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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_SPHERE_H
#define GU_VEC_SPHERE_H
/** \addtogroup geomutils
@{
*/
#include "GuVecConvex.h"
#include "GuConvexSupportTable.h"
#include "PxSphereGeometry.h"
/**
\brief Represents a sphere defined by its center point and radius.
*/
namespace physx
{
namespace Gu
{
class SphereV : public ConvexV
{
public:
/**
\brief Constructor
*/
PX_INLINE SphereV(): ConvexV(ConvexType::eSPHERE)
{
radius = Ps::aos::FZero();
bMarginIsRadius = true;
}
PX_INLINE SphereV(const Ps::aos::Vec3VArg _center, const Ps::aos::FloatV _radius) : ConvexV(ConvexType::eSPHERE, _center)
{
using namespace Ps::aos;
radius = _radius;
FStore(radius, &margin);
FStore(radius, &minMargin);
FStore(radius, &sweepMargin);
bMarginIsRadius = true;
}
/**
\brief Copy constructor
*/
PX_INLINE SphereV(const SphereV& sphere) : ConvexV(ConvexType::eSPHERE), radius(sphere.radius)
{
margin = sphere.margin;
minMargin = sphere.minMargin;
sweepMargin = sphere.sweepMargin;
bMarginIsRadius = true;
}
PX_INLINE SphereV(const PxGeometry& geom) : ConvexV(ConvexType::eSPHERE, Ps::aos::V3Zero())
{
using namespace Ps::aos;
const PxSphereGeometry& sphereGeom = static_cast<const PxSphereGeometry&>(geom);
const FloatV r = FLoad(sphereGeom.radius);
radius = r;
margin = sphereGeom.radius;
minMargin = sphereGeom.radius;
sweepMargin = sphereGeom.radius;
bMarginIsRadius = true;
}
/**
\brief Destructor
*/
PX_INLINE ~SphereV()
{
}
PX_INLINE void setV(const Ps::aos::Vec3VArg _center, const Ps::aos::FloatVArg _radius)
{
center = _center;
radius = _radius;
}
/**
\brief Checks the sphere is valid.
\return true if the sphere is valid
*/
PX_INLINE bool isValid() const
{
// Consistency condition for spheres: Radius >= 0.0f
using namespace Ps::aos;
return BAllEqTTTT(FIsGrtrOrEq(radius, FZero())) != 0;
}
/**
\brief Tests if a point is contained within the sphere.
\param[in] p the point to test
\return true if inside the sphere
*/
PX_INLINE bool contains(const Ps::aos::Vec3VArg p) const
{
using namespace Ps::aos;
const FloatV rr = FMul(radius, radius);
const FloatV cc = V3LengthSq(V3Sub(center, p));
return FAllGrtrOrEq(rr, cc) != 0;
}
/**
\brief Tests if a sphere is contained within the sphere.
\param sphere [in] the sphere to test
\return true if inside the sphere
*/
PX_INLINE bool contains(const SphereV& sphere) const
{
using namespace Ps::aos;
const Vec3V centerDif= V3Sub(center, sphere.center);
const FloatV radiusDif = FSub(radius, sphere.radius);
const FloatV cc = V3Dot(centerDif, centerDif);
const FloatV rr = FMul(radiusDif, radiusDif);
const BoolV con0 = FIsGrtrOrEq(radiusDif, FZero());//might contain
const BoolV con1 = FIsGrtr(rr, cc);//return true
return BAllEqTTTT(BAnd(con0, con1))==1;
}
/**
\brief Tests if a box is contained within the sphere.
\param minimum [in] minimum value of the box
\param maximum [in] maximum value of the box
\return true if inside the sphere
*/
PX_INLINE bool contains(const Ps::aos::Vec3VArg minimum, const Ps::aos::Vec3VArg maximum) const
{
//compute the sphere which wrap around the box
using namespace Ps::aos;
const FloatV zero = FZero();
const FloatV half = FHalf();
const Vec3V boxSphereCenter = V3Scale(V3Add(maximum, minimum), half);
const Vec3V v = V3Scale(V3Sub(maximum, minimum), half);
const FloatV boxSphereR = V3Length(v);
const Vec3V w = V3Sub(center, boxSphereCenter);
const FloatV wLength = V3Length(w);
const FloatV dif = FSub(FSub(radius, wLength), boxSphereR);
return FAllGrtrOrEq(dif, zero) != 0;
}
/**
\brief Tests if the sphere intersects another sphere
\param sphere [in] the other sphere
\return true if spheres overlap
*/
PX_INLINE bool intersect(const SphereV& sphere) const
{
using namespace Ps::aos;
const Vec3V centerDif = V3Sub(center, sphere.center);
const FloatV cc = V3Dot(centerDif, centerDif);
const FloatV r = FAdd(radius, sphere.radius);
const FloatV rr = FMul(r, r);
return FAllGrtrOrEq(rr, cc) != 0;
}
//return point in local space
PX_FORCE_INLINE Ps::aos::Vec3V getPoint(const PxU8)
{
return Ps::aos::V3Zero();
}
//
//sweep code need to have full version
PX_FORCE_INLINE Ps::aos::Vec3V supportSweep(const Ps::aos::Vec3VArg dir)const
{
using namespace Ps::aos;
const Vec3V _dir = V3Normalize(dir);
return V3ScaleAdd(_dir, radius, center);
}
//make the support function the same as support margin
PX_FORCE_INLINE Ps::aos::Vec3V support(const Ps::aos::Vec3VArg)const
{
return center;//_margin is the same as radius
}
PX_FORCE_INLINE Ps::aos::Vec3V supportMargin(const Ps::aos::Vec3VArg dir, const Ps::aos::FloatVArg _margin, Ps::aos::Vec3V& support)const
{
PX_UNUSED(_margin);
PX_UNUSED(dir);
support = center;
return center;//_margin is the same as radius
}
PX_FORCE_INLINE Ps::aos::BoolV isMarginEqRadius()const
{
return Ps::aos::BTTTT();
}
PX_FORCE_INLINE Ps::aos::FloatV getSweepMargin() const
{
return Ps::aos::FZero();
}
Ps::aos::FloatV radius; //!< Sphere's center, w component is radius
};
}
}
#endif
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