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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.
#include "GuSweepBoxSphere.h"
#include "GuOverlapTests.h"
#include "GuSphere.h"
#include "GuBoxConversion.h"
#include "GuCapsule.h"
#include "GuIntersectionRayCapsule.h"
#include "GuIntersectionRayBox.h"
#include "GuIntersectionSphereBox.h"
#include "GuDistancePointSegment.h"
#include "GuInternal.h"
using namespace physx;
using namespace Gu;
using namespace Cm;
namespace
{
// PT: TODO: get rid of this copy
static const PxVec3 gNearPlaneNormal[] =
{
PxVec3(1.0f, 0.0f, 0.0f),
PxVec3(0.0f, 1.0f, 0.0f),
PxVec3(0.0f, 0.0f, 1.0f),
PxVec3(-1.0f, 0.0f, 0.0f),
PxVec3(0.0f, -1.0f, 0.0f),
PxVec3(0.0f, 0.0f, -1.0f)
};
}
bool Gu::sweepBoxSphere(const Box& box, PxReal sphereRadius, const PxVec3& spherePos, const PxVec3& dir, PxReal length, PxReal& min_dist, PxVec3& normal, PxHitFlags hitFlags)
{
if(!(hitFlags & PxHitFlag::eASSUME_NO_INITIAL_OVERLAP))
{
// PT: test if shapes initially overlap
if(intersectSphereBox(Sphere(spherePos, sphereRadius), box))
{
// Overlap
min_dist = 0.0f;
normal = -dir;
return true;
}
}
PxVec3 boxPts[8];
box.computeBoxPoints(boxPts);
const PxU8* PX_RESTRICT edges = getBoxEdges();
PxReal MinDist = length;
bool Status = false;
for(PxU32 i=0; i<12; i++)
{
const PxU8 e0 = *edges++;
const PxU8 e1 = *edges++;
const Capsule capsule(boxPts[e0], boxPts[e1], sphereRadius);
PxReal t;
if(intersectRayCapsule(spherePos, dir, capsule, t))
{
if(t>=0.0f && t<=MinDist)
{
MinDist = t;
const PxVec3 ip = spherePos + t*dir;
distancePointSegmentSquared(capsule, ip, &t);
PxVec3 ip2;
capsule.computePoint(ip2, t);
normal = (ip2 - ip);
normal.normalize();
Status = true;
}
}
}
PxVec3 localPt;
{
Matrix34 M2;
buildMatrixFromBox(M2, box);
localPt = M2.rotateTranspose(spherePos - M2.p);
}
const PxVec3* boxNormals = gNearPlaneNormal;
const PxVec3 localDir = box.rotateInv(dir);
// PT: when the box exactly touches the sphere, the test for initial overlap can fail on some platforms.
// In this case we reach the sweep code below, which may return a slightly negative time of impact (it should be 0.0
// but it ends up a bit negative because of limited FPU accuracy). The epsilon ensures that we correctly detect a hit
// in this case.
const PxReal epsilon = -1e-5f;
PxReal tnear, tfar;
PxVec3 extents = box.extents;
extents.x += sphereRadius;
int plane = intersectRayAABB(-extents, extents, localPt, localDir, tnear, tfar);
if(plane!=-1 && tnear>=epsilon && tnear <= MinDist)
{
MinDist = PxMax(tnear, 0.0f);
normal = box.rotate(boxNormals[plane]);
Status = true;
}
extents = box.extents;
extents.y += sphereRadius;
plane = intersectRayAABB(-extents, extents, localPt, localDir, tnear, tfar);
if(plane!=-1 && tnear>=epsilon && tnear <= MinDist)
{
MinDist = PxMax(tnear, 0.0f);
normal = box.rotate(boxNormals[plane]);
Status = true;
}
extents = box.extents;
extents.z += sphereRadius;
plane = intersectRayAABB(-extents, extents, localPt, localDir, tnear, tfar);
if(plane!=-1 && tnear>=epsilon && tnear <= MinDist)
{
MinDist = PxMax(tnear, 0.0f);
normal = box.rotate(boxNormals[plane]);
Status = true;
}
min_dist = MinDist;
return Status;
}
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