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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.
#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();
PxVec3 dir = capsule.p1 - capsule.p0;
const float d = dir.magnitude();
rot.column0 = dir / d;
// Box extents
extents.x = capsule.radius + (d * 0.5f);
extents.y = capsule.radius;
extents.z = capsule.radius;
// Box orientation
Ps::computeBasis(rot.column0, rot.column1, rot.column2);
}
/**
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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