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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_TRIANGLE_H
#define GU_VEC_TRIANGLE_H
/** \addtogroup geomutils
@{
*/
#include "GuVecConvex.h"
#include "GuConvexSupportTable.h"
#include "GuDistancePointTriangleSIMD.h"
namespace physx
{
namespace Gu
{
class TriangleV : public ConvexV
{
public:
/**
\brief Constructor
*/
PX_FORCE_INLINE TriangleV() : ConvexV(ConvexType::eTRIANGLE)
{
margin = 0.02f;
minMargin = PX_MAX_REAL;
sweepMargin = PX_MAX_REAL;
}
/**
\brief Constructor
\param[in] p0 Point 0
\param[in] p1 Point 1
\param[in] p2 Point 2
*/
PX_FORCE_INLINE TriangleV(const Ps::aos::Vec3VArg p0, const Ps::aos::Vec3VArg p1, const Ps::aos::Vec3VArg p2): ConvexV(ConvexType::eTRIANGLE)
{
using namespace Ps::aos;
//const FloatV zero = FZero();
const FloatV num = FLoad(0.333333f);
center = V3Scale(V3Add(V3Add(p0, p1), p2), num);
verts[0] = p0;
verts[1] = p1;
verts[2] = p2;
margin = 0.f;
minMargin = PX_MAX_REAL;
sweepMargin = PX_MAX_REAL;
}
PX_FORCE_INLINE TriangleV(const PxVec3* pts) : ConvexV(ConvexType::eTRIANGLE)
{
using namespace Ps::aos;
const Vec3V p0 = V3LoadU(pts[0]);
const Vec3V p1 = V3LoadU(pts[1]);
const Vec3V p2 = V3LoadU(pts[2]);
const FloatV num = FLoad(0.333333f);
center = V3Scale(V3Add(V3Add(p0, p1), p2), num);
verts[0] = p0;
verts[1] = p1;
verts[2] = p2;
margin = 0.f;
minMargin = PX_MAX_REAL;
sweepMargin = PX_MAX_REAL;
}
/**
\brief Copy constructor
\param[in] triangle Tri to copy
*/
PX_FORCE_INLINE TriangleV(const Gu::TriangleV& triangle) : ConvexV(ConvexType::eTRIANGLE)
{
using namespace Ps::aos;
verts[0] = triangle.verts[0];
verts[1] = triangle.verts[1];
verts[2] = triangle.verts[2];
center = triangle.center;
margin = 0.f;
minMargin = PX_MAX_REAL;
sweepMargin = PX_MAX_REAL;
}
/**
\brief Destructor
*/
PX_FORCE_INLINE ~TriangleV()
{
}
PX_FORCE_INLINE void populateVerts(const PxU8* inds, PxU32 numInds, const PxVec3* originalVerts, Ps::aos::Vec3V* vertexs)const
{
using namespace Ps::aos;
for(PxU32 i=0; i<numInds; ++i)
{
vertexs[i] = V3LoadU(originalVerts[inds[i]]);
}
}
PX_FORCE_INLINE Ps::aos::FloatV getSweepMargin() const
{
return Ps::aos::FMax();
}
PX_FORCE_INLINE void setCenter(const Ps::aos::Vec3VArg _center)
{
using namespace Ps::aos;
Vec3V offset = V3Sub(_center, center);
center = _center;
verts[0] = V3Add(verts[0], offset);
verts[1] = V3Add(verts[1], offset);
verts[2] = V3Add(verts[2], offset);
}
/**
\brief Compute the normal of the Triangle.
\return Triangle normal.
*/
PX_FORCE_INLINE Ps::aos::Vec3V normal() const
{
using namespace Ps::aos;
const Vec3V ab = V3Sub(verts[1], verts[0]);
const Vec3V ac = V3Sub(verts[2], verts[0]);
const Vec3V n = V3Cross(ab, ac);
return V3Normalize(n);
}
/**
\brief Compute the unnormalized normal of the Triangle.
\param[out] _normal Triangle normal (not normalized).
