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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_SWEEP_MTD_H
#define GU_SWEEP_MTD_H
namespace physx
{
class PxConvexMeshGeometry;
class PxTriangleMeshGeometry;
class PxGeometry;
class PxHeightFieldGeometry;
namespace Gu
{
class Sphere;
class Capsule;
bool computeCapsule_TriangleMeshMTD(const PxTriangleMeshGeometry& triMeshGeom, const PxTransform& pose, Gu::CapsuleV& capsuleV, PxReal inflatedRadius, bool isDoubleSided, PxSweepHit& hit);
bool computeCapsule_HeightFieldMTD(const PxHeightFieldGeometry& heightFieldGeom, const PxTransform& pose, Gu::CapsuleV& capsuleV, PxReal inflatedRadius, bool isDoubleSided, const PxU32 flags, PxSweepHit& hit);
bool computeBox_TriangleMeshMTD(const PxTriangleMeshGeometry& triMeshGeom, const PxTransform& pose, const Gu::Box& box, const PxTransform& boxTransform, PxReal inflation,
bool isDoubleSided, PxSweepHit& hit);
bool computeBox_HeightFieldMTD( const PxHeightFieldGeometry& heightFieldGeom, const PxTransform& pose, const Gu::Box& box, const PxTransform& boxTransform, PxReal inflation,
bool isDoubleSided, const PxU32 flags, PxSweepHit& hit);
bool computeConvex_TriangleMeshMTD( const PxTriangleMeshGeometry& triMeshGeom, const PxTransform& pose, const PxConvexMeshGeometry& convexGeom, const PxTransform& convexTransform, PxReal inflation,
bool isDoubleSided, PxSweepHit& hit);
bool computeConvex_HeightFieldMTD( const PxHeightFieldGeometry& heightFieldGeom, const PxTransform& pose, const PxConvexMeshGeometry& convexGeom, const PxTransform& convexTransform, PxReal inflation,
bool isDoubleSided, const PxU32 flags, PxSweepHit& hit);
bool computeSphere_SphereMTD(const Sphere& sphere0, const Sphere& sphere1, PxSweepHit& hit);
bool computeSphere_CapsuleMTD(const Sphere& sphere, const Capsule& capsule, PxSweepHit& hit);
bool computeCapsule_CapsuleMTD(const Capsule& capsule0, const Capsule& capsule1, PxSweepHit& hit);
bool computePlane_CapsuleMTD(const PxPlane& plane, const Capsule& capsule, PxSweepHit& hit);
bool computePlane_BoxMTD(const PxPlane& plane, const Box& box, PxSweepHit& hit);
bool computePlane_ConvexMTD(const PxPlane& plane, const PxConvexMeshGeometry& convexGeom, const PxTransform& convexPose, PxSweepHit& hit);
// PT: wrapper just to avoid duplicating these lines.
PX_FORCE_INLINE void setupSweepHitForMTD(PxSweepHit& sweepHit, bool hasContacts, const PxVec3& unitDir)
{
sweepHit.flags = PxHitFlag::eDISTANCE | PxHitFlag::eNORMAL | PxHitFlag::eFACE_INDEX;
if(!hasContacts)
{
sweepHit.distance = 0.0f;
sweepHit.normal = -unitDir;
}
else
{
//ML: touching contact. We need to overwrite the normal to the negative of sweep direction
if (sweepHit.distance == 0.0f)
{
sweepHit.normal = -unitDir;
}
sweepHit.flags |= PxHitFlag::ePOSITION;
}
}
}
}
#endif
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