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<a href="_nv_blast_geometry_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">// This code contains NVIDIA Confidential Information and is disclosed to you</span></div><div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">// under a form of NVIDIA software license agreement provided separately to you.</span></div><div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">//</span></div><div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">// Notice</span></div><div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">// NVIDIA Corporation and its licensors retain all intellectual property and</span></div><div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">// proprietary rights in and to this software and related documentation and</span></div><div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">// any modifications thereto. Any use, reproduction, disclosure, or</span></div><div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">// distribution of this software and related documentation without an express</span></div><div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment">// license agreement from NVIDIA Corporation is strictly prohibited.</span></div><div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment">//</span></div><div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment">// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES</span></div><div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment">// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO</span></div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment">// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,</span></div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment">// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.</span></div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment">//</span></div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment">// Information and code furnished is believed to be accurate and reliable.</span></div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment">// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such</span></div><div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment">// information or for any infringement of patents or other rights of third parties that may</span></div><div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment">// result from its use. No license is granted by implication or otherwise under any patent</span></div><div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment">// or patent rights of NVIDIA Corporation. Details are subject to change without notice.</span></div><div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment">// This code supersedes and replaces all information previously supplied.</span></div><div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment">// NVIDIA Corporation products are not authorized for use as critical</span></div><div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment">// components in life support devices or systems without express written approval of</span></div><div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment">// NVIDIA Corporation.</span></div><div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment">//</span></div><div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment">// Copyright (c) 2016-2020 NVIDIA Corporation. All rights reserved.</span></div><div class="line"><a name="l00027"></a><span class="lineno"> 27</span> </div><div class="line"><a name="l00028"></a><span class="lineno"> 28</span> </div><div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="preprocessor">#ifndef NVBLASTGEOMETRY_H</span></div><div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="preprocessor">#define NVBLASTGEOMETRY_H</span></div><div class="line"><a name="l00031"></a><span class="lineno"> 31</span> </div><div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="preprocessor">#include "<a class="code" href="_nv_blast_types_8h.html">NvBlastTypes.h</a>"</span></div><div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="preprocessor">#include "<a class="code" href="_nv_blast_math_8h.html">NvBlastMath.h</a>"</span></div><div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="preprocessor">#include "<a class="code" href="_nv_blast_assert_8h.html">NvBlastAssert.h</a>"</span></div><div class="line"><a name="l00035"></a><span class="lineno"> 35</span> </div><div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="preprocessor">#include <limits></span></div><div class="line"><a name="l00037"></a><span class="lineno"> 37</span> </div><div class="line"><a name="l00038"></a><span class="lineno"> 38</span> </div><div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="keyword">namespace </span><a class="code" href="namespace_nv.html">Nv</a> {</div><div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="keyword">namespace </span>Blast{</div><div class="line"><a name="l00041"></a><span class="lineno"> 41</span> </div><div class="line"><a name="l00042"></a><span class="lineno"> 42</span> </div><div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="namespace_nv_1_1_blast.html#a174a03926806454cd726b130462606b0"> 62</a></span> <a