*/
PX_FORCE_INLINE void denormalizedNormal(Ps::aos::Vec3V& _normal) const
{
using namespace Ps::aos;
const Vec3V ab = V3Sub(verts[1], verts[0]);
const Vec3V ac = V3Sub(verts[2], verts[0]);
_normal = V3Cross(ab, ac);
}
PX_FORCE_INLINE Ps::aos::FloatV area() const
{
using namespace Ps::aos;
const FloatV half = FLoad(0.5f);
const Vec3V ba = V3Sub(verts[0], verts[1]);
const Vec3V ca = V3Sub(verts[0], verts[2]);
const Vec3V v = V3Cross(ba, ca);
return FMul(V3Length(v), half);
}
//dir is in local space, verts in the local space
PX_FORCE_INLINE Ps::aos::Vec3V supportLocal(const Ps::aos::Vec3VArg dir) const
{
using namespace Ps::aos;
const Vec3V v0 = verts[0];
const Vec3V v1 = verts[1];
const Vec3V v2 = verts[2];
const FloatV d0 = V3Dot(v0, dir);
const FloatV d1 = V3Dot(v1, dir);
const FloatV d2 = V3Dot(v2, dir);
const BoolV con0 = BAnd(FIsGrtr(d0, d1), FIsGrtr(d0, d2));
const BoolV con1 = FIsGrtr(d1, d2);
return V3Sel(con0, v0, V3Sel(con1, v1, v2));
}
PX_FORCE_INLINE void supportLocal(const Ps::aos::Vec3VArg dir, Ps::aos::FloatV& min, Ps::aos::FloatV& max) const
{
using namespace Ps::aos;
const Vec3V v0 = verts[0];
const Vec3V v1 = verts[1];
const Vec3V v2 = verts[2];
FloatV d0 = V3Dot(v0, dir);
FloatV d1 = V3Dot(v1, dir);
FloatV d2 = V3Dot(v2, dir);
max = FMax(d0, FMax(d1, d2));
min = FMin(d0, FMin(d1, d2));
}
//dir is in b space
PX_FORCE_INLINE Ps::aos::Vec3V supportRelative(const Ps::aos::Vec3VArg dir, const Ps::aos::PsMatTransformV& aToB, const Ps::aos::PsMatTransformV& aTobT) const
{
using namespace Ps::aos;
//verts are in local space
// const Vec3V _dir = aToB.rotateInv(dir); //transform dir back to a space
const Vec3V _dir = aTobT.rotate(dir); //transform dir back to a space
const Vec3V maxPoint = supportLocal(_dir);
return aToB.transform(maxPoint);//transform maxPoint to the b space
}
PX_FORCE_INLINE Ps::aos::Vec3V supportLocal(const Ps::aos::Vec3VArg dir, PxI32& index, Ps::aos::FloatV* /*marginDif*/) const
{
using namespace Ps::aos;
const VecI32V vZero = VecI32V_Zero();
const VecI32V vOne = VecI32V_One();
const VecI32V vTwo = VecI32V_Two();
const Vec3V v0 = verts[0];
const Vec3V v1 = verts[1];
const Vec3V v2 = verts[2];
const FloatV d0 = V3Dot(v0, dir);
const FloatV d1 = V3Dot(v1, dir);
const FloatV d2 = V3Dot(v2, dir);
const BoolV con0 = BAnd(FIsGrtr(d0, d1), FIsGrtr(d0, d2));
const BoolV con1 = FIsGrtr(d1, d2);
const VecI32V vIndex = VecI32V_Sel(con0, vZero, VecI32V_Sel(con1, vOne, vTwo));
PxI32_From_VecI32V(vIndex, &index);
return V3Sel(con0, v0, V3Sel(con1, v1, v2));
}
PX_FORCE_INLINE Ps::aos::Vec3V supportRelative( const Ps::aos::Vec3VArg dir, const Ps::aos::PsMatTransformV& aToB,
const Ps::aos::PsMatTransformV& aTobT, PxI32& index, Ps::aos::FloatV* marginDif)const
{
//don't put margin in the triangle
using namespace Ps::aos;
//transfer dir into the local space of triangle
// const Vec3V _dir = aToB.rotateInv(dir);
const Vec3V _dir = aTobT.rotate(dir);
return aToB.transform(supportLocal(_dir, index, marginDif));//transform the support poin to b space
}
PX_FORCE_INLINE Ps::aos::Vec3V supportPoint(const PxI32 index, Ps::aos::FloatV* /*marginDif*/)const
{
return verts[index];
}
/**
\brief Array of Vertices.
*/
Ps::aos::Vec3V verts[3];
};
}
}
#endif
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