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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 BP_BROADPHASE_MBP_COMMON_H
#define BP_BROADPHASE_MBP_COMMON_H
#include "PxPhysXConfig.h"
#include "BpBroadPhaseUpdate.h"
#include "PsUserAllocated.h"
namespace physx
{
namespace Bp
{
#define MBP_USE_WORDS
#define MBP_USE_NO_CMP_OVERLAP
#if PX_INTEL_FAMILY && !defined(PX_SIMD_DISABLED)
#define MBP_SIMD_OVERLAP
#endif
#ifdef MBP_USE_WORDS
typedef PxU16 MBP_Index;
#else
typedef PxU32 MBP_Index;
#endif
typedef PxU32 MBP_ObjectIndex; // PT: index in mMBP_Objects
typedef PxU32 MBP_Handle; // PT: returned to MBP users, combination of index/flip-flop/static-bit
struct IAABB : public Ps::UserAllocated
{
PX_FORCE_INLINE bool isInside(const IAABB& box) const
{
if(box.mMinX>mMinX) return false;
if(box.mMinY>mMinY) return false;
if(box.mMinZ>mMinZ) return false;
if(box.mMaxX<mMaxX) return false;
if(box.mMaxY<mMaxY) return false;
if(box.mMaxZ<mMaxZ) return false;
return true;
}
PX_FORCE_INLINE Ps::IntBool intersects(const IAABB& a) const
{
if(mMaxX < a.mMinX || a.mMaxX < mMinX
|| mMaxY < a.mMinY || a.mMaxY < mMinY
|| mMaxZ < a.mMinZ || a.mMaxZ < mMinZ
)
return Ps::IntFalse;
return Ps::IntTrue;
}
PX_FORCE_INLINE Ps::IntBool intersectNoTouch(const IAABB& a) const
{
if(mMaxX <= a.mMinX || a.mMaxX <= mMinX
|| mMaxY <= a.mMinY || a.mMaxY <= mMinY
|| mMaxZ <= a.mMinZ || a.mMaxZ <= mMinZ
)
return Ps::IntFalse;
return Ps::IntTrue;
}
PX_FORCE_INLINE void initFrom2(const PxBounds3& box)
{
const PxU32* PX_RESTRICT binary = reinterpret_cast<const PxU32*>(&box.minimum.x);
mMinX = encodeFloat(binary[0])>>1;
mMinY = encodeFloat(binary[1])>>1;
mMinZ = encodeFloat(binary[2])>>1;
mMaxX = encodeFloat(binary[3])>>1;
mMaxY = encodeFloat(binary[4])>>1;
mMaxZ = encodeFloat(binary[5])>>1;
}
PX_FORCE_INLINE void decode(PxBounds3& box) const
{
PxU32* PX_RESTRICT binary = reinterpret_cast<PxU32*>(&box.minimum.x);
binary[0] = decodeFloat(mMinX<<1);
binary[1] = decodeFloat(mMinY<<1);
binary[2] = decodeFloat(mMinZ<<1);
binary[3] = decodeFloat(mMaxX<<1);
binary[4] = decodeFloat(mMaxY<<1);
binary[5] = decodeFloat(mMaxZ<<1);
}
PX_FORCE_INLINE PxU32 getMin(PxU32 i) const { return (&mMinX)[i]; }
PX_FORCE_INLINE PxU32 getMax(PxU32 i) const { return (&mMaxX)[i]; }
PxU32 mMinX;
PxU32 mMinY;
PxU32 mMinZ;
PxU32 mMaxX;
PxU32 mMaxY;
PxU32 mMaxZ;
};
struct SIMD_AABB : public Ps::UserAllocated
{
PX_FORCE_INLINE void initFrom(const PxBounds3& box)
{
const PxU32* PX_RESTRICT binary = reinterpret_cast<const PxU32*>(&box.minimum.x);
mMinX = encodeFloat(binary[0]);
mMinY = encodeFloat(binary[1]);
mMinZ = encodeFloat(binary[2]);
mMaxX = encodeFloat(binary[3]);
mMaxY = encodeFloat(binary[4]);
mMaxZ = encodeFloat(binary[5]);
}
PX_FORCE_INLINE void initFrom2(const PxBounds3& box)
{
const PxU32* PX_RESTRICT binary = reinterpret_cast<const PxU32*>(&box.minimum.x);
mMinX = encodeFloat(binary[0])>>1;
mMinY = encodeFloat(binary[1])>>1;
mMinZ = encodeFloat(binary[2])>>1;
mMaxX = encodeFloat(binary[3])>>1;
mMaxY = encodeFloat(binary[4])>>1;
mMaxZ = encodeFloat(binary[5])>>1;
}
PX_FORCE_INLINE void decode(PxBounds3& box) const
{
PxU32* PX_RESTRICT binary = reinterpret_cast<PxU32*>(&box.minimum.x);
binary[0] = decodeFloat(mMinX<<1);
binary[1] = decodeFloat(mMinY<<1);
binary[2] = decodeFloat(mMinZ<<1);
binary[3] = decodeFloat(mMaxX<<1);
binary[4] = decodeFloat(mMaxY<<1);
binary[5] = decodeFloat(mMaxZ<<1);
}
PX_FORCE_INLINE bool isInside(const SIMD_AABB& box) const
{
if(box.mMinX>mMinX) return false;
if(box.mMinY>mMinY) return false;
if(box.mMinZ>mMinZ) return false;
if(box.mMaxX<mMaxX) return false;
if(box.mMaxY<mMaxY) return false;
if(box.mMaxZ<mMaxZ) return false;
return true;
}
PX_FORCE_INLINE Ps::IntBool intersects(const SIMD_AABB& a) const
{
if(mMaxX < a.mMinX || a.mMaxX < mMinX
|| mMaxY < a.mMinY || a.mMaxY < mMinY
|| mMaxZ < a.mMinZ || a.mMaxZ < mMinZ
)
return Ps::IntFalse;
return Ps::IntTrue;
}
PX_FORCE_INLINE Ps::IntBool intersectNoTouch(const SIMD_AABB& a) const
{
if(mMaxX <= a.mMinX || a.mMaxX <= mMinX
|| mMaxY <= a.mMinY || a.mMaxY <= mMinY
|| mMaxZ <= a.mMinZ || a.mMaxZ <= mMinZ
)
return Ps::IntFalse;
return Ps::IntTrue;
}
PxU32 mMinX;
PxU32 mMaxX;
PxU32 mMinY;
PxU32 mMinZ;
PxU32 mMaxY;
PxU32 mMaxZ;
};
}
} // namespace physx
#endif // BP_BROADPHASE_MBP_COMMON_H
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