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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 "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;
}
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