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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) 2008-2017 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_CONVEX_SUPPORT_TABLE_H
#define GU_CONVEX_SUPPORT_TABLE_H
#include "GuVecConvex.h"
#include "PsVecTransform.h"
#include "PxPhysXCommonConfig.h"
namespace physx
{
namespace Gu
{
class TriangleV;
class CapsuleV;
class BoxV;
class ConvexHullV;
class ConvexHullNoScaleV;
#if PX_VC
#pragma warning(push)
#pragma warning( disable : 4324 ) // Padding was added at the end of a structure because of a __declspec(align) value.
#endif
class SupportLocal
{
public:
Ps::aos::Vec3V shapeSpaceCenterOfMass;
const Ps::aos::PsTransformV& transform;
const Ps::aos::Mat33V& vertex2Shape;
const Ps::aos::Mat33V& shape2Vertex;
const bool isIdentityScale;
SupportLocal(const Ps::aos::PsTransformV& _transform, const Ps::aos::Mat33V& _vertex2Shape, const Ps::aos::Mat33V& _shape2Vertex, const bool _isIdentityScale = true): transform(_transform),
vertex2Shape(_vertex2Shape), shape2Vertex(_shape2Vertex), isIdentityScale(_isIdentityScale)
{
}
PX_FORCE_INLINE void setShapeSpaceCenterofMass(const Ps::aos::Vec3VArg _shapeSpaceCenterOfMass)
{
shapeSpaceCenterOfMass = _shapeSpaceCenterOfMass;
}
virtual ~SupportLocal() {}
virtual Ps::aos::Vec3V doSupport(const Ps::aos::Vec3VArg dir) const = 0;
virtual void doSupport(const Ps::aos::Vec3VArg dir, Ps::aos::FloatV& min, Ps::aos::FloatV& max) const = 0;
virtual void populateVerts(const PxU8* inds, PxU32 numInds, const PxVec3* originalVerts, Ps::aos::Vec3V* verts)const = 0;
protected:
SupportLocal& operator=(const SupportLocal&);
};
#if PX_VC
#pragma warning(pop)
#endif
template <typename Convex>
class SupportLocalImpl : public SupportLocal
{
public:
const Convex& conv;
SupportLocalImpl(const Convex& _conv, const Ps::aos::PsTransformV& _transform, const Ps::aos::Mat33V& _vertex2Shape, const Ps::aos::Mat33V& _shape2Vertex, const bool _isIdentityScale = true) :
SupportLocal(_transform, _vertex2Shape, _shape2Vertex, _isIdentityScale), conv(_conv)
{
}
Ps::aos::Vec3V doSupport(const Ps::aos::Vec3VArg dir) const
{
//return conv.supportVertsLocal(dir);
return conv.supportLocal(dir);
}
void doSupport(const Ps::aos::Vec3VArg dir, Ps::aos::FloatV& min, Ps::aos::FloatV& max) const
{
return conv.supportLocal(dir, min, max);
}
void populateVerts(const PxU8* inds, PxU32 numInds, const PxVec3* originalVerts, Ps::aos::Vec3V* verts) const
{
conv.populateVerts(inds, numInds, originalVerts, verts);
}
protected:
SupportLocalImpl& operator=(const SupportLocalImpl&);
};
}
}
#endif
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