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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.
#ifndef GU_VEC_CONVEX_H
#define GU_VEC_CONVEX_H
#include "CmPhysXCommon.h"
#include "PsVecMath.h"
#define PX_SUPPORT_INLINE PX_FORCE_INLINE
#define PX_SUPPORT_FORCE_INLINE PX_FORCE_INLINE
namespace physx
{
namespace Gu
{
struct ConvexType
{
enum Type
{
eCONVEXHULL = 0,
eCONVEXHULLNOSCALE = 1,
eSPHERE = 2,
eBOX = 3,
eCAPSULE = 4,
eTRIANGLE = 5
};
};
class ConvexV
{
public:
PX_FORCE_INLINE ConvexV(const ConvexType::Type type_) : type(type_), bMarginIsRadius(false)
{
margin = 0.f;
minMargin = 0.f;
sweepMargin = 0.f;
center = Ps::aos::V3Zero();
maxMargin = PX_MAX_F32;
}
PX_FORCE_INLINE ConvexV(const ConvexType::Type type_, const Ps::aos::Vec3VArg center_) : type(type_), bMarginIsRadius(false)
{
using namespace Ps::aos;
center = center_;
margin = 0.f;
minMargin = 0.f;
sweepMargin = 0.f;
maxMargin = PX_MAX_F32;
}
//everytime when someone transform the object, they need to up
PX_FORCE_INLINE void setCenter(const Ps::aos::Vec3VArg _center)
{
center = _center;
}
PX_FORCE_INLINE void setMargin(const Ps::aos::FloatVArg margin_)
{
Ps::aos::FStore(margin_, &margin);
}
PX_FORCE_INLINE void setMargin(const PxReal margin_)
{
margin = margin_;
//compare with margin and choose the smallest one
margin = PxMin<PxReal>(maxMargin, margin);
}
PX_FORCE_INLINE void setMaxMargin(const PxReal maxMargin_)
{
maxMargin = maxMargin_;
//compare with margin and choose the smallest one
margin = PxMin<PxReal>(maxMargin, margin);
}
PX_FORCE_INLINE void setMinMargin(const Ps::aos::FloatVArg minMargin_)
{
Ps::aos::FStore(minMargin_, & minMargin);
}
PX_FORCE_INLINE void setSweepMargin(const Ps::aos::FloatVArg sweepMargin_)
{
Ps::aos::FStore(sweepMargin_, &sweepMargin);
}
PX_FORCE_INLINE Ps::aos::Vec3V getCenter()const
{
return center;
}
PX_FORCE_INLINE Ps::aos::FloatV getMargin() const
{
return Ps::aos::FLoad(margin);
}
PX_FORCE_INLINE Ps::aos::FloatV getMinMargin() const
{
return Ps::aos::FLoad(minMargin);
}
PX_FORCE_INLINE Ps::aos::FloatV getSweepMargin() const
{
return Ps::aos::FLoad(sweepMargin);
}
PX_FORCE_INLINE ConvexType::Type getType() const
{
return type;
}
PX_FORCE_INLINE Ps::aos::BoolV isMarginEqRadius()const
{
return Ps::aos::BLoad(bMarginIsRadius);
}
PX_FORCE_INLINE bool getMarginIsRadius() const
{
return bMarginIsRadius;
}
PX_FORCE_INLINE PxReal getMarginF() const
{
return margin;
}
protected:
~ConvexV(){}
Ps::aos::Vec3V center;
PxReal margin; //margin is the amount by which we shrunk the shape for a convex or box. If the shape are sphere/capsule, margin is the radius
PxReal minMargin; //minMargin is some percentage of marginBase, which is used to determine the termination condition for gjk
PxReal sweepMargin; //sweepMargin minMargin is some percentage of marginBase, which is used to determine the termination condition for gjkRaycast
PxReal maxMargin; //the shrunk amount defined by the application
ConvexType::Type type;
bool bMarginIsRadius;
};
PX_FORCE_INLINE Ps::aos::FloatV getContactEps(const Ps::aos::FloatV& _marginA, const Ps::aos::FloatV& _marginB)
{
using namespace Ps::aos;
const FloatV ratio = FLoad(0.25f);
const FloatV minMargin = FMin(_marginA, _marginB);
return FMul(minMargin, ratio);
}
PX_FORCE_INLINE Ps::aos::FloatV getSweepContactEps(const Ps::aos::FloatV& _marginA, const Ps::aos::FloatV& _marginB)
{
using namespace Ps::aos;
const FloatV ratio = FLoad(100.f);
const FloatV minMargin = FAdd(_marginA, _marginB);
return FMul(minMargin, ratio);
}
}
}
#endif
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