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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_CCD_SWEEP_H
#define GU_CCD_SWEEP_H
#include "PxPhysXCommonConfig.h"
#include "CmPhysXCommon.h"
#include "PsVecTransform.h"
#include "GuGeometryUnion.h"
#include "CmScaling.h"
#define GU_TRIANGLE_SWEEP_METHOD_ARGS \
const Gu::GeometryUnion& shape0, \
const Gu::GeometryUnion& shape1, \
const PxTransform& transform0, \
const PxTransform& transform1, \
const PxTransform& lastTm0, \
const PxTransform& lastTm1, \
PxReal restDistance, \
PxVec3& worldNormal, \
PxVec3& worldPoint, \
const Cm::FastVertex2ShapeScaling& meshScaling, \
Gu::TriangleV& triangle, \
const PxF32 toiEstimate
#define GU_SWEEP_METHOD_ARGS \
const Gu::CCDShape& shape0, \
const Gu::CCDShape& shape1, \
const PxTransform& transform0, \
const PxTransform& transform1, \
const PxTransform& lastTm0, \
const PxTransform& lastTm1, \
PxReal restDistance, \
PxVec3& worldNormal, \
PxVec3& worldPoint, \
const PxF32 toiEstimate, \
PxU32& outCCDFaceIndex, \
const PxReal fastMovingThreshold
#define GU_SWEEP_ESTIMATE_ARGS \
const CCDShape& shape0, \
const CCDShape& shape1, \
const PxTransform& transform0, \
const PxTransform& transform1, \
const PxTransform& lastTr0, \
const PxTransform& lastTr1, \
const PxReal restDistance, \
const PxReal fastMovingThreshold
#define GU_SWEEP_METHOD_ARGS_UNUSED \
const Gu::CCDShape& /*shape0*/, \
const Gu::CCDShape& /*shape1*/, \
const PxTransform& /*transform0*/, \
const PxTransform& /*transform1*/, \
const PxTransform& /*lastTm0*/, \
const PxTransform& /*lastTm1*/, \
PxReal /*restDistance*/, \
PxVec3& /*worldNormal*/, \
PxVec3& /*worldPoint*/, \
const PxF32 /*toiEstimate*/, \
PxU32& /*outCCDFaceIndex*/, \
const PxReal /*fastMovingThreshold*/
namespace physx
{
namespace Gu
{
struct CCDShape
{
const Gu::GeometryUnion* mGeometry;
PxReal mFastMovingThreshold; //The CCD threshold for this shape
PxTransform mPrevTransform; //This shape's previous transform
PxTransform mCurrentTransform; //This shape's current transform
PxVec3 mExtents; //The extents of this shape's AABB
PxVec3 mCenter; //The center of this shape's AABB
PxU32 mUpdateCount; //How many times this shape has been updated in the CCD. This is correlated with the CCD body's update count.
};
PX_FORCE_INLINE PxF32 sweepAABBAABB(const PxVec3& centerA, const PxVec3& extentsA, const PxVec3& centerB, const PxVec3& extentsB, const PxVec3& trA, const PxVec3& trB)
{
//Sweep 2 AABBs against each other, return the TOI when they hit else PX_MAX_REAL if they don't hit
const PxVec3 cAcB = centerA - centerB;
const PxVec3 sumExtents = extentsA + extentsB;
//Initial hit
if(PxAbs(cAcB.x) <= sumExtents.x &&
PxAbs(cAcB.y) <= sumExtents.y &&
PxAbs(cAcB.z) <= sumExtents.z)
return 0.f;
//No initial hit - perform the sweep
const PxVec3 relTr = trB - trA;
PxF32 tfirst = 0.f;
PxF32 tlast = 1.f;
const PxVec3 aMax = centerA + extentsA;
const PxVec3 aMin = centerA - extentsA;
const PxVec3 bMax = centerB + extentsB;
const PxVec3 bMin = centerB - extentsB;
const PxF32 eps = 1e-6f;
for(PxU32 a = 0; a < 3; ++a)
{
if(relTr[a] < -eps)
{
if(bMax[a] < aMin[a])
return PX_MAX_REAL;
if(aMax[a] < bMin[a])
tfirst = PxMax((aMax[a] - bMin[a])/relTr[a], tfirst);
if(bMax[a] > aMin[a])
tlast = PxMin((aMin[a] - bMax[a])/relTr[a], tlast);
}
else if(relTr[a] > eps)
{
if(bMin[a] > aMax[a])
return PX_MAX_REAL;
if(bMax[a] < aMin[a])
tfirst = PxMax((aMin[a] - bMax[a])/relTr[a], tfirst);
if(aMax[a] > bMin[a])
tlast = PxMin((aMax[a] - bMin[a])/relTr[a], tlast);
}
else
{
if(bMax[a] < aMin[a] || bMin[a] > aMax[a])
return PX_MAX_REAL;
}
//No hit
if(tfirst > tlast)
return PX_MAX_REAL;
}
//There was a hit so return the TOI
return tfirst;
}
PX_PHYSX_COMMON_API PxReal SweepShapeShape(GU_SWEEP_METHOD_ARGS);
PX_PHYSX_COMMON_API PxReal SweepEstimateAnyShapeHeightfield(GU_SWEEP_ESTIMATE_ARGS);
PX_PHYSX_COMMON_API PxReal SweepEstimateAnyShapeMesh(GU_SWEEP_ESTIMATE_ARGS);
}
}
#endif
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