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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.
#include "GuConvexUtilsInternal.h"
#include "foundation/PxBounds3.h"
#include "CmScaling.h"
#include "GuBoxConversion.h"
#include "PxConvexMeshGeometry.h"
#include "GuConvexMesh.h"
using namespace physx;
using namespace Gu;
void Gu::computeHullOBB(Box& hullOBB, const PxBounds3& hullAABB, float offset,
const Cm::Matrix34& convexPose,
const Cm::Matrix34& meshPose, const Cm::FastVertex2ShapeScaling& meshScaling, bool idtScaleMesh)
{
// transform bounds = mesh space
Cm::Matrix34 m0to1 = meshPose.transformTranspose(convexPose);
hullOBB.extents = hullAABB.getExtents() + PxVec3(offset);
hullOBB.center = m0to1.transform(hullAABB.getCenter());
hullOBB.rot = m0to1.m;
if(!idtScaleMesh)
meshScaling.transformQueryBounds(hullOBB.center, hullOBB.extents, hullOBB.rot);
}
void Gu::computeVertexSpaceOBB(Box& dst, const Box& src, const PxTransform& meshPose, const PxMeshScale& meshScale)
{
// AP scaffold failure in x64 debug in GuConvexUtilsInternal.cpp
//PX_ASSERT("Performance warning - this path shouldn't execute for identity mesh scale." && !meshScale.isIdentity());
dst = transform(meshScale.getInverse() * Cm::Matrix34(meshPose.getInverse()), src);
}
void Gu::computeOBBAroundConvex(
Box& obb, const PxConvexMeshGeometry& convexGeom, const PxConvexMesh* cm, const PxTransform& convexPose)
{
const CenterExtents& aabb = static_cast<const Gu::ConvexMesh*>(cm)->getLocalBoundsFast();
if(convexGeom.scale.isIdentity())
{
const PxMat33 m(convexPose.q);
obb = Gu::Box(m.transform(aabb.mCenter) + convexPose.p, aabb.mExtents, m);
}
else
{
obb = transform(Cm::Matrix34(convexPose) * convexGeom.scale.toMat33(), Box(aabb.mCenter, aabb.mExtents, PxMat33(PxIdentity)));
}
}
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