class="code" href="group__foundation.html#gae9e06fb68b9ca307fa4377186da9052e">NV_FORCE_INLINE</a> uint32_t <a class="code" href="namespace_nv_1_1_blast.html#a174a03926806454cd726b130462606b0">findClosestNode</a>(<span class="keyword">const</span> <span class="keywordtype">float</span> point[4], </div><div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="keyword">const</span> uint32_t firstGraphNodeIndex, <span class="keyword">const</span> uint32_t* familyGraphNodeIndexLinks,</div><div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <span class="keyword">const</span> uint32_t* adjacencyPartition, <span class="keyword">const</span> uint32_t* adjacentNodeIndices, <span class="keyword">const</span> uint32_t* adjacentBondIndices,</div><div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <span class="keyword">const</span> <a class="code" href="struct_nv_blast_bond.html">NvBlastBond</a>* assetBonds, <span class="keyword">const</span> <span class="keywordtype">float</span>* bondHealths,</div><div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <span class="keyword">const</span> <a class="code" href="struct_nv_blast_chunk.html">NvBlastChunk</a>* assetChunks, <span class="keyword">const</span> <span class="keywordtype">float</span>* supportChunkHealths, <span class="keyword">const</span> uint32_t* chunkIndices)</div><div class="line"><a name="l00067"></a><span class="lineno"> 67</span> {</div><div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <span class="comment">// firstGraphNodeIndex could still be the world chunk, however</span></div><div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="comment">// there should be no way a single-node actor that is just the world chunk exists.</span></div><div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  uint32_t nodeIndex = firstGraphNodeIndex;</div><div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="comment">// Since there should always be a regular chunk in the graph, it is possible to initialize closestNode</span></div><div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="comment">// as world chunk index but it would always evaluate to some meaningful node index eventually.</span></div><div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  uint32_t closestNode = nodeIndex;</div><div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <span class="keywordtype">float</span> minDist = std::numeric_limits<float>().max();</div><div class="line"><a name="l00075"></a><span class="lineno"> 75</span> </div><div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="comment">// find the closest healthy chunk in the graph by its centroid to point distance</span></div><div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <span class="keywordflow">while</span> (!<a class="code" href="namespace_nv_1_1_blast.html#a957511eee89321883f3507e0cd310a41">Nv::Blast::isInvalidIndex</a>(nodeIndex))</div><div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  {</div><div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <span class="keywordflow">if</span> (supportChunkHealths[nodeIndex] > 0.0f)</div><div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  {</div><div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  uint32_t chunkIndex = chunkIndices[nodeIndex];</div><div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="keywordflow">if</span> (!<a class="code" href="namespace_nv_1_1_blast.html#a957511eee89321883f3507e0cd310a41">isInvalidIndex</a>(chunkIndex)) <span class="comment">// Invalid if this is the world chunk</span></div><div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  {</div><div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="keyword">const</span> <a class="code" href="struct_nv_blast_chunk.html">NvBlastChunk</a>& chunk = assetChunks[chunkIndex];</div><div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="keyword">const</span> <span class="keywordtype">float</span>* centroid = chunk.<a class="code" href="struct_nv_blast_chunk.html#a3c8c4522d0fdde5d38f59509aa2333d2">centroid</a>;</div><div class="line"><a name="l00086"></a><span class="lineno"> 86</span> </div><div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <span class="keywordtype">float</span> d[3]; <a class="code" href="namespace_nv_1_1_blast_1_1_vec_math.html#a1da912deb1046ef7afc447a170f9a1a4">VecMath::sub</a>(point, centroid, d);</div><div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <span class="keywordtype">float</span> <a class="code" href="namespace_nv_1_1_blast_1_1_vec_math.html#a977e74623adf1a08686f4dc5a6f241bc">dist</a> = <a class="code" href="namespace_nv_1_1_blast_1_1_vec_math.html#a91266f20b4a3e7658eedf69ec1f311f4">VecMath::dot</a>(d, d);</div><div class="line"><a name="l00089"></a><span class="lineno"> 89</span> </div><div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <span class="keywordflow">if</span> (dist < minDist)</div><div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  {</div><div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  minDist = <a class="code" href="namespace_nv_1_1_blast_1_1_vec_math.html#a977e74623adf1a08686f4dc5a6f241bc">dist</a>;</div><div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  closestNode = nodeIndex;</div><div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  }</div><div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  }</div><div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  }</div><div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  nodeIndex = familyGraphNodeIndexLinks[nodeIndex];</div><div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  }</div><div class="line"><a name="l00099"></a><span class="lineno"> 99</span> </div><div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <span class="comment">// as long as the world chunk is not input as a single-node graph actor</span></div><div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <a class="code" href="_nv_blast_assert_8h.html#a2b179fca67cdb57b12b65e33fe3f6c93">NVBLAST_ASSERT</a>(!