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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 "GuGJKSimplex.h"
namespace physx
{
namespace Gu
{
using namespace Ps::aos;
static Vec3V getClosestPtPointTriangle(Vec3V* PX_RESTRICT Q, const BoolVArg bIsOutside4, PxU32* indices, PxU32& size)
{
FloatV bestSqDist = FMax();
PxU32 _indices[3] = {0, 1, 2};
Vec3V closestPt = V3Zero();
if(BAllEqTTTT(BGetX(bIsOutside4)))
{
//use the original indices, size, v and w
bestSqDist = closestPtPointTriangleBaryCentric(Q[0], Q[1], Q[2], indices, size, closestPt);
}
if(BAllEqTTTT(BGetY(bIsOutside4)))
{
PxU32 _size = 3;
_indices[0] = 0; _indices[1] = 2; _indices[2] = 3;
Vec3V tClosestPt;
const FloatV sqDist = closestPtPointTriangleBaryCentric(Q[0], Q[2], Q[3], _indices, _size, tClosestPt);
const BoolV con = FIsGrtr(bestSqDist, sqDist);
if(BAllEqTTTT(con))
{
closestPt = tClosestPt;
bestSqDist = sqDist;
indices[0] = _indices[0];
indices[1] = _indices[1];
indices[2] = _indices[2];
size = _size;
}
}
if(BAllEqTTTT(BGetZ(bIsOutside4)))
{
PxU32 _size = 3;
_indices[0] = 0; _indices[1] = 3; _indices[2] = 1;
Vec3V tClosestPt;
const FloatV sqDist = closestPtPointTriangleBaryCentric(Q[0], Q[3], Q[1], _indices, _size, tClosestPt);
const BoolV con = FIsGrtr(bestSqDist, sqDist);
if(BAllEqTTTT(con))
{
closestPt = tClosestPt;
bestSqDist = sqDist;
indices[0] = _indices[0];
indices[1] = _indices[1];
indices[2] = _indices[2];
size = _size;
}
}
if(BAllEqTTTT(BGetW(bIsOutside4)))
{
PxU32 _size = 3;
_indices[0] = 1; _indices[1] = 3; _indices[2] = 2;
Vec3V tClosestPt;
const FloatV sqDist = closestPtPointTriangleBaryCentric(Q[1], Q[3], Q[2], _indices, _size, tClosestPt);
const BoolV con = FIsGrtr(bestSqDist, sqDist);
if(BAllEqTTTT(con))
{
closestPt = tClosestPt;
bestSqDist = sqDist;
indices[0] = _indices[0];
indices[1] = _indices[1];
indices[2] = _indices[2];
size = _size;
}
}
return closestPt;
}
PX_NOALIAS Vec3V closestPtPointTetrahedron(Vec3V* PX_RESTRICT Q, Vec3V* PX_RESTRICT A, Vec3V* PX_RESTRICT B, PxU32& size)
{
const FloatV eps = FLoad(1e-4f);
const Vec3V a = Q[0];
const Vec3V b = Q[1];
const Vec3V c = Q[2];
const Vec3V d = Q[3];
//degenerated
const Vec3V ab = V3Sub(b, a);
const Vec3V ac = V3Sub(c, a);
const Vec3V n = V3Normalize(V3Cross(ab, ac));
const FloatV signDist = V3Dot(n, V3Sub(d, a));
if(FAllGrtr(eps, FAbs(signDist)))
{
size = 3;
return closestPtPointTriangle(Q, A, B, size);
}
const BoolV bIsOutside4 = PointOutsideOfPlane4(a, b, c, d);
if(BAllEqFFFF(bIsOutside4))
{
//All inside
return V3Zero();
}
PxU32 indices[3] = {0, 1, 2};
const Vec3V closest = getClosestPtPointTriangle(Q, bIsOutside4, indices, size);
const Vec3V q0 = Q[indices[0]]; const Vec3V q1 = Q[indices[1]]; const Vec3V q2 = Q[indices[2]];
const Vec3V a0 = A[indices[0]]; const Vec3V a1 = A[indices[1]]; const Vec3V a2 = A[indices[2]];
const Vec3V b0 = B[indices[0]]; const Vec3V b1 = B[indices[1]]; const Vec3V b2 = B[indices[2]];
Q[0] = q0; Q[1] = q1; Q[2] = q2;
A[0] = a0; A[1] = a1; A[2] = a2;
B[0] = b0; B[1] = b1; B[2] = b2;
return closest;
}
PX_NOALIAS Vec3V closestPtPointTetrahedron(Vec3V* PX_RESTRICT Q, Vec3V* PX_RESTRICT A, Vec3V* PX_RESTRICT B, PxI32* PX_RESTRICT aInd, PxI32* PX_RESTRICT bInd, PxU32& size)
{
const FloatV eps = FLoad(1e-4f);
const Vec3V zeroV = V3Zero();
const Vec3V a = Q[0];
const Vec3V b = Q[1];
const Vec3V c = Q[2];
const Vec3V d = Q[3];
//degenerated
const Vec3V ab = V3Sub(b, a);
const Vec3V ac = V3Sub(c, a);
const Vec3V n = V3Normalize(V3Cross(ab, ac));
const FloatV signDist = V3Dot(n, V3Sub(d, a));
if(FAllGrtr(eps, FAbs(signDist)))
{
size = 3;
return closestPtPointTriangle(Q, A, B, aInd, bInd, size);
}
const BoolV bIsOutside4 = PointOutsideOfPlane4(a, b, c, d);
if(BAllEqFFFF(bIsOutside4))
{
//All inside
return zeroV;
}
PxU32 indices[3] = {0, 1, 2};
const Vec3V closest = getClosestPtPointTriangle(Q, bIsOutside4, indices, size);
const Vec3V q0 = Q[indices[0]]; const Vec3V q1 = Q[indices[1]]; const Vec3V q2 = Q[indices[2]];
const Vec3V a0 = A[indices[0]]; const Vec3V a1 = A[indices[1]]; const Vec3V a2 = A[indices[2]];
const Vec3V b0 = B[indices[0]]; const Vec3V b1 = B[indices[1]]; const Vec3V b2 = B[indices[2]];
const PxI32 _aInd0 = aInd[indices[0]]; const PxI32 _aInd1 = aInd[indices[1]]; const PxI32 _aInd2 = aInd[indices[2]];
const PxI32 _bInd0 = bInd[indices[0]]; const PxI32 _bInd1 = bInd[indices[1]]; const PxI32 _bInd2 = bInd[indices[2]];
Q[0] = q0; Q[1] = q1; Q[2] = q2;
A[0] = a0; A[1] = a1; A[2] = a2;
B[0] = b0; B[1] = b1; B[2] = b2;
aInd[0] = _aInd0; aInd[1] = _aInd1; aInd[2] = _aInd2;
bInd[0] = _bInd0; bInd[1] = _bInd1; bInd[2] = _bInd2;
return closest;
}
}
}
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