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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_SWEEP_CONVEX_TRI
#define GU_SWEEP_CONVEX_TRI
#include "GuVecTriangle.h"
#include "GuVecConvexHull.h"
#include "GuConvexMesh.h"
#include "PxConvexMeshGeometry.h"
#include "GuGJKRaycast.h"
// return true if hit, false if no hit
static PX_FORCE_INLINE bool sweepConvexVsTriangle(
const PxVec3& v0, const PxVec3& v1, const PxVec3& v2,
ConvexHullV& convexHull, const Ps::aos::PsMatTransformV& meshToConvex, const Ps::aos::PsTransformV& convexTransfV,
const Ps::aos::Vec3VArg convexSpaceDir, const PxVec3& unitDir, const PxVec3& meshSpaceUnitDir,
const Ps::aos::FloatVArg fullDistance, PxReal shrunkDistance,
PxSweepHit& hit, bool isDoubleSided, const PxReal inflation, bool& initialOverlap, PxU32 faceIndex)
{
using namespace Ps::aos;
if(!isDoubleSided)
{
// Create triangle normal
const PxVec3 denormalizedNormal = (v1 - v0).cross(v2 - v1);
// Backface culling
// PT: WARNING, the test is reversed compared to usual because we pass -unitDir to this function
const bool culled = denormalizedNormal.dot(meshSpaceUnitDir) <= 0.0f;
if(culled)
return false;
}
const Vec3V zeroV = V3Zero();
const FloatV zero = FZero();
const Vec3V p0 = V3LoadU(v0); // in mesh local space
const Vec3V p1 = V3LoadU(v1);
const Vec3V p2 = V3LoadU(v2);
// transform triangle verts from mesh local to convex local space
TriangleV triangleV(meshToConvex.transform(p0), meshToConvex.transform(p1), meshToConvex.transform(p2));
FloatV toi;
Vec3V closestA,normal;
LocalConvex<TriangleV> convexA(triangleV);
LocalConvex<ConvexHullV> convexB(convexHull);
const Vec3V initialSearchDir = V3Sub(triangleV.getCenter(), convexHull.getCenter());
// run GJK raycast
// sweep triangle in convex local space vs convex, closestA will be the impact point in convex local space
const bool gjkHit = gjkRaycastPenetration<LocalConvex<TriangleV>, LocalConvex<ConvexHullV> >(
convexA, convexB, initialSearchDir, zero, zeroV, convexSpaceDir, toi, normal, closestA, inflation, false);
if(!gjkHit)
return false;
if(FAllGrtrOrEq(zero, toi))
{
initialOverlap = true; // PT: TODO: redundant with hit distance, consider removing
return setInitialOverlapResults(hit, unitDir, faceIndex);
}
const FloatV minDist = FLoad(shrunkDistance);
const FloatV dist = FMul(toi, fullDistance); // scale the toi to original full sweep distance
if(FAllGrtr(minDist, dist)) // is current dist < minDist?
{
hit.faceIndex = faceIndex;
hit.flags = PxHitFlag::eDISTANCE | PxHitFlag::ePOSITION | PxHitFlag::eNORMAL | PxHitFlag::eFACE_INDEX;
const Vec3V destWorldPointA = convexTransfV.transform(closestA);
const Vec3V destNormal = V3Normalize(convexTransfV.rotate(normal));
V3StoreU(destWorldPointA, hit.position);
V3StoreU(destNormal, hit.normal);
FStore(dist, &hit.distance);
return true; // report a hit
}
return false; // report no hit
}
#endif
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