<a class="code" href="namespace_nv_1_1_blast.html#a957511eee89321883f3507e0cd310a41">isInvalidIndex</a>(chunkIndices[closestNode]));</div><div class="line"><a name="l00102"></a><span class="lineno"> 102</span> </div><div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <span class="keywordtype">bool</span> iterateOnBonds = <span class="keyword">true</span>;</div><div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <span class="keywordflow">if</span> (iterateOnBonds)</div><div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  {</div><div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  <span class="comment">// improve geometric accuracy by looking on which side of the closest bond the point lies</span></div><div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <span class="comment">// expects bond normals to point from the smaller to the larger node index</span></div><div class="line"><a name="l00108"></a><span class="lineno"> 108</span> </div><div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  nodeIndex = closestNode;</div><div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  minDist = std::numeric_limits<float>().max();</div><div class="line"><a name="l00111"></a><span class="lineno"> 111</span> </div><div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <span class="keyword">const</span> uint32_t startIndex = adjacencyPartition[nodeIndex];</div><div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <span class="keyword">const</span> uint32_t stopIndex = adjacencyPartition[nodeIndex + 1];</div><div class="line"><a name="l00114"></a><span class="lineno"> 114</span> </div><div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <span class="keywordflow">for</span> (uint32_t adjacentIndex = startIndex; adjacentIndex < stopIndex; adjacentIndex++)</div><div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  {</div><div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  <span class="keyword">const</span> uint32_t neighbourIndex = adjacentNodeIndices[adjacentIndex];</div><div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  <span class="keyword">const</span> uint32_t neighbourChunk = chunkIndices[neighbourIndex];</div><div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  <span class="keywordflow">if</span> (!<a class="code" href="namespace_nv_1_1_blast.html#a957511eee89321883f3507e0cd310a41">isInvalidIndex</a>(neighbourChunk)) <span class="comment">// Invalid if neighbor is the world chunk</span></div><div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  {</div><div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  <span class="keyword">const</span> uint32_t bondIndex = adjacentBondIndices[adjacentIndex];</div><div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  <span class="comment">// do not follow broken bonds, since it means that neighbor is not actually connected in the graph</span></div><div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <span class="keywordflow">if</span> (bondHealths[bondIndex] > 0.0f && supportChunkHealths[neighbourIndex] > 0.0f)</div><div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  {</div><div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  <span class="keyword">const</span> <a class="code" href="struct_nv_blast_bond.html">NvBlastBond</a>& bond = assetBonds[bondIndex];</div><div class="line"><a name="l00126"></a><span class="lineno"> 126</span> </div><div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  <span class="keyword">const</span> <span class="keywordtype">float</span>* centroid = bond.<a class="code" href="struct_nv_blast_bond.html#a0b9fdf36eb1288c8d26d2549b68df5c6">centroid</a>;</div><div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  <span class="keywordtype">float</span> d[3]; <a class="code" href="namespace_nv_1_1_blast_1_1_vec_math.html#a1da912deb1046ef7afc447a170f9a1a4">VecMath::sub</a>(point, centroid, d);</div><div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  <span class="keywordtype">float</span> <a class="code" href="namespace_nv_1_1_blast_1_1_vec_math.html#a977e74623adf1a08686f4dc5a6f241bc">dist</a> = <a class="code" href="namespace_nv_1_1_blast_1_1_vec_math.html#a91266f20b4a3e7658eedf69ec1f311f4">VecMath::dot</a>(d, d);</div><div class="line"><a name="l00130"></a><span class="lineno"> 130</span> </div><div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  <span class="keywordflow">if</span> (dist < minDist)</div><div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  {</div><div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  minDist = <a class="code" href="namespace_nv_1_1_blast_1_1_vec_math.html#a977e74623adf1a08686f4dc5a6f241bc">dist</a>;</div><div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  <span class="keywordtype">float</span> s = <a class="code" href="namespace_nv_1_1_blast_1_1_vec_math.html#a91266f20b4a3e7658eedf69ec1f311f4">VecMath::dot</a>(d, bond.