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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.
#include "PsIntrinsics.h"
#include "GuBoxConversion.h"
#include "GuCapsule.h"
#include "GuInternal.h"
#include "CmMatrix34.h"
#include "PsMathUtils.h"
using namespace physx;
void Gu::Box::create(const Gu::Capsule& capsule)
{
// Box center = center of the two LSS's endpoints
center = capsule.computeCenter();
// Box orientation
const PxVec3 dir = capsule.p1 - capsule.p0;
const float d = dir.magnitude();
if(d!=0.0f)
{
rot.column0 = dir / d;
Ps::computeBasis(rot.column0, rot.column1, rot.column2);
}
else
rot = PxMat33(PxIdentity);
// Box extents
extents.x = capsule.radius + (d * 0.5f);
extents.y = capsule.radius;
extents.z = capsule.radius;
}
/**
Returns edges.
\return 24 indices (12 edges) indexing the list returned by ComputePoints()
*/
const PxU8* Gu::getBoxEdges()
{
// 7+------+6 0 = ---
// /| /| 1 = +--
// / | / | 2 = ++-
// / 4+---/--+5 3 = -+-
// 3+------+2 / y z 4 = --+
// | / | / | / 5 = +-+
// |/ |/ |/ 6 = +++
// 0+------+1 *---x 7 = -++
static PxU8 Indices[] = {
0, 1, 1, 2, 2, 3, 3, 0,
7, 6, 6, 5, 5, 4, 4, 7,
1, 5, 6, 2,
3, 7, 4, 0
};
return Indices;
}
void Gu::computeOBBPoints(PxVec3* PX_RESTRICT pts, const PxVec3& center, const PxVec3& extents, const PxVec3& base0, const PxVec3& base1, const PxVec3& base2)
{
PX_ASSERT(pts);
// "Rotated extents"
const PxVec3 axis0 = base0 * extents.x;
const PxVec3 axis1 = base1 * extents.y;
const PxVec3 axis2 = base2 * extents.z;
// 7+------+6 0 = ---
// /| /| 1 = +--
// / | / | 2 = ++-
// / 4+---/--+5 3 = -+-
// 3+------+2 / y z 4 = --+
// | / | / | / 5 = +-+
// |/ |/ |/ 6 = +++
// 0+------+1 *---x 7 = -++
// Original code: 24 vector ops
/* pts[0] = box.center - Axis0 - Axis1 - Axis2;
pts[1] = box.center + Axis0 - Axis1 - Axis2;
pts[2] = box.center + Axis0 + Axis1 - Axis2;
pts[3] = box.center - Axis0 + Axis1 - Axis2;
pts[4] = box.center - Axis0 - Axis1 + Axis2;
pts[5] = box.center + Axis0 - Axis1 + Axis2;
pts[6] = box.center + Axis0 + Axis1 + Axis2;
pts[7] = box.center - Axis0 + Axis1 + Axis2;*/
// Rewritten: 12 vector ops
pts[0] = pts[3] = pts[4] = pts[7] = center - axis0;
pts[1] = pts[2] = pts[5] = pts[6] = center + axis0;
PxVec3 tmp = axis1 + axis2;
pts[0] -= tmp;
pts[1] -= tmp;
pts[6] += tmp;
pts[7] += tmp;
tmp = axis1 - axis2;
pts[2] += tmp;
pts[3] += tmp;
pts[4] -= tmp;
pts[5] -= tmp;
}
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