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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_BOX_TRIANGLE_FEATURE_BASED_H
#define GU_SWEEP_BOX_TRIANGLE_FEATURE_BASED_H
#include "foundation/PxVec3.h"
#include "foundation/PxPlane.h"
#include "CmPhysXCommon.h"
namespace physx
{
class PxTriangle;
namespace Gu
{
/**
Sweeps a box against a triangle, using a 'feature-based' approach.
This is currently only used for computing the box-sweep impact data, in a second pass,
after the best triangle has been identified using faster approaches (SAT/GJK).
\warning Returned impact normal is not normalized
\param tri [in] the triangle
\param box [in] the box
\param motion [in] (box) motion vector
\param oneOverMotion [in] precomputed inverse of motion vector
\param hit [out] impact point
\param normal [out] impact normal (warning: not normalized)
\param d [in/out] impact distance (please initialize with best current distance)
\param isDoubleSided [in] whether triangle is double-sided or not
\return true if an impact has been found
*/
bool sweepBoxTriangle( const PxTriangle& tri, const PxBounds3& box,
const PxVec3& motion, const PxVec3& oneOverMotion,
PxVec3& hit, PxVec3& normal, PxReal& d, bool isDoubleSided=false);
} // namespace Gu
}
#endif
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