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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 "foundation/PxVec3.h"
#include "GuDistancePointTriangle.h"
#include "GuDistancePointTriangleSIMD.h"
using namespace physx;
// Based on Christer Ericson's book
PxVec3 Gu::closestPtPointTriangle(const PxVec3& p, const PxVec3& a, const PxVec3& b, const PxVec3& c, float& s, float& t)
{
// Check if P in vertex region outside A
const PxVec3 ab = b - a;
const PxVec3 ac = c - a;
const PxVec3 ap = p - a;
const float d1 = ab.dot(ap);
const float d2 = ac.dot(ap);
if(d1<=0.0f && d2<=0.0f)
{
s = 0.0f;
t = 0.0f;
return a; // Barycentric coords 1,0,0
}
// Check if P in vertex region outside B
const PxVec3 bp = p - b;
const float d3 = ab.dot(bp);
const float d4 = ac.dot(bp);
if(d3>=0.0f && d4<=d3)
{
s = 1.0f;
t = 0.0f;
return b; // Barycentric coords 0,1,0
}
// Check if P in edge region of AB, if so return projection of P onto AB
const float vc = d1*d4 - d3*d2;
if(vc<=0.0f && d1>=0.0f && d3<=0.0f)
{
const float v = d1 / (d1 - d3);
s = v;
t = 0.0f;
return a + v * ab; // barycentric coords (1-v, v, 0)
}
// Check if P in vertex region outside C
const PxVec3 cp = p - c;
const float d5 = ab.dot(cp);
const float d6 = ac.dot(cp);
if(d6>=0.0f && d5<=d6)
{
s = 0.0f;
t = 1.0f;
return c; // Barycentric coords 0,0,1
}
// Check if P in edge region of AC, if so return projection of P onto AC
const float vb = d5*d2 - d1*d6;
if(vb<=0.0f && d2>=0.0f && d6<=0.0f)
{
const float w = d2 / (d2 - d6);
s = 0.0f;
t = w;
return a + w * ac; // barycentric coords (1-w, 0, w)
}
// Check if P in edge region of BC, if so return projection of P onto BC
const float va = d3*d6 - d5*d4;
if(va<=0.0f && (d4-d3)>=0.0f && (d5-d6)>=0.0f)
{
const float w = (d4-d3) / ((d4 - d3) + (d5-d6));
s = 1.0f-w;
t = w;
return b + w * (c-b); // barycentric coords (0, 1-w, w)
}
// P inside face region. Compute Q through its barycentric coords (u,v,w)
const float denom = 1.0f / (va + vb + vc);
const float v = vb * denom;
const float w = vc * denom;
s = v;
t = w;
return a + ab*v + ac*w;
}
//Ps::aos::FloatV Gu::distancePointTriangleSquared( const Ps::aos::Vec3VArg p,
// const Ps::aos::Vec3VArg a,
// const Ps::aos::Vec3VArg b,
// const Ps::aos::Vec3VArg c,
// Ps::aos::FloatV& u,
// Ps::aos::FloatV& v,
// Ps::aos::Vec3V& closestP)
//{
// using namespace Ps::aos;
//
// const FloatV zero = FZero();
// const FloatV one = FOne();
// //const Vec3V zero = V3Zero();
// const Vec3V ab = V3Sub(b, a);
// const Vec3V ac = V3Sub(c, a);
// const Vec3V bc = V3Sub(c, b);
// const Vec3V ap = V3Sub(p, a);
// const Vec3V bp = V3Sub(p, b);
// const Vec3V cp = V3Sub(p, c);
//
// const FloatV d1 = V3Dot(ab, ap); // snom
// const FloatV d2 = V3Dot(ac, ap); // tnom
// const FloatV d3 = V3Dot(ab, bp); // -sdenom
// const FloatV d4 = V3Dot(ac, bp); // unom = d4 - d3
// const FloatV d5 = V3Dot(ab, cp); // udenom = d5 - d6
// const FloatV d6 = V3Dot(ac, cp); // -tdenom
// const FloatV unom = FSub(d4, d3);
// const FloatV udenom = FSub(d5, d6);
//
// //check if p in vertex region outside a
// const BoolV con00 = FIsGrtr(zero, d1); // snom <= 0
// const BoolV con01 = FIsGrtr(zero, d2); // tnom <= 0
// const BoolV con0 = BAnd(con00, con01); // vertex region a
