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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) 2008-2018 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_BOUNDS_H
#define GU_BOUNDS_H
#include "foundation/PxBounds3.h"
#include "foundation/PxFlags.h"
#include "GuSIMDHelpers.h"
#include <stddef.h>
#include "PxGeometry.h"
#include "GuBox.h"
#include "GuCenterExtents.h"
#include "GuSphere.h"
#include "GuCapsule.h"
namespace physx
{
class PxGeometry;
namespace Gu
{
//For spheres, planes, capsules and boxes just set localSpaceBounds to NULL.
//For convex meshes, triangle meshes, and heightfields set localSpaceBounds to the relevant pointer if it has already been pre-fetched.
//For convex meshes, triangle meshes, and heightfields set localSpaceBounds to NULL if it has not already been pre-fetched. computeBounds will synchronously
//prefetch the local space bounds if localSpaceBounds is NULL.
//'contactOffset' and 'inflation' should not be used at the same time, i.e. either contactOffset==0.0f, or inflation==1.0f
PX_PHYSX_COMMON_API void computeBounds(PxBounds3& bounds, const PxGeometry& geometry, const PxTransform& transform, float contactOffset, const CenterExtentsPadded* PX_RESTRICT localSpaceBounds, float inflation, bool extrudeHeightfields); //AABB in world space.
//For spheres, planes, capsules and boxes just set localSpaceBounds to NULL.
//For convex meshes, triangle meshes, and heightfields set localSpaceBounds to the relevant pointer if it has not already been pre-fetched.
//For convex meshes, triangle meshes, and heightfields set localSpaceBounds to NULL if it has not already been pre-fetched. computeBounds will synchronously
//prefetch the local space bounds if localSpaceBounds is NULL.
PX_PHYSX_COMMON_API PxF32 computeBoundsWithCCDThreshold(Vec3p& origin, Vec3p& extent, const PxGeometry& geometry, const PxTransform& transform, const CenterExtentsPadded* PX_RESTRICT localSpaceBounds); //AABB in world space.
PX_FORCE_INLINE PxBounds3 computeBounds(const PxGeometry& geometry, const PxTransform& pose, bool extrudeHeightfields)
{
PxBounds3 bounds;
computeBounds(bounds, geometry, pose, 0.0f, NULL, 1.0f, extrudeHeightfields);
return bounds;
}
class ShapeData
{
public:
PX_PHYSX_COMMON_API ShapeData(const PxGeometry& g, const PxTransform& t, PxReal inflation);
// PT: used by overlaps (box, capsule, convex)
PX_FORCE_INLINE const PxVec3& getPrunerBoxGeomExtentsInflated() const { return mPrunerBoxGeomExtents; }
// PT: used by overlaps (box, capsule, convex)
PX_FORCE_INLINE const PxVec3& getPrunerWorldPos() const { return mGuBox.center; }
PX_FORCE_INLINE const PxBounds3& getPrunerInflatedWorldAABB() const { return mPrunerInflatedAABB; }
// PT: used by overlaps (box, capsule, convex)
PX_FORCE_INLINE const PxMat33& getPrunerWorldRot33() const { return mGuBox.rot; }
// PT: this one only used by overlaps so far (for sphere shape, pruner level)
PX_FORCE_INLINE const Gu::Sphere& getGuSphere() const
{
PX_ASSERT(mType == PxGeometryType::eSPHERE);
return reinterpret_cast<const Gu::Sphere&>(mGuSphere);
}
// PT: this one only used by sweeps so far (for box shape, NP level)
PX_FORCE_INLINE const Gu::Box& getGuBox() const
{
PX_ASSERT(mType == PxGeometryType::eBOX);
return mGuBox;
}
// PT: this one used by sweeps (NP level) and overlaps (pruner level) - for capsule shape
PX_FORCE_INLINE const Gu::Capsule& getGuCapsule() const
{
PX_ASSERT(mType == PxGeometryType::eCAPSULE);
return reinterpret_cast<const Gu::Capsule&>(mGuCapsule);
}
PX_FORCE_INLINE float getCapsuleHalfHeight() const
{
PX_ASSERT(mType == PxGeometryType::eCAPSULE);
return mGuBox.extents.x;
}
PX_FORCE_INLINE PxU32 isOBB() const { return PxU32(mIsOBB); }
PX_FORCE_INLINE PxGeometryType::Enum getType() const { return PxGeometryType::Enum(mType); }
PX_NOCOPY(ShapeData)
private:
// PT: box: pre-inflated box extents
// capsule: pre-inflated extents of box-around-capsule
// convex: pre-inflated extents of box-around-convex
// sphere: not used
PxVec3 mPrunerBoxGeomExtents; // used for pruners. This volume encloses but can differ from the original shape
// PT:
//
// box center = unchanged copy of initial shape's position, except for convex (position of box around convex)
// SIMD code will load it as a V4 (safe because member is not last of Gu structure)
//
// box rot = precomputed PxMat33 version of initial shape's rotation, except for convex (rotation of box around convex)
// SIMD code will load it as V4s (safe because member is not last of Gu structure)
//
// box extents = non-inflated initial box extents for box shape, half-height for capsule, otherwise not used
Gu::Box mGuBox;
PxBounds3 mPrunerInflatedAABB; // precomputed AABB for the pruner shape
PxU16 mIsOBB; // true for OBB, false for AABB. Also used as padding for mPrunerInflatedAABB, don't move.
PxU16 mType; // shape's type
// these union Gu shapes are only precomputed for narrow phase (not pruners), can be different from mPrunerVolume
// so need separate storage
union
{
PxU8 mGuCapsule[sizeof(Gu::Capsule)]; // 28
PxU8 mGuSphere[sizeof(Gu::Sphere)]; // 16
};
};
// PT: please make sure it fits in "one" cache line
PX_COMPILE_TIME_ASSERT(sizeof(ShapeData)==128);
} // namespace Gu
}
#endif
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