1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
|
//
// 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 "foundation/PxBounds3.h"
#include "PsIntrinsics.h"
#include "GuInternal.h"
#include "GuBox.h"
#include "GuVecPlane.h"
#include "PsMathUtils.h"
#include "PxCapsuleGeometry.h"
#include "PsVecMath.h"
using namespace physx::shdfnd::aos;
using namespace physx;
/**
Computes the aabb points.
\param pts [out] 8 box points
*/
void Gu::computeBoxPoints(const PxBounds3& bounds, PxVec3* PX_RESTRICT pts)
{
PX_ASSERT(pts);
// Get box corners
const PxVec3& minimum = bounds.minimum;
const PxVec3& maximum = bounds.maximum;
// 7+------+6 0 = ---
// /| /| 1 = +--
// / | / | 2 = ++-
// / 4+---/--+5 3 = -+-
// 3+------+2 / y z 4 = --+
// | / | / | / 5 = +-+
// |/ |/ |/ 6 = +++
// 0+------+1 *---x 7 = -++
// Generate 8 corners of the bbox
pts[0] = PxVec3(minimum.x, minimum.y, minimum.z);
pts[1] = PxVec3(maximum.x, minimum.y, minimum.z);
pts[2] = PxVec3(maximum.x, maximum.y, minimum.z);
pts[3] = PxVec3(minimum.x, maximum.y, minimum.z);
pts[4] = PxVec3(minimum.x, minimum.y, maximum.z);
pts[5] = PxVec3(maximum.x, minimum.y, maximum.z);
pts[6] = PxVec3(maximum.x, maximum.y, maximum.z);
pts[7] = PxVec3(minimum.x, maximum.y, maximum.z);
}
PxPlane Gu::getPlane(const PxTransform& pose)
{
const PxVec3 n = pose.q.getBasisVector0();
return PxPlane(n, -pose.p.dot(n));
}
void Gu::computeBoundsAroundVertices(PxBounds3& bounds, PxU32 nbVerts, const PxVec3* PX_RESTRICT verts)
{
// PT: we can safely V4LoadU the first N-1 vertices. We must V3LoadU the last vertex, to make sure we don't read
// invalid memory. Since we have to special-case that last vertex anyway, we reuse that code to also initialize
// the minV/maxV values (bypassing the need for a 'setEmpty()' initialization).
if(!nbVerts)
{
bounds.setEmpty();
return;
}
PxU32 nbSafe = nbVerts-1;
// PT: read last (unsafe) vertex using V3LoadU, initialize minV/maxV
const Vec4V lastVertexV = Vec4V_From_Vec3V(V3LoadU(&verts[nbSafe].x));
Vec4V minV = lastVertexV;
Vec4V maxV = lastVertexV;
// PT: read N-1 first (safe) vertices using V4LoadU
while(nbSafe--)
{
const Vec4V vertexV = V4LoadU(&verts->x);
verts++;
minV = V4Min(minV, vertexV);
maxV = V4Max(maxV, vertexV);
}
StoreBounds(bounds, minV, maxV);
}
void Gu::computeSweptBox(Gu::Box& dest, const PxVec3& extents, const PxVec3& center, const PxMat33& rot, const PxVec3& unitDir, const PxReal distance)
{
PxVec3 R1, R2;
Ps::computeBasis(unitDir, R1, R2);
PxReal dd[3];
dd[0] = PxAbs(rot.column0.dot(unitDir));
dd[1] = PxAbs(rot.column1.dot(unitDir));
dd[2] = PxAbs(rot.column2.dot(unitDir));
PxReal dmax = dd[0];
PxU32 ax0=1;
PxU32 ax1=2;
if(dd[1]>dmax)
{
dmax=dd[1];
ax0=0;
ax1=2;
}
if(dd[2]>dmax)
{
dmax=dd[2];
ax0=0;
ax1=1;
}
if(dd[ax1]<dd[ax0])
Ps::swap(ax0, ax1);
R1 = rot[ax0];
R1 -= (R1.dot(unitDir))*unitDir; // Project to plane whose normal is dir
R1.normalize();
R2 = unitDir.cross(R1);
dest.setAxes(unitDir, R1, R2);
PxReal offset[3];
offset[0] = distance;
offset[1] = distance*(unitDir.dot(R1));
offset[2] = distance*(unitDir.dot(R2));
for(PxU32 r=0; r<3; r++)
{
const PxVec3& R = dest.rot[r];
dest.extents[r] = offset[r]*0.5f + PxAbs(rot.column0.dot(R))*extents.x + PxAbs(rot.column1.dot(R))*extents.y + PxAbs(rot.column2.dot(R))*extents.z;
}
dest.center = center + unitDir*distance*0.5f;
}
|