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PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 191 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/gjk/GuVecShrunkBox.h b/PhysX_3.4/Source/GeomUtils/src/gjk/GuVecShrunkBox.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_VEC_SHRUNK_BOX_H
+#define GU_VEC_SHRUNK_BOX_H
+
+/** \addtogroup geomutils
+@{
+*/
+#include "PxPhysXCommonConfig.h"
+#include "GuVecConvex.h"
+#include "PsVecTransform.h"
+#include "GuConvexSupportTable.h"
+#include "GuVecBox.h"
+
+
+
+namespace physx
+{
+
+namespace Gu
+{
+
+	/**
+	\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.
+	*/
+
+	class ShrunkBoxV : public BoxV
+	{
+	public:
+
+		/**
+		\brief Constructor
+		*/
+		PX_INLINE ShrunkBoxV() : BoxV()
+		{
+		}
+
+		PX_INLINE ShrunkBoxV(const PxGeometry& geom) : BoxV(geom)
+		{
+			initialiseMarginDif();
+		}
+
+		/**
+		\brief Constructor
+
+		\param origin Center of the OBB
+		\param extent Extents/radii of the obb.
+		*/
+
+		PX_FORCE_INLINE ShrunkBoxV(const Ps::aos::Vec3VArg origin, const Ps::aos::Vec3VArg extent) : 
+																				BoxV(origin, extent)
+		{
+			initialiseMarginDif();
+		}
+		
+		/**
+		\brief Destructor
+		*/
+		PX_INLINE ~ShrunkBoxV()
+		{
+		}
+
+		//! Assignment operator
+		PX_INLINE const ShrunkBoxV& operator=(const ShrunkBoxV& other)
+		{
+			center	= other.center;
+			extents	= other.extents;
+			margin =  other.margin;
+			minMargin = other.minMargin;
+			return *this;
+		}
+
+		PX_FORCE_INLINE Ps::aos::Vec3V supportPoint(const PxI32 index, Ps::aos::FloatV* marginDif_)const
+		{
+			using namespace Ps::aos;
+			const Vec3V extents_ = V3Sub(extents,  V3Splat(getMargin()));
+			const BoolV con = boxVertexTable[index];
+			(*marginDif_) = marginDif;
+			return V3Sel(con, extents_, V3Neg(extents_));
+		}  
+
+		//local space point
+		PX_FORCE_INLINE Ps::aos::Vec3V supportLocal(const Ps::aos::Vec3VArg dir)const
+		{
+			using namespace Ps::aos;
+		
+			const Vec3V zero = V3Zero();
+			const Vec3V extents_ = V3Sub(extents,  V3Splat(getMargin()));
+			const BoolV comp = V3IsGrtr(dir, zero);
+			return V3Sel(comp, extents_, V3Neg(extents_));
+		}
+
+		//local space point
+		PX_FORCE_INLINE Ps::aos::Vec3V supportLocal(const Ps::aos::Vec3VArg dir,  PxI32& index, Ps::aos::FloatV* marginDif_)const
+		{
+			using namespace Ps::aos;
+		
+			const Vec3V zero = V3Zero();
+			const Vec3V extents_ = V3Sub(extents,  V3Splat(getMargin()));
+			const BoolV comp = V3IsGrtr(dir, zero);
+			getIndex(comp, index);
+			(*marginDif_) = marginDif; 
+			return V3Sel(comp, extents_, V3Neg(extents_));
+		}
+
+		PX_FORCE_INLINE Ps::aos::Vec3V supportRelative(const Ps::aos::Vec3VArg dir, const Ps::aos::PsMatTransformV& aTob, const Ps::aos::PsMatTransformV& aTobT) const
+		{
+			using namespace Ps::aos;
+		
+			//transfer dir into the local space of the box
+//			const Vec3V dir_ =aTob.rotateInv(dir);//relTra.rotateInv(dir);
+			const Vec3V dir_ = aTobT.rotate(dir);//relTra.rotateInv(dir);
+			const Vec3V p = supportLocal(dir_);
+			return aTob.transform(p);//relTra.transform(p);//V3Add(center, M33MulV3(rot, p));
+		}
+
+		PX_FORCE_INLINE Ps::aos::Vec3V supportRelative(	const Ps::aos::Vec3VArg dir, const Ps::aos::PsMatTransformV& aTob,
+														const Ps::aos::PsMatTransformV& aTobT, PxI32& index,  Ps::aos::FloatV* marginDif_)const
+		{
+			using namespace Ps::aos;
+	
+			//transfer dir into the local space of the box
+//			const Vec3V dir_ =aTob.rotateInv(dir);//relTra.rotateInv(dir);
+			const Vec3V dir_ = aTobT.rotate(dir);//relTra.rotateInv(dir);
+			const Vec3V p = supportLocal(dir_, index, marginDif_);
+			return aTob.transform(p);//relTra.transform(p);//V3Add(center, M33MulV3(rot, p));
+		}
+
+	private:
+
+		PX_FORCE_INLINE void initialiseMarginDif()
+		{
+			using namespace Ps::aos;
+			//calculate the marginDif
+			const PxReal sqMargin = margin * margin;
+			const PxReal tempMarginDif = sqrtf(sqMargin * 3.f);
+			const PxReal marginDif_ = tempMarginDif - margin;
+			marginDif = FLoad(marginDif_);
+			/*	const FloatV sqMargin = FMul(margin, margin);
+			const FloatV tempMarginDif =  FSqrt(FAdd(sqMargin, FAdd(sqMargin, sqMargin)));
+			marginDif = FSub(tempMarginDif, margin);*/
+		}
+	};
+}	
+
+}
+
+/** @} */
+#endif