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//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
// * Neither the name of NVIDIA CORPORATION nor the names of its
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2018 NVIDIA Corporation. All rights reserved.
#ifndef APEX_COLLISION_H
#define APEX_COLLISION_H
#include "ApexDefs.h"
#include "ApexUsingNamespace.h"
#include "PxVec3.h"
#include "PxMat33.h"
namespace nvidia
{
namespace apex
{
struct Segment
{
PxVec3 p0;
PxVec3 p1;
};
struct Capsule : Segment
{
float radius;
};
struct Triangle
{
Triangle(const PxVec3& a, const PxVec3& b, const PxVec3& c) : v0(a), v1(b), v2(c) {}
PxVec3 v0;
PxVec3 v1;
PxVec3 v2;
};
struct Box
{
PxVec3 center;
PxVec3 extents;
PxMat33 rot;
};
bool capsuleCapsuleIntersection(const Capsule& worldCaps0, const Capsule& worldCaps1, float tolerance = 1.2);
bool boxBoxIntersection(const Box& worldBox0, const Box& worldBox1);
float APEX_pointTriangleSqrDst(const Triangle& triangle, const PxVec3& position);
float APEX_segmentSegmentSqrDist(const Segment& seg0, const Segment& seg1, float* s, float* t);
float APEX_pointSegmentSqrDist(const Segment& seg, const PxVec3& point, float* param = 0);
uint32_t APEX_RayCapsuleIntersect(const PxVec3& origin, const PxVec3& dir, const Capsule& capsule, float s[2]);
bool APEX_RayTriangleIntersect(const PxVec3& orig, const PxVec3& dir, const PxVec3& a, const PxVec3& b, const PxVec3& c, float& t, float& u, float& v);
} // namespace apex
} // namespace nvidia
#endif // APEX_COLLISION_H
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