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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_RAY_BOX_H
#define GU_INTERSECTION_RAY_BOX_H
#include "foundation/PxIntrinsics.h"
#include "PxPhysXCommonConfig.h"
#include "CmPhysXCommon.h"
namespace physx
{
namespace Gu
{
bool rayAABBIntersect(const PxVec3& minimum, const PxVec3& maximum, const PxVec3& origin, const PxVec3& _dir, PxVec3& coord);
PxU32 rayAABBIntersect2(const PxVec3& minimum, const PxVec3& maximum, const PxVec3& origin, const PxVec3& _dir, PxVec3& coord, PxReal & t);
// Collide ray defined by ray origin (rayOrigin) and ray direction (rayDirection)
// with the bounding box. Returns -1 on no collision and the face index
// for first intersection if a collision is found together with
// the distance to the collision points (tnear and tfar)
//
// ptchernev:
// Even though the above is the original comment by Pierre I am quite confident
// that the tnear and tfar parameters are parameters along rayDirection of the
// intersection points:
//
// ip0 = rayOrigin + (rayDirection * tnear)
// ip1 = rayOrigin + (rayDirection * tfar)
//
// The return code is:
// -1 no intersection
// 0 the ray first hits the plane at aabbMin.x
// 1 the ray first hits the plane at aabbMin.y
// 2 the ray first hits the plane at aabbMin.z
// 3 the ray first hits the plane at aabbMax.x
// 4 the ray first hits the plane at aabbMax.y
// 5 the ray first hits the plane at aabbMax.z
//
// The return code will be -1 if the RAY does not intersect the AABB.
// The tnear and tfar values will give the parameters of the intersection
// points between the INFINITE LINE and the AABB.
int PX_PHYSX_COMMON_API intersectRayAABB( const PxVec3& minimum, const PxVec3& maximum,
const PxVec3& rayOrigin, const PxVec3& rayDirection,
float& tnear, float& tfar);
// Faster version when one-over-dir is available
int intersectRayAABB( const PxVec3& minimum, const PxVec3& maximum,
const PxVec3& rayOrigin, const PxVec3& rayDirection, const PxVec3& invDirection,
float& tnear, float& tfar);
// minimum extent length required for intersectRayAABB2 to return true for a zero-extent box
// this can happen when inflating the raycast by a 2-d square
#define GU_MIN_AABB_EXTENT 1e-3f
// a much faster version that doesn't return face codes
bool PX_PHYSX_COMMON_API intersectRayAABB2(
const PxVec3& minimum, const PxVec3& maximum, const PxVec3& ro, const PxVec3& rd, float maxDist, float& tnear, float& tfar);
} // namespace Gu
}
#endif
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