<a class="code" href="struct_nv_blast_bond.html#a3e8b8dd2ac2634098df7c1475ee6171d">normal</a>);</div><div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  <span class="keywordflow">if</span> (nodeIndex < neighbourIndex)</div><div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  {</div><div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  closestNode = s < 0.0f ? nodeIndex : neighbourIndex;</div><div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  }</div><div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  <span class="keywordflow">else</span></div><div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  {</div><div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  closestNode = s < 0.0f ? neighbourIndex : nodeIndex;</div><div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  }</div><div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  }</div><div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  }</div><div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  }</div><div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  }</div><div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  }</div><div class="line"><a name="l00148"></a><span class="lineno"> 148</span> </div><div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  <span class="keywordflow">return</span> closestNode;</div><div class="line"><a name="l00150"></a><span class="lineno"> 150</span> }</div><div class="line"><a name="l00151"></a><span class="lineno"> 151</span> </div><div class="line"><a name="l00152"></a><span class="lineno"> 152</span> </div><div class="line"><a name="l00171"></a><span class="lineno"><a class="line" href="namespace_nv_1_1_blast.html#a0ce4dc5d3f1f248d05a6b699ccaa68b9"> 171</a></span> <a class="code" href="group__foundation.html#gae9e06fb68b9ca307fa4377186da9052e">NV_FORCE_INLINE</a> uint32_t <a class="code" href="namespace_nv_1_1_blast.html#a174a03926806454cd726b130462606b0">findClosestNode</a>(<span class="keyword">const</span> <span class="keywordtype">float</span> point[4],</div><div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  <span class="keyword">const</span> uint32_t firstGraphNodeIndex, <span class="keyword">const</span> uint32_t* familyGraphNodeIndexLinks,</div><div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  <span class="keyword">const</span> uint32_t* adjacencyPartition, <span class="keyword">const</span> uint32_t* adjacentNodeIndices, <span class="keyword">const</span> uint32_t* adjacentBondIndices,</div><div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  <span class="keyword">const</span> <a class="code" href="struct_nv_blast_bond.html">NvBlastBond</a>* bonds, <span class="keyword">const</span> <span class="keywordtype">float</span>* bondHealths, <span class="keyword">const</span> uint32_t* chunkIndices)</div><div class="line"><a name="l00175"></a><span class="lineno"> 175</span> {</div><div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  <span class="comment">// firstGraphNodeIndex could still be the world chunk, however</span></div><div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  <span class="comment">// there should be no way a single-node actor that is just the world chunk exists.</span></div><div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  uint32_t nodeIndex = firstGraphNodeIndex;</div><div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  <span class="comment">// Since there should always be a regular chunk in the graph, it is possible to initialize closestNode</span></div><div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  <span class="comment">// as world chunk index but it would always evaluate to some meaningful node index eventually.</span></div><div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  uint32_t closestNode = nodeIndex;</div><div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  <span class="keywordtype">float</span> minDist = std::numeric_limits<float>().max();</div><div class="line"><a name="l00183"></a><span class="lineno"> 183</span> </div><div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  <span class="keywordflow">while</span> (!