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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.
// This is used by the box-sweep & capsule-sweep code
#if PX_VC
#pragma warning(disable: 4505) // unreferenced local function has been removed
#endif
#include "PsBasicTemplates.h"
namespace
{
#ifdef SWEEP_AABB_IMPL
struct BoxSweepParams : RayParams
#else
struct BoxSweepParams : OBBTestParams
#endif
{
const IndTri32* PX_RESTRICT mTris32;
const IndTri16* PX_RESTRICT mTris16;
const PxVec3* PX_RESTRICT mVerts;
#ifndef SWEEP_AABB_IMPL
Box mLocalBox;
#endif
PxVec3 mLocalDir_Padded;
RaycastHitInternal mStabbedFace;
PxU32 mBackfaceCulling;
PxU32 mEarlyExit;
PxVec3 mP0, mP1, mP2;
PxVec3 mBestTriNormal;
float mOffset;
PxVec3 mProj;
PxVec3 mDP;
#ifndef SWEEP_AABB_IMPL
PxMat33 mAR; //!< Absolute rotation matrix
#endif
PxMat33 mRModelToBox_Padded; //!< Rotation from model space to obb space
PxVec3 mTModelToBox_Padded; //!< Translation from model space to obb space
PxVec3 mOriginalExtents_Padded;
PxVec3 mOriginalDir_Padded;
PxVec3 mOneOverDir_Padded;
PxVec3 mOneOverOriginalDir;
#ifndef SWEEP_AABB_IMPL
PX_FORCE_INLINE void ShrinkOBB(float d)
{
const PxVec3 BoxExtents = mDP + d * mProj;
mTBoxToModel_PaddedAligned = mLocalBox.center + mLocalDir_Padded*d*0.5f;
setupBoxData(this, BoxExtents, &mAR);
}
#endif
};
}
// PT: TODO: check asm again in PhysX version, compare to original (TA34704)
static void prepareSweepData(const Box& box, const PxVec3& dir, float maxDist, BoxSweepParams* PX_RESTRICT params)
{
invertBoxMatrix(params->mRModelToBox_Padded, params->mTModelToBox_Padded, box);
params->mOriginalExtents_Padded = box.extents;
const PxVec3 OriginalDir = params->mRModelToBox_Padded.transform(dir);
params->mOriginalDir_Padded = OriginalDir;
const PxVec3 OneOverOriginalDir(OriginalDir.x!=0.0f ? 1.0f/OriginalDir.x : 0.0f,
OriginalDir.y!=0.0f ? 1.0f/OriginalDir.y : 0.0f,
OriginalDir.z!=0.0f ? 1.0f/OriginalDir.z : 0.0f);
params->mOneOverOriginalDir = OneOverOriginalDir;
params->mOneOverDir_Padded = OneOverOriginalDir / maxDist;
{
const Box& LocalBox = box;
const PxVec3& LocalDir = dir;
params->mLocalDir_Padded = LocalDir;
params->mStabbedFace.mDistance = maxDist;
#ifndef SWEEP_AABB_IMPL
params->mLocalBox = LocalBox; // PT: TODO: check asm for operator=
#endif
PxMat33 boxToModelR;
// Original code:
// OBB::CreateOBB(LocalBox, LocalDir, 0.5f)
{
PxVec3 R1, R2;
{
float dd[3];
dd[0] = fabsf(LocalBox.rot.column0.dot(LocalDir));
dd[1] = fabsf(LocalBox.rot.column1.dot(LocalDir));
dd[2] = fabsf(LocalBox.rot.column2.dot(LocalDir));
float dmax = dd[0];
PxU32 ax0=1;
PxU32 ax1=2;
if(dd[1]>dmax)
{
dmax=dd[1];
ax0=0;
ax1=2;
}
if(dd[2]>dmax)
{
dmax=dd[2];
ax0=0;
ax1=1;
}
if(dd[ax1]<dd[ax0])
Ps::swap(ax0, ax1);
R1 = LocalBox.rot[ax0];
R1 -= R1.dot(LocalDir)*LocalDir; // Project to plane whose normal is dir
R1.normalize();
R2 = LocalDir.cross(R1);
}
// Original code:
// mRot = params->mRBoxToModel
boxToModelR.column0 = LocalDir;
boxToModelR.column1 = R1;
boxToModelR.column2 = R2;
// Original code:
// float Offset[3];
// 0.5f comes from the Offset[r]*0.5f, doesn't mean 'd' is 0.5f
params->mProj.x = 0.5f;
params->mProj.y = LocalDir.dot(R1)*0.5f;
params->mProj.z = LocalDir.dot(R2)*0.5f;
// Original code:
//mExtents[r] = Offset[r]*0.5f + fabsf(box.mRot[0]|R)*box.mExtents.x + fabsf(box.mRot[1]|R)*box.mExtents.y + fabsf(box.mRot[2]|R)*box.mExtents.z;
// => we store the first part of the computation, minus 'Offset[r]*0.5f'
for(PxU32 r=0;r<3;r++)
{
const PxVec3& R = boxToModelR[r];
params->mDP[r] = fabsf(LocalBox.rot.column0.dot(R)*LocalBox.extents.x)
+ fabsf(LocalBox.rot.column1.dot(R)*LocalBox.extents.y)
+ fabsf(LocalBox.rot.column2.dot(R)*LocalBox.extents.z);
}
// In the original code, both mCenter & mExtents depend on 'd', and thus we will need to recompute these two members.
//
// For mExtents we have:
//
// float Offset[3];
// Offset[0] = d;
// Offset[1] = d*(dir|R1);
// Offset[2] = d*(dir|R2);
//
// mExtents[r] = Offset[r]*0.5f + fabsf(box.mRot[0]|R)*box.mExtents.x + fabsf(box.mRot[1]|R)*box.mExtents.y + fabsf(box.mRot[2]|R)*box.mExtents.z;
// <=> mExtents[r] = Offset[r]*0.5f + Params.mDP[r]; We precompute the second part that doesn't depend on d, stored in mDP
// <=> mExtents[r] = Params.mProj[r]*d + Params.mDP[r]; We extract d from the first part, store what is left in mProj
//
// Thus in ShrinkOBB the code needed to update the extents is just:
// mBoxExtents = mDP + d * mProj;
//
// For mCenter we have:
//
// mCenter = box.mCenter + dir*d*0.5f;
//
// So we simply use this formula directly, with the new d. Result is stored in 'mTBoxToModel'
/*
PX_FORCE_INLINE void ShrinkOBB(float d)
{
mBoxExtents = mDP + d * mProj;
mTBoxToModel = mLocalBox.mCenter + mLocalDir*d*0.5f;
*/
}
// This one is for culling tris, unrelated to CreateOBB
params->mOffset = params->mDP.x + LocalBox.center.dot(LocalDir);
#ifndef SWEEP_AABB_IMPL
precomputeData(params, ¶ms->mAR, &boxToModelR);
params->ShrinkOBB(maxDist);
#endif
}
}
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