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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_BOX_CONVERSION_H
#define GU_BOX_CONVERSION_H
#include "GuBox.h"
#include "PsMathUtils.h"
#include "CmMatrix34.h"
#include "PsVecMath.h"
namespace physx
{
// PT: builds rot from quat. WARNING: writes 4 bytes after 'dst.rot'.
PX_FORCE_INLINE void buildFrom(Gu::Box& dst, const PxQuat& q)
{
using namespace Ps::aos;
const QuatV qV = V4LoadU(&q.x);
Vec3V column0, column1, column2;
QuatGetMat33V(qV, column0, column1, column2);
// PT: TODO: investigate if these overlapping stores are a problem
V4StoreU(Vec4V_From_Vec3V(column0), &dst.rot.column0.x);
V4StoreU(Vec4V_From_Vec3V(column1), &dst.rot.column1.x);
V4StoreU(Vec4V_From_Vec3V(column2), &dst.rot.column2.x);
}
PX_FORCE_INLINE void buildFrom(Gu::Box& dst, const PxVec3& center, const PxVec3& extents, const PxQuat& q)
{
using namespace Ps::aos;
// PT: writes 4 bytes after 'rot' but it's safe since we then write 'center' just afterwards
buildFrom(dst, q);
dst.center = center;
dst.extents = extents;
}
PX_FORCE_INLINE void buildMatrixFromBox(Cm::Matrix34& mat34, const Gu::Box& box)
{
mat34.m = box.rot;
mat34.p = box.center;
}
// SD: function is now the same as FastVertex2ShapeScaling::transformQueryBounds
// PT: lots of LHS in that one. TODO: revisit...
PX_INLINE Gu::Box transform(const Cm::Matrix34& transfo, const Gu::Box& box)
{
Gu::Box ret;
PxMat33& obbBasis = ret.rot;
obbBasis.column0 = transfo.rotate(box.rot.column0 * box.extents.x);
obbBasis.column1 = transfo.rotate(box.rot.column1 * box.extents.y);
obbBasis.column2 = transfo.rotate(box.rot.column2 * box.extents.z);
ret.center = transfo.transform(box.center);
ret.extents = Ps::optimizeBoundingBox(obbBasis);
return ret;
}
PX_INLINE Gu::Box transformBoxOrthonormal(const Gu::Box& box, const PxTransform& t)
{
Gu::Box ret;
PxMat33& obbBasis = ret.rot;
obbBasis.column0 = t.rotate(box.rot.column0);
obbBasis.column1 = t.rotate(box.rot.column1);
obbBasis.column2 = t.rotate(box.rot.column2);
ret.center = t.transform(box.center);
ret.extents = box.extents;
return ret;
}
/**
\brief recomputes the OBB after an arbitrary transform by a 4x4 matrix.
\param mtx [in] the transform matrix
\param obb [out] the transformed OBB
*/
PX_INLINE void rotate(const Gu::Box& src, const Cm::Matrix34& mtx, Gu::Box& obb)
{
// The extents remain constant
obb.extents = src.extents;
// The center gets x-formed
obb.center = mtx.transform(src.center);
// Combine rotations
obb.rot = mtx.m * src.rot;
}
// PT: TODO: move this to a better place
PX_FORCE_INLINE void getInverse(PxMat33& dstRot, PxVec3& dstTrans, const PxMat33& srcRot, const PxVec3& srcTrans)
{
const PxMat33 invRot = srcRot.getInverse();
dstTrans = invRot.transform(-srcTrans);
dstRot = invRot;
}
}
#endif
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