// const FloatV u0 = zero;
// const FloatV v0 = zero;
//
// //check if p in vertex region outside b
// const BoolV con10 = FIsGrtrOrEq(d3, zero);
// const BoolV con11 = FIsGrtrOrEq(d3, d4);
// const BoolV con1 = BAnd(con10, con11); // vertex region b
// const FloatV u1 = one;
// const FloatV v1 = zero;
//
// //check if p in vertex region outside c
// const BoolV con20 = FIsGrtrOrEq(d6, zero);
// const BoolV con21 = FIsGrtrOrEq(d6, d5);
// const BoolV con2 = BAnd(con20, con21); // vertex region c
// const FloatV u2 = zero;
// const FloatV v2 = one;
//
// //check if p in edge region of AB
// const FloatV vc = FSub(FMul(d1, d4), FMul(d3, d2));
//
// const BoolV con30 = FIsGrtr(zero, vc);
// const BoolV con31 = FIsGrtrOrEq(d1, zero);
// const BoolV con32 = FIsGrtr(zero, d3);
// const BoolV con3 = BAnd(con30, BAnd(con31, con32));
// const FloatV sScale = FDiv(d1, FSub(d1, d3));
// const Vec3V closest3 = V3Add(a, V3Scale(ab, sScale));
// const FloatV u3 = sScale;
// const FloatV v3 = zero;
//
// //check if p in edge region of BC
// const FloatV va = FSub(FMul(d3, d6),FMul(d5, d4));
// const BoolV con40 = FIsGrtr(zero, va);
// const BoolV con41 = FIsGrtrOrEq(d4, d3);
// const BoolV con42 = FIsGrtrOrEq(d5, d6);
// const BoolV con4 = BAnd(con40, BAnd(con41, con42));
// const FloatV uScale = FDiv(unom, FAdd(unom, udenom));
// const Vec3V closest4 = V3Add(b, V3Scale(bc, uScale));
// const FloatV u4 = FSub(one, uScale);
// const FloatV v4 = uScale;
//
// //check if p in edge region of AC
// const FloatV vb = FSub(FMul(d5, d2), FMul(d1, d6));
// const BoolV con50 = FIsGrtr(zero, vb);
// const BoolV con51 = FIsGrtrOrEq(d2, zero);
// const BoolV con52 = FIsGrtr(zero, d6);
// const BoolV con5 = BAnd(con50, BAnd(con51, con52));
// const FloatV tScale = FDiv(d2, FSub(d2, d6));
// const Vec3V closest5 = V3Add(a, V3Scale(ac, tScale));
// const FloatV u5 = zero;
// const FloatV v5 = tScale;
//
// //P must project inside face region. Compute Q using Barycentric coordinates
// const FloatV denom = FRecip(FAdd(va, FAdd(vb, vc)));
// const FloatV t = FMul(vb, denom);
// const FloatV w = FMul(vc, denom);
// const Vec3V bCom = V3Scale(ab, t);
// const Vec3V cCom = V3Scale(ac, w);
// const Vec3V closest6 = V3Add(a, V3Add(bCom, cCom));
// const FloatV u6 = t;
// const FloatV v6 = w;
//
// const Vec3V closest= V3Sel(con0, a, V3Sel(con1, b, V3Sel(con2, c, V3Sel(con3, closest3, V3Sel(con4, closest4, V3Sel(con5, closest5, closest6))))));
// u = FSel(con0, u0, FSel(con1, u1, FSel(con2, u2, FSel(con3, u3, FSel(con4, u4, FSel(con5, u5, u6))))));
// v = FSel(con0, v0, FSel(con1, v1, FSel(con2, v2, FSel(con3, v3, FSel(con4, v4, FSel(con5, v5, v6))))));
// closestP = closest;
//
// const Vec3V vv = V3Sub(p, closest);
//
// return V3Dot(vv, vv);
//}
Ps::aos::FloatV Gu::distancePointTriangleSquared( const Ps::aos::Vec3VArg p,
const Ps::aos::Vec3VArg a,
const Ps::aos::Vec3VArg b,
const Ps::aos::Vec3VArg c,
Ps::aos::FloatV& u,
Ps::aos::FloatV& v,
Ps::aos::Vec3V& closestP)
{
using namespace Ps::aos;
const FloatV zero = FZero();
const FloatV one = FOne();
//const Vec3V zero = V3Zero();
const Vec3V ab = V3Sub(b, a);
const Vec3V ac = V3Sub(c, a);
const Vec3V bc = V3Sub(c, b);
const Vec3V ap = V3Sub(p, a);
const Vec3V bp = V3Sub(p, b);