<a class="code" href="namespace_nv_1_1_blast.html#a957511eee89321883f3507e0cd310a41">Nv::Blast::isInvalidIndex</a>(nodeIndex))</div><div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  {</div><div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  <span class="keyword">const</span> uint32_t startIndex = adjacencyPartition[nodeIndex];</div><div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  <span class="keyword">const</span> uint32_t stopIndex = adjacencyPartition[nodeIndex + 1];</div><div class="line"><a name="l00188"></a><span class="lineno"> 188</span> </div><div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  <span class="keywordflow">for</span> (uint32_t adjacentIndex = startIndex; adjacentIndex < stopIndex; adjacentIndex++)</div><div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  {</div><div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  <span class="keyword">const</span> uint32_t neighbourIndex = adjacentNodeIndices[adjacentIndex];</div><div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  <span class="keywordflow">if</span> (nodeIndex < neighbourIndex)</div><div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  {</div><div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  <span class="keyword">const</span> uint32_t bondIndex = adjacentBondIndices[adjacentIndex];</div><div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  <span class="keywordflow">if</span> (bondHealths[bondIndex] > 0.0f)</div><div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  {</div><div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  <span class="keyword">const</span> <a class="code" href="struct_nv_blast_bond.html">NvBlastBond</a>& bond = bonds[bondIndex];</div><div class="line"><a name="l00198"></a><span class="lineno"> 198</span> </div><div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  <span class="keyword">const</span> <span class="keywordtype">float</span>* centroid = bond.<a class="code" href="struct_nv_blast_bond.html#a0b9fdf36eb1288c8d26d2549b68df5c6">centroid</a>;</div><div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  <span class="keywordtype">float</span> d[3]; <a class="code" href="namespace_nv_1_1_blast_1_1_vec_math.html#a1da912deb1046ef7afc447a170f9a1a4">VecMath::sub</a>(point, centroid, d);</div><div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  <span class="keywordtype">float</span> <a class="code" href="namespace_nv_1_1_blast_1_1_vec_math.html#a977e74623adf1a08686f4dc5a6f241bc">dist</a> = <a class="code" href="namespace_nv_1_1_blast_1_1_vec_math.html#a91266f20b4a3e7658eedf69ec1f311f4">VecMath::dot</a>(d, d);</div><div class="line"><a name="l00202"></a><span class="lineno"> 202</span> </div><div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  <span class="keywordflow">if</span> (dist < minDist)</div><div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  {</div><div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  minDist = <a class="code" href="namespace_nv_1_1_blast_1_1_vec_math.html#a977e74623adf1a08686f4dc5a6f241bc">dist</a>;</div><div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  <span class="comment">// if any of the nodes is the world chunk, use the valid one instead</span></div><div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  <span class="keywordflow">if</span> (<a class="code" href="namespace_nv_1_1_blast.html#a957511eee89321883f3507e0cd310a41">isInvalidIndex</a>(chunkIndices[neighbourIndex]))</div><div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  {</div><div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  closestNode = nodeIndex;</div><div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  }</div><div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (<a class="code" href="namespace_nv_1_1_blast.html#a957511eee89321883f3507e0cd310a41">isInvalidIndex</a>(chunkIndices[nodeIndex]))</div><div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  {</div><div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  closestNode = neighbourIndex;</div><div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  }</div><div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  <span class="keywordflow">else</span></div><div class="line"><a name="l00216"></a><span class="lineno"> 216</span>  {</div><div class="line"><a name="l00217"></a><span class="lineno"> 217</span>  <span class="keywordtype">float</span> s = <a class="code" href="namespace_nv_1_1_blast_1_1_vec_math.html#a91266f20b4a3e7658eedf69ec1f311f4">VecMath::dot</a>(d, bond.<a class="code" href="struct_nv_blast_bond.html#a3e8b8dd2ac2634098df7c1475ee6171d">normal</a>);</div><div class="line"><a name="l00218"></a><span class="lineno"> 218</span>  closestNode = s < 0 ? nodeIndex : neighbourIndex;</div><div class="line"><a name="l00219"></a><span class="lineno"> 219</span>  }</div><div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  }</div><div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  }</div><div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  }</div><div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  }</div><div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  nodeIndex = familyGraphNodeIndexLinks[nodeIndex];</div><div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  }</div><div class="line"><a name="l00226"></a><span class="lineno"> 226</span> </div><div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  <span class="comment">// as long as the world chunk is not input as a single-node graph actor</span></div><div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  <a class="code" href="_nv_blast_assert_8h.html#a2b179fca67cdb57b12b65e33fe3f6c93">NVBLAST_ASSERT</a>(!