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// This code contains NVIDIA Confidential Information and is disclosed to you
// under a form of NVIDIA software license agreement provided separately to you.
//
// Notice
// NVIDIA Corporation and its licensors retain all intellectual property and
// proprietary rights in and to this software and related documentation and
// any modifications thereto. Any use, reproduction, disclosure, or
// distribution of this software and related documentation without an express
// license agreement from NVIDIA Corporation is strictly prohibited.
//
// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
//
// Information and code furnished is believed to be accurate and reliable.
// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
// information or for any infringement of patents or other rights of third parties that may
// result from its use. No license is granted by implication or otherwise under any patent
// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
// This code supersedes and replaces all information previously supplied.
// NVIDIA Corporation products are not authorized for use as critical
// components in life support devices or systems without express written approval of
// NVIDIA Corporation.
//
// 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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