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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 "GuDistancePointBox.h"
using namespace physx;
PxReal Gu::distancePointBoxSquared( const PxVec3& point,
const PxVec3& boxOrigin, const PxVec3& boxExtent, const PxMat33& boxBase,
PxVec3* boxParam)
{
// Compute coordinates of point in box coordinate system
const PxVec3 diff = point - boxOrigin;
PxVec3 closest( boxBase.column0.dot(diff),
boxBase.column1.dot(diff),
boxBase.column2.dot(diff));
// Project test point onto box
PxReal sqrDistance = 0.0f;
for(PxU32 ax=0; ax<3; ax++)
{
if(closest[ax] < -boxExtent[ax])
{
const PxReal delta = closest[ax] + boxExtent[ax];
sqrDistance += delta*delta;
closest[ax] = -boxExtent[ax];
}
else if(closest[ax] > boxExtent[ax])
{
const PxReal delta = closest[ax] - boxExtent[ax];
sqrDistance += delta*delta;
closest[ax] = boxExtent[ax];
}
}
if(boxParam) *boxParam = closest;
return sqrDistance;
}
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