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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 "PtCollisionMethods.h"
#if PX_USE_PARTICLE_SYSTEM_API
void physx::Pt::collideWithBox(ParticleCollData* particleCollData, PxU32 numCollData, const Gu::GeometryUnion& boxShape,
PxReal proxRadius)
{
PX_ASSERT(particleCollData);
PX_ASSERT(boxShape.getType() == PxGeometryType::eBOX);
const PxBoxGeometry& boxShapeData = boxShape.get<const PxBoxGeometry>();
PxVec3 boxExtent = boxShapeData.halfExtents;
PxBounds3 shapeBounds(boxExtent * -1.0f, boxExtent);
PX_ASSERT(!shapeBounds.isEmpty());
shapeBounds.fattenFast(proxRadius);
// Box to convex conversion.
PxPlane planes[6];
PxVec3 normal;
normal = PxVec3(1.0f, 0.0f, 0.0f);
planes[0].n = normal;
planes[0].d = -boxExtent.x;
normal = PxVec3(-1.0f, 0.0f, 0.0f);
planes[1].n = normal;
planes[1].d = -boxExtent.x;
normal = PxVec3(0.0f, 1.0f, 0.0f);
planes[2].n = normal;
planes[2].d = -boxExtent.y;
normal = PxVec3(0.0f, -1.0f, 0.0f);
planes[3].n = normal;
planes[3].d = -boxExtent.y;
normal = PxVec3(0.0f, 0.0f, 1.0f);
planes[4].n = normal;
planes[4].d = -boxExtent.z;
normal = PxVec3(0.0f, 0.0f, -1.0f);
planes[5].n = normal;
planes[5].d = -boxExtent.z;
#if PT_USE_SIMD_CONVEX_COLLISION
ParticleCollDataV4 collDataV4;
PxU32 v4Count = 0;
for(PxU32 p = 0; p < numCollData; p++)
{
ParticleCollData& collData = particleCollData[p];
PxBounds3 particleBounds = PxBounds3::boundsOfPoints(collData.localOldPos, collData.localNewPos);
if(particleBounds.intersects(shapeBounds))
{
collDataV4.localOldPos[v4Count].v3 = collData.localOldPos;
collDataV4.localOldPos[v4Count].pad = 0;
collDataV4.localNewPos[v4Count].v3 = collData.localNewPos;
collDataV4.localNewPos[v4Count].pad = 0;
collDataV4.localFlags[v4Count] = collData.localFlags;
collDataV4.restOffset[v4Count] = collData.restOffset;
collDataV4.ccTime[v4Count] = collData.ccTime;
collDataV4.collData[v4Count] = &collData;
v4Count++;
}
if(v4Count == 4)
{
// sschirm: not processing with less than 4 elements to avoid uninitialized data reads
collideWithConvexPlanesSIMD(collDataV4, planes, 6, proxRadius);
for(PxU32 j = 0; j < v4Count; j++)
{
ParticleCollData* collData1 = collDataV4.collData[j];
PxU32 stateFlag = collDataV4.localFlags[j];
if(stateFlag)
{
collData1->localFlags |= stateFlag;
collData1->ccTime = collDataV4.ccTime[j];
collData1->localSurfaceNormal = collDataV4.localSurfaceNormal[j].v3;
collData1->localSurfacePos = collDataV4.localSurfacePos[j].v3;
}
}
v4Count = 0;
}
else if(v4Count > 0 && (p == numCollData - 1))
{
for(PxU32 j = 0; j < v4Count; j++)
{
collideWithConvexPlanes(*collDataV4.collData[j], planes, 6, proxRadius);
}
}
}
#else
for(PxU32 p = 0; p < numCollData; p++)
{
ParticleCollData& collData = particleCollData[p];
PxBounds3 particleBounds = PxBounds3::boundsOfPoints(collData.localOldPos, collData.localNewPos);
if(particleBounds.intersects(shapeBounds))
{
collideWithConvexPlanes(collData, planes, 6, proxRadius);
}
}
#endif
}
#endif // PX_USE_PARTICLE_SYSTEM_API
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