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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_INTERSECTION_CAPSULE_TRIANGLE_H
#define GU_INTERSECTION_CAPSULE_TRIANGLE_H
#include "CmPhysXCommon.h"
#include "GuCapsule.h"
#include "PsUtilities.h"
namespace physx
{
namespace Gu
{
// PT: precomputed data for capsule-triangle test. Useful when testing the same capsule vs several triangles.
struct CapsuleTriangleOverlapData
{
PxVec3 mCapsuleDir;
float mBDotB;
float mOneOverBDotB;
void init(const Capsule& capsule)
{
const PxVec3 dir = capsule.p1 - capsule.p0;
const float BDotB = dir.dot(dir);
mCapsuleDir = dir;
mBDotB = BDotB;
mOneOverBDotB = BDotB!=0.0f ? 1.0f/BDotB : 0.0f;
}
};
// PT: tests if projections of capsule & triangle overlap on given axis
PX_FORCE_INLINE PxU32 testAxis(const PxVec3& p0, const PxVec3& p1, const PxVec3& p2, const Capsule& capsule, const PxVec3& axis)
{
// Project capsule
float min0 = capsule.p0.dot(axis);
float max0 = capsule.p1.dot(axis);
if(min0>max0)
Ps::swap(min0, max0);
const float MR = axis.magnitude()*capsule.radius;
min0 -= MR;
max0 += MR;
// Project triangle
float min1, max1;
{
min1 = max1 = p0.dot(axis);
float dp = p1.dot(axis);
if(dp<min1) min1 = dp;
if(dp>max1) max1 = dp;
dp = p2.dot(axis);
if(dp<min1) min1 = dp;
if(dp>max1) max1 = dp;
}
// Test projections
if(max0<min1 || max1<min0)
return 0;
return 1;
}
// PT: computes shortest vector going from capsule axis to triangle edge
PX_FORCE_INLINE PxVec3 computeEdgeAxis( const PxVec3& p, const PxVec3& a,
const PxVec3& q, const PxVec3& b,
float BDotB, float oneOverBDotB)
{
const PxVec3 T = q - p;
const float ADotA = a.dot(a);
const float ADotB = a.dot(b);
const float ADotT = a.dot(T);
const float BDotT = b.dot(T);
const float denom = ADotA*BDotB - ADotB*ADotB;
float t = denom!=0.0f ? (ADotT*BDotB - BDotT*ADotB) / denom : 0.0f;
t = PxClamp(t, 0.0f, 1.0f);
float u = (t*ADotB - BDotT) * oneOverBDotB;
if(u<0.0f)
{
u = 0.0f;
t = ADotT / ADotA;
t = PxClamp(t, 0.0f, 1.0f);
}
else if(u>1.0f)
{
u = 1.0f;
t = (ADotB + ADotT) / ADotA;
t = PxClamp(t, 0.0f, 1.0f);
}
return T + b*u - a*t;
}
/**
* Checks if a capsule intersects a triangle.
*
* \param normal [in] triangle normal (orientation does not matter)
* \param p0 [in] triangle's first point
* \param p1 [in] triangle's second point
* \param p2 [in] triangle's third point
* \param capsule [in] capsule
* \param params [in] precomputed capsule params
* \return true if capsule overlaps triangle
*/
bool intersectCapsuleTriangle(const PxVec3& normal, const PxVec3& p0, const PxVec3& p1, const PxVec3& p2, const Gu::Capsule& capsule, const CapsuleTriangleOverlapData& params);
}
}
#endif
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