1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
|
//
// 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 "GuGJK.h"
#include "GuGJKRaycast.h"
#include "GuGJKPenetration.h"
#include "GuGJKTest.h"
namespace physx
{
namespace Gu
{
using namespace Ps::aos;
GjkStatus testGjk(GjkConvex& a, GjkConvex& b, const Vec3VArg initialSearchDir, const FloatVArg contactDist, Vec3V& closestA, Vec3V& closestB, Vec3V& normal, FloatV& dist)
{
return gjk<GjkConvex, GjkConvex>(a, b, initialSearchDir, contactDist, closestA, closestB, normal, dist);
}
bool testGjkRaycast(GjkConvex& a, GjkConvex& b, const Vec3VArg initialSearchDir, const Ps::aos::FloatVArg initialLambda, const Ps::aos::Vec3VArg s, const Ps::aos::Vec3VArg r, Ps::aos::FloatV& lambda,
Ps::aos::Vec3V& normal, Ps::aos::Vec3V& closestA, const PxReal inflation)
{
return gjkRaycast(a, b, initialSearchDir, initialLambda, s, r, lambda, normal, closestA, inflation);
}
GjkStatus testGjkPenetration (GjkConvex& a, GjkConvex& b, const Vec3VArg initialSearchDir, const FloatVArg contactDist, Vec3V& closestA, Vec3V& closestB, Vec3V& normal, FloatV& sqDist)
{
const bool takeCoreShape = a.getMarginIsRadius() || b.getMarginIsRadius();
PxU8 aIndices[4];
PxU8 bIndices[4];
PxU8 size=0;
return gjkPenetration<GjkConvex, GjkConvex>(a, b, initialSearchDir, contactDist, closestA, closestB, normal,
sqDist, aIndices, bIndices, size, takeCoreShape);
}
GjkStatus testGjkPenetration(GjkConvex& a, GjkConvex& b, const Vec3VArg initialSearchDir, const FloatVArg contactDist, Vec3V& closestA, Vec3V& closestB, Vec3V& normal, FloatV& sqDist,
PxU8* aIndices, PxU8* bIndices, PxU8 size)
{
const bool takeCoreShape = a.getMarginIsRadius() || b.getMarginIsRadius();
return gjkPenetration<GjkConvex, GjkConvex>(a, b, initialSearchDir, contactDist, closestA, closestB, normal,
sqDist, aIndices, bIndices, size, takeCoreShape);
}
GjkStatus testEpaPenetration(GjkConvex& a, GjkConvex& b, Ps::aos::Vec3V& contactA, Ps::aos::Vec3V& contactB, Ps::aos::Vec3V& normal,
Ps::aos::FloatV& penetrationDepth)
{
const bool takeCoreShape = a.getMarginIsRadius() || b.getMarginIsRadius();
PxU8 aIndices[4];
PxU8 bIndices[4];
PxU8 size=0;
return epaPenetration(a, b, aIndices, bIndices, size, contactA, contactB, normal, penetrationDepth, takeCoreShape);
}
GjkStatus testEpaPenetration(GjkConvex& a, GjkConvex& b, Ps::aos::Vec3V& contactA, Ps::aos::Vec3V& contactB, Ps::aos::Vec3V& normal,
Ps::aos::FloatV& penetrationDepth, PxU8* aIndices, PxU8* bIndices, PxU8 size)
{
const bool takeCoreShape = a.getMarginIsRadius() || b.getMarginIsRadius();
return epaPenetration(a, b, aIndices, bIndices, size, contactA, contactB, normal, penetrationDepth, takeCoreShape);
}
}
}
|