const Vec3V cp = V3Sub(p, c);
const FloatV d1 = V3Dot(ab, ap); // snom
const FloatV d2 = V3Dot(ac, ap); // tnom
const FloatV d3 = V3Dot(ab, bp); // -sdenom
const FloatV d4 = V3Dot(ac, bp); // unom = d4 - d3
const FloatV d5 = V3Dot(ab, cp); // udenom = d5 - d6
const FloatV d6 = V3Dot(ac, cp); // -tdenom
const FloatV unom = FSub(d4, d3);
const FloatV udenom = FSub(d5, d6);
//check if p in vertex region outside a
const BoolV con00 = FIsGrtr(zero, d1); // snom <= 0
const BoolV con01 = FIsGrtr(zero, d2); // tnom <= 0
const BoolV con0 = BAnd(con00, con01); // vertex region a
if(BAllEqTTTT(con0))
{
u = zero;
v = zero;
const Vec3V vv = V3Sub(p, a);
closestP = a;
return V3Dot(vv, vv);
}
//check if p in vertex region outside b
const BoolV con10 = FIsGrtrOrEq(d3, zero);
const BoolV con11 = FIsGrtrOrEq(d3, d4);
const BoolV con1 = BAnd(con10, con11); // vertex region b
if(BAllEqTTTT(con1))
{
u = one;
v = zero;
const Vec3V vv = V3Sub(p, b);
closestP = b;
return V3Dot(vv, vv);
}
//check if p in vertex region outside c
const BoolV con20 = FIsGrtrOrEq(d6, zero);
const BoolV con21 = FIsGrtrOrEq(d6, d5);
const BoolV con2 = BAnd(con20, con21); // vertex region c
if(BAllEqTTTT(con2))
{
u = zero;
v = one;
const Vec3V vv = V3Sub(p, c);
closestP = c;
return V3Dot(vv, vv);
}
//check if p in edge region of AB
const FloatV vc = FSub(FMul(d1, d4), FMul(d3, d2));
const BoolV con30 = FIsGrtr(zero, vc);
const BoolV con31 = FIsGrtrOrEq(d1, zero);
const BoolV con32 = FIsGrtr(zero, d3);
const BoolV con3 = BAnd(con30, BAnd(con31, con32));
if(BAllEqTTTT(con3))
{
const FloatV sScale = FDiv(d1, FSub(d1, d3));
const Vec3V closest3 = V3Add(a, V3Scale(ab, sScale));
u = sScale;
v = zero;
const Vec3V vv = V3Sub(p, closest3);
closestP = closest3;
return V3Dot(vv, vv);
}
//check if p in edge region of BC
const FloatV va = FSub(FMul(d3, d6),FMul(d5, d4));
const BoolV con40 = FIsGrtr(zero, va);
const BoolV con41 = FIsGrtrOrEq(d4, d3);
const BoolV con42 = FIsGrtrOrEq(d5, d6);
const BoolV con4 = BAnd(con40, BAnd(con41, con42));
if(BAllEqTTTT(con4))
{
const FloatV uScale = FDiv(unom, FAdd(unom, udenom));
const Vec3V closest4 = V3Add(b, V3Scale(bc, uScale));
u = FSub(one, uScale);
v = uScale;
const Vec3V vv = V3Sub(p, closest4);
closestP = closest4;
return V3Dot(vv, vv);
}
//check if p in edge region of AC
const FloatV vb = FSub(FMul(d5, d2), FMul(d1, d6));
const BoolV con50 = FIsGrtr(zero, vb);
const BoolV con51 = FIsGrtrOrEq(d2, zero);
const BoolV con52 = FIsGrtr(zero, d6);
const BoolV con5 = BAnd(con50, BAnd(con51, con52));
if(BAllEqTTTT(con5))
{
const FloatV tScale = FDiv(d2, FSub(d2, d6));
const Vec3V closest5 = V3Add(a, V3Scale(ac, tScale));
u = zero;
v = tScale;
const Vec3V vv = V3Sub(p, closest5);
closestP = closest5;
return V3Dot(vv, vv);
}
//P must project inside face region. Compute Q using Barycentric coordinates
const FloatV denom = FRecip(FAdd(va, FAdd(vb, vc)));
const FloatV t = FMul(vb, denom);
const FloatV w = FMul(vc, denom);
const Vec3V bCom = V3Scale(ab, t);
const Vec3V cCom = V3Scale(ac, w);
const Vec3V closest6 = V3Add(a, V3Add(bCom, cCom));
u = t;
v = w;
closestP = closest6;
const Vec3V vv = V3Sub(p, closest6);
return V3Dot(vv, vv);
}
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