Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 246 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/headers/GuBox.h b/PhysX_3.4/Source/GeomUtils/headers/GuBox.h
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+// This code contains NVIDIA Confidential Information and is disclosed to you
+// under a form of NVIDIA software license agreement provided separately to you.
+//
+// Notice
+// NVIDIA Corporation and its licensors retain all intellectual property and
+// proprietary rights in and to this software and 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.
+//
+// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
+// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
+// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
+// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+//
+// Information and code furnished is believed to be accurate and reliable.
+// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
+// information or for any infringement of patents or other rights of third parties that may
+// result from its use. No license is granted by implication or otherwise under any patent
+// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
+// This code supersedes and replaces all information previously supplied.
+// NVIDIA Corporation products are not authorized for use as critical
+// components in life support devices or systems without express written approval of
+// NVIDIA Corporation.
+//
+// Copyright (c) 2008-2016 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
+// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
+
+#ifndef GU_BOX_H
+#define GU_BOX_H
+
+/** \addtogroup geomutils
+@{
+*/
+
+#include "PxPhysXCommonConfig.h"
+#include "CmPhysXCommon.h"
+#include "CmScaling.h"
+#include "foundation/PxTransform.h"
+#include "foundation/PxMat33.h"
+
+namespace physx
+{
+namespace Gu
+{
+	class Capsule;
+
+	PX_PHYSX_COMMON_API void computeOBBPoints(PxVec3* PX_RESTRICT pts, const PxVec3& center, const PxVec3& extents, const PxVec3& base0, const PxVec3& base1, const PxVec3& base2);
+
+
+	/**
+	\brief Represents an oriented bounding box. 
+
+	As a center point, extents(radii) and a rotation. i.e. the center of the box is at the center point, 
+	the box is rotated around this point with the rotation and it is 2*extents in width, height and depth.
+	*/
+
+	/**
+	Box geometry
+
+	The rot member describes the world space orientation of the box.
+	The center member gives the world space position of the box.
+	The extents give the local space coordinates of the box corner in the positive octant.
+	Dimensions of the box are: 2*extent.
+	Transformation to world space is: worldPoint = rot * localPoint + center
+	Transformation to local space is: localPoint = T(rot) * (worldPoint - center)
+	Where T(M) denotes the transpose of M.
+	*/
+#if PX_VC 
+    #pragma warning(push)
+	#pragma warning( disable : 4251 ) // class needs to have dll-interface to be used by clients of class
+#endif
+	class PX_PHYSX_COMMON_API Box
+	{
+	public:
+		/**
+		\brief Constructor
+		*/
+		PX_FORCE_INLINE Box()
+		{
+		}
+
+		/**
+		\brief Constructor
+
+		\param origin Center of the OBB
+		\param extent Extents/radii of the obb.
+		\param base rotation to apply to the obb.
+		*/
+		//! Construct from center, extent and rotation
+		PX_FORCE_INLINE Box(const PxVec3& origin, const PxVec3& extent, const PxMat33& base) : rot(base), center(origin), extents(extent)
+		{}
+
+		//! Copy constructor
+		PX_FORCE_INLINE Box(const Box& other) : rot(other.rot), center(other.center), extents(other.extents)
+		{}
+
+		/**
+		\brief Destructor
+		*/
+		PX_FORCE_INLINE ~Box()
+		{
+		}
+
+		//! Assignment operator
+		PX_FORCE_INLINE const Box& operator=(const Box& other)
+		{
+			rot		= other.rot;
+			center	= other.center;
+			extents	= other.extents;
+			return *this;
+		}
+
+		/**
+		\brief Setups an empty box.
+		*/
+		PX_INLINE void setEmpty()
+		{
+			center = PxVec3(0);
+			extents = PxVec3(-PX_MAX_REAL, -PX_MAX_REAL, -PX_MAX_REAL);
+			rot = PxMat33(PxIdentity);
+		}
+
+		/**
+		\brief Checks the box is valid.
