Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 121 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/common/GuBoxConversion.h b/PhysX_3.4/Source/GeomUtils/src/common/GuBoxConversion.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_CONVERSION_H
+#define GU_BOX_CONVERSION_H
+
+#include "GuBox.h"
+#include "PsMathUtils.h"
+#include "CmMatrix34.h"
+#include "PsVecMath.h"
+
+namespace physx
+{
+	// PT: builds rot from quat. WARNING: writes 4 bytes after 'dst.rot'.
+	PX_FORCE_INLINE void buildFrom(Gu::Box& dst, const PxQuat& q)
+	{
+		using namespace Ps::aos;
+		const QuatV qV = V4LoadU(&q.x);
+		Vec3V column0, column1, column2;
+		QuatGetMat33V(qV, column0, column1, column2);
+		// PT: TODO: investigate if these overlapping stores are a problem
+		V4StoreU(Vec4V_From_Vec3V(column0), &dst.rot.column0.x);
+		V4StoreU(Vec4V_From_Vec3V(column1), &dst.rot.column1.x);
+		V4StoreU(Vec4V_From_Vec3V(column2), &dst.rot.column2.x);
+	}
+
+	PX_FORCE_INLINE void buildFrom(Gu::Box& dst, const PxVec3& center, const PxVec3& extents, const PxQuat& q)
+	{
+		using namespace Ps::aos;
+		// PT: writes 4 bytes after 'rot' but it's safe since we then write 'center' just afterwards
+		buildFrom(dst, q);
+		dst.center	= center;
+		dst.extents	= extents;
+	}
+
+	PX_FORCE_INLINE void buildMatrixFromBox(Cm::Matrix34& mat34, const Gu::Box& box)
+	{
+		mat34.m	= box.rot;
+		mat34.p	= box.center;
+	}
+
+	// SD: function is now the same as FastVertex2ShapeScaling::transformQueryBounds
+	// PT: lots of LHS in that one. TODO: revisit...
+	PX_INLINE Gu::Box transform(const Cm::Matrix34& transfo, const Gu::Box& box)
+	{
+		Gu::Box ret;
+		PxMat33& obbBasis = ret.rot;
+
+		obbBasis.column0 = transfo.rotate(box.rot.column0 * box.extents.x);
+		obbBasis.column1 = transfo.rotate(box.rot.column1 * box.extents.y);
+		obbBasis.column2 = transfo.rotate(box.rot.column2 * box.extents.z);
+
+		ret.center = transfo.transform(box.center);
+		ret.extents = Ps::optimizeBoundingBox(obbBasis);
+		return ret;
+	}
+
+	PX_INLINE Gu::Box transformBoxOrthonormal(const Gu::Box& box, const PxTransform& t)
+	{
+		Gu::Box ret;
+		PxMat33& obbBasis = ret.rot;
+		obbBasis.column0 = t.rotate(box.rot.column0);
+		obbBasis.column1 = t.rotate(box.rot.column1);
+		obbBasis.column2 = t.rotate(box.rot.column2);
+		ret.center = t.transform(box.center);
+		ret.extents = box.extents;
+		return ret;
+	}
+
+	/**
+	\brief recomputes the OBB after an arbitrary transform by a 4x4 matrix.
+	\param	mtx		[in] the transform matrix
+	\param	obb		[out] the transformed OBB
+	*/
+	PX_INLINE	void rotate(const Gu::Box& src, const Cm::Matrix34& mtx, Gu::Box& obb)
+	{
+		// The extents remain constant
+		obb.extents = src.extents;
+		// The center gets x-formed
+		obb.center = mtx.transform(src.center);
+		// Combine rotations
+		obb.rot = mtx.m * src.rot;
+	}
+
+// PT: TODO: move this to a better place
+	PX_FORCE_INLINE void getInverse(PxMat33& dstRot, PxVec3& dstTrans, const PxMat33& srcRot, const PxVec3& srcTrans)
+	{
+		const PxMat33 invRot = srcRot.getInverse();
+		dstTrans = invRot.transform(-srcTrans);
+		dstRot = invRot;
+	}
+
+}
+
+#endif