1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
|
//
// 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 "CctSweptVolume.h"
using namespace physx;
using namespace Cct;
SweptVolume::SweptVolume()
{
mType = SweptVolumeType::eLAST;
}
SweptVolume::~SweptVolume()
{
}
void Cct::computeTemporalBox(PxExtendedBounds3& _box, float radius, float height, float contactOffset, float maxJumpHeight, const PxVec3& upDirection, const PxExtendedVec3& center, const PxVec3& direction)
{
const float r = radius + contactOffset;
PxVec3 extents(r);
const float halfHeight = height*0.5f;
extents.x += fabsf(upDirection.x)*halfHeight;
extents.y += fabsf(upDirection.y)*halfHeight;
extents.z += fabsf(upDirection.z)*halfHeight;
PxExtendedBounds3 box;
setCenterExtents(box, center, extents);
{
PxExtendedBounds3 destBox;
PxExtendedVec3 tmp = center;
tmp += direction;
setCenterExtents(destBox, tmp, extents);
add(box, destBox);
}
if(maxJumpHeight!=0.0f)
{
PxExtendedBounds3 destBox;
PxExtendedVec3 tmp = center;
tmp -= upDirection * maxJumpHeight;
setCenterExtents(destBox, tmp, extents);
add(box, destBox);
}
_box = box;
}
|