+
+		\return	true if the box is valid
+		*/
+		PX_INLINE bool isValid() const
+		{
+			// Consistency condition for (Center, Extents) boxes: Extents >= 0.0f
+			if(extents.x < 0.0f)	return false;
+			if(extents.y < 0.0f)	return false;
+			if(extents.z < 0.0f)	return false;
+			return true;
+		}
+
+/////////////
+		PX_FORCE_INLINE	void	setAxes(const PxVec3& axis0, const PxVec3& axis1, const PxVec3& axis2)
+		{
+			rot.column0 = axis0;
+			rot.column1 = axis1;
+			rot.column2 = axis2;
+		}
+
+		PX_FORCE_INLINE	PxVec3	rotate(const PxVec3& src)	const
+		{
+			return rot * src;
+		}
+
+		PX_FORCE_INLINE	PxVec3	rotateInv(const PxVec3& src)	const
+		{
+			return rot.transformTranspose(src);
+		}
+
+		PX_FORCE_INLINE	PxVec3	transform(const PxVec3& src)	const
+		{
+			return rot * src + center;
+		}
+
+		PX_FORCE_INLINE	PxTransform getTransform()	const
+		{
+			return PxTransform(center, PxQuat(rot));
+		}
+
+		PX_INLINE PxVec3 computeAABBExtent() const
+		{
+			const PxReal a00 = PxAbs(rot[0][0]);
+			const PxReal a01 = PxAbs(rot[0][1]);
+			const PxReal a02 = PxAbs(rot[0][2]);
+
+			const PxReal a10 = PxAbs(rot[1][0]);
+			const PxReal a11 = PxAbs(rot[1][1]);
+			const PxReal a12 = PxAbs(rot[1][2]);
+
+			const PxReal a20 = PxAbs(rot[2][0]);
+			const PxReal a21 = PxAbs(rot[2][1]);
+			const PxReal a22 = PxAbs(rot[2][2]);
+
+			const PxReal ex = extents.x;
+			const PxReal ey = extents.y;
+			const PxReal ez = extents.z;
+
+			return PxVec3(	a00 * ex + a10 * ey + a20 * ez,
+							a01 * ex + a11 * ey + a21 * ez,
+							a02 * ex + a12 * ey + a22 * ez);
+		}
+
+		/**
+		Computes the obb points.
+		\param		pts	[out] 8 box points
+		*/
+		PX_FORCE_INLINE void computeBoxPoints(PxVec3* PX_RESTRICT pts) const
+		{
+			Gu::computeOBBPoints(pts, center, extents, rot.column0, rot.column1, rot.column2);
+		}
+
+		void create(const Gu::Capsule& capsule);
+
+		PxMat33	rot;
+		PxVec3	center;
+		PxVec3	extents;
+	};
+	PX_COMPILE_TIME_ASSERT(sizeof(Gu::Box) == 60);
+
+	//! A padded version of Gu::Box, to safely load its data using SIMD
+	class BoxPadded : public Box
+	{
+	public:
+		PX_FORCE_INLINE BoxPadded()		{}
+		PX_FORCE_INLINE ~BoxPadded()	{}
+		PxU32	padding;
+	};
+	PX_COMPILE_TIME_ASSERT(sizeof(Gu::BoxPadded) == 64);
+
+	//! Transforms a shape space AABB to a vertex space AABB (conservative).
+	PX_FORCE_INLINE void computeVertexSpaceAABB(Gu::Box& vertexSpaceOBB, const PxBounds3& worldBounds, const PxTransform& world2Shape, const Cm::FastVertex2ShapeScaling& scaling, bool idtScaleMesh)
+	{
+		PX_ASSERT(!worldBounds.isEmpty());
+		const PxBounds3 boundsInMesh = PxBounds3::transformFast(world2Shape, worldBounds);	// transform bounds from world to shape (excluding mesh scale)
+
+		vertexSpaceOBB.rot = PxMat33(PxIdentity);
+		if(idtScaleMesh)
+		{
+			vertexSpaceOBB.center = boundsInMesh.getCenter();
+			vertexSpaceOBB.extents = boundsInMesh.getExtents();
+		}
+		else
+		{
+			const PxBounds3 bounds = PxBounds3::basisExtent(scaling.getShape2VertexSkew() * boundsInMesh.getCenter(), scaling.getShape2VertexSkew(), boundsInMesh.getExtents());
+			vertexSpaceOBB.center = bounds.getCenter();
+			vertexSpaceOBB.extents = bounds.getExtents();
+		}
+	}
+
+#if PX_VC 
+     #pragma warning(pop) 
+#endif
+
+}
+
+}
+
+/** @} */
+#endif