{
const uint32_t nodeIndex = graphNodeIndices[i];
const uint32_t startIndex = adjacencyPartition[nodeIndex];
const uint32_t stopIndex = adjacencyPartition[nodeIndex + 1];
for (uint32_t adjacentIndex = startIndex; adjacentIndex < stopIndex; adjacentIndex++)
{
const uint32_t bondIndex = adjacentBondIndices[adjacentIndex];
if (bondHealths[bondIndex] > 0.0f)
{
const uint32_t neighbourIndex = adjacentNodeIndices[adjacentIndex];
if (nodeIndex < neighbourIndex)
{
const NvBlastBond& bond = bonds[bondIndex];
const float* centroid = bond.centroid;
float d[3]; VecMath::sub(point, centroid, d);
float dist = VecMath::dot(d, d);
if (dist < minDist)
{
minDist = dist;
float s = VecMath::dot(d, bond.normal);
closestNode = s < 0 ? nodeIndex : neighbourIndex;
}
}
}
}
}
return closestNode;
}
NV_FORCE_INLINE uint32_t findNodeByPosition(const float point[4],
const uint32_t graphNodesCount, const uint32_t* graphNodeIndices,
const NvBlastSupportGraph& graph,
const NvBlastBond* bonds, const float* bondHealths)
{
return findNodeByPosition(point, graphNodesCount, graphNodeIndices, graph.adjacencyPartition, graph.adjacentNodeIndices, graph.adjacentBondIndices, bonds, bondHealths);
}
} // namespace Blast
} // namespace Nv
#endif // NVBLASTGEOMETRY_H
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