<a class="code" href="namespace_nv_1_1_blast.html#a957511eee89321883f3507e0cd310a41">isInvalidIndex</a>(chunkIndices[closestNode]));</div><div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  <span class="keywordflow">return</span> closestNode;</div><div class="line"><a name="l00230"></a><span class="lineno"> 230</span> }</div><div class="line"><a name="l00231"></a><span class="lineno"> 231</span> </div><div class="line"><a name="l00232"></a><span class="lineno"> 232</span> </div><div class="line"><a name="l00233"></a><span class="lineno"> 233</span> } <span class="comment">// namespace Blast</span></div><div class="line"><a name="l00234"></a><span class="lineno"> 234</span> } <span class="comment">// namespace Nv</span></div><div class="line"><a name="l00235"></a><span class="lineno"> 235</span> </div><div class="line"><a name="l00236"></a><span class="lineno"> 236</span> </div><div class="line"><a name="l00237"></a><span class="lineno"> 237</span> <span class="preprocessor">#endif // NVBLASTGEOMETRY_H</span></div><div class="ttc" id="struct_nv_blast_bond_html"><div class="ttname"><a href="struct_nv_blast_bond.html">NvBlastBond</a></div><div class="ttdef"><b>Definition:</b> NvBlastTypes.h:189</div></div>
<div class="ttc" id="namespace_nv_1_1_blast_1_1_vec_math_html_a977e74623adf1a08686f4dc5a6f241bc"><div class="ttname"><a href="namespace_nv_1_1_blast_1_1_vec_math.html#a977e74623adf1a08686f4dc5a6f241bc">Nv::Blast::VecMath::dist</a></div><div class="ttdeci">NV_INLINE float dist(const float a[3], const float b[3])</div><div class="ttdef"><b>Definition:</b> NvBlastMath.h:86</div></div>
<div class="ttc" id="_nv_blast_types_8h_html"><div class="ttname"><a href="_nv_blast_types_8h.html">NvBlastTypes.h</a></div></div>
<div class="ttc" id="_nv_blast_math_8h_html"><div class="ttname"><a href="_nv_blast_math_8h.html">NvBlastMath.h</a></div></div>
<div class="ttc" id="struct_nv_blast_bond_html_a3e8b8dd2ac2634098df7c1475ee6171d"><div class="ttname"><a href="struct_nv_blast_bond.html#a3e8b8dd2ac2634098df7c1475ee6171d">NvBlastBond::normal</a></div><div class="ttdeci">float normal[3]</div><div class="ttdef"><b>Definition:</b> NvBlastTypes.h:194</div></div>
<div class="ttc" id="struct_nv_blast_chunk_html_a3c8c4522d0fdde5d38f59509aa2333d2"><div class="ttname"><a href="struct_nv_blast_chunk.html#a3c8c4522d0fdde5d38f59509aa2333d2">NvBlastChunk::centroid</a></div><div class="ttdeci">float centroid[3]</div><div class="ttdef"><b>Definition:</b> NvBlastTypes.h:157</div></div>
<div class="ttc" id="namespace_nv_1_1_blast_html_a957511eee89321883f3507e0cd310a41"><div class="ttname"><a href="namespace_nv_1_1_blast.html#a957511eee89321883f3507e0cd310a41">Nv::Blast::isInvalidIndex</a></div><div class="ttdeci">NV_INLINE bool isInvalidIndex(T index)</div><div class="ttdef"><b>Definition:</b> NvBlastIndexFns.h:57</div></div>
<div class="ttc" id="namespace_nv_1_1_blast_1_1_vec_math_html_a1da912deb1046ef7afc447a170f9a1a4"><div class="ttname"><a href="namespace_nv_1_1_blast_1_1_vec_math.html#a1da912deb1046ef7afc447a170f9a1a4">Nv::Blast::VecMath::sub</a></div><div class="ttdeci">NV_INLINE void sub(const float a[3], const float b[3], float r[3])</div><div class="ttdef"><b>Definition:</b> NvBlastMath.h:67</div></div>
<div class="ttc" id="_nv_blast_assert_8h_html_a2b179fca67cdb57b12b65e33fe3f6c93"><div class="ttname"><a href="_nv_blast_assert_8h.html#a2b179fca67cdb57b12b65e33fe3f6c93">NVBLAST_ASSERT</a></div><div class="ttdeci">#define NVBLAST_ASSERT(exp)</div><div class="ttdef"><b>Definition:</b> NvBlastAssert.h:37</div></div>
<div class="ttc" id="struct_nv_blast_bond_html_a0b9fdf36eb1288c8d26d2549b68df5c6"><div class="ttname"><a href="struct_nv_blast_bond.html#a0b9fdf36eb1288c8d26d2549b68df5c6">NvBlastBond::centroid</a></div><div class="ttdeci">float centroid[3]</div><div class="ttdef"><b>Definition:</b> NvBlastTypes.h:204</div></div>
<div class="ttc" id="namespace_nv_1_1_blast_html_a174a03926806454cd726b130462606b0"><div class="ttname"><a href="namespace_nv_1_1_blast.html#a174a03926806454cd726b130462606b0">Nv::Blast::findClosestNode</a></div><div class="ttdeci">NV_FORCE_INLINE uint32_t findClosestNode(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 *assetBonds, const float *bondHealths, const NvBlastChunk *assetChunks, const float *supportChunkHealths, const uint32_t *chunkIndices)</div><div class="ttdef"><b>Definition:</b> NvBlastGeometry.h:62</div></div>
<div class="ttc" id="struct_nv_blast_chunk_html"><div class="ttname"><a href="struct_nv_blast_chunk.html">NvBlastChunk</a></div><div class="ttdef"><b>Definition:</b> NvBlastTypes.h:152</div></div>
<div class="ttc" id="namespace_nv_1_1_blast_1_1_vec_math_html_a91266f20b4a3e7658eedf69ec1f311f4"><div class="ttname"><a href="namespace_nv_1_1_blast_1_1_vec_math.html#a91266f20b4a3e7658eedf69ec1f311f4">Nv::Blast::VecMath::dot</a></div><div class="ttdeci">NV_INLINE float dot(const float a[3], const float b[3])</div><div class="ttdef"><b>Definition:</b> NvBlastMath.h:73</div></div>
<div class="ttc" id="namespace_nv_html"><div class="ttname"><a href="namespace_nv.html">Nv</a></div><div class="ttdef"><b>Definition:</b> NvBlastArray.h:37</div></div>
<div class="ttc" id="_nv_blast_assert_8h_html"><div class="ttname"><a href="_nv_blast_assert_8h.html">NvBlastAssert.h</a></div></div>
<div class="ttc" id="group__foundation_html_gae9e06fb68b9ca307fa4377186da9052e"><div class="ttname"><a href="group__foundation.html#gae9e06fb68b9ca307fa4377186da9052e">NV_FORCE_INLINE</a></div><div class="ttdeci">#define NV_FORCE_INLINE</div><div class="ttdef"><b>Definition:</b> NvPreprocessor.h:365</div></div>
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