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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 CCT_UTILS
#define CCT_UTILS
#include "PxExtended.h"
#include "PxShapeExt.h"
namespace physx
{
PX_FORCE_INLINE bool testSlope(const PxVec3& normal, const PxVec3& upDirection, PxF32 slopeLimit)
{
const float dp = normal.dot(upDirection);
return dp>=0.0f && dp<slopeLimit;
}
PX_INLINE PxTransform getShapeGlobalPose(const PxShape& shape, const PxRigidActor& actor)
{
return PxShapeExt::getGlobalPose(shape, actor);
}
#ifdef PX_BIG_WORLDS
class PxExtendedBox
{
public:
PX_INLINE PxExtendedBox() {}
PX_INLINE PxExtendedBox(const PxExtendedVec3& _center, const PxVec3& _extents, const PxQuat& _rot) : center(_center), extents(_extents), rot(_rot){}
PX_INLINE ~PxExtendedBox() {}
PxExtendedVec3 center;
PxVec3 extents;
PxQuat rot;
};
class PxExtendedSphere
{
public:
PX_INLINE PxExtendedSphere() {}
PX_INLINE ~PxExtendedSphere() {}
PX_INLINE PxExtendedSphere(const PxExtendedVec3& _center, PxF32 _radius) : center(_center), radius(_radius) {}
PX_INLINE PxExtendedSphere(const PxExtendedSphere& sphere) : center(sphere.center), radius(sphere.radius) {}
PxExtendedVec3 center; //!< Sphere's center
PxF32 radius; //!< Sphere's radius
};
struct PxExtendedSegment
{
PX_INLINE const PxExtendedVec3& getOrigin() const
{
return p0;
}
PX_INLINE void computeDirection(PxVec3& dir) const
{
dir = p1 - p0;
}
PX_INLINE void computePoint(PxExtendedVec3& pt, PxExtended t) const
{
pt.x = p0.x + t * (p1.x - p0.x);
pt.y = p0.y + t * (p1.y - p0.y);
pt.z = p0.z + t * (p1.z - p0.z);
}
PxExtendedVec3 p0; //!< Start of segment
PxExtendedVec3 p1; //!< End of segment
};
struct PxExtendedCapsule : public PxExtendedSegment
{
PxReal radius;
};
struct PxExtendedBounds3
{
PX_INLINE PxExtendedBounds3()
{
}
PX_INLINE void setEmpty()
{
// We now use this particular pattern for empty boxes
set(PX_MAX_EXTENDED, PX_MAX_EXTENDED, PX_MAX_EXTENDED,
-PX_MAX_EXTENDED, -PX_MAX_EXTENDED, -PX_MAX_EXTENDED);
}
PX_INLINE void set(PxExtended minx, PxExtended miny, PxExtended minz, PxExtended maxx, PxExtended maxy, PxExtended maxz)
{
minimum.set(minx, miny, minz);
maximum.set(maxx, maxy, maxz);
}
PX_INLINE bool isInside(const PxExtendedBounds3& box) const
{
if(box.minimum.x > minimum.x) return false;
if(box.minimum.y > minimum.y) return false;
if(box.minimum.z > minimum.z) return false;
if(box.maximum.x < maximum.x) return false;
if(box.maximum.y < maximum.y) return false;
if(box.maximum.z < maximum.z) return false;
return true;
}
PxExtendedVec3 minimum, maximum;
};
PX_INLINE void getCenter(const PxExtendedBounds3& b, PxExtendedVec3& center)
{
center = b.minimum + b.maximum;
center *= 0.5;
}
PX_INLINE void getExtents(const PxExtendedBounds3& b, PxVec3& extents)
{
extents = b.maximum - b.minimum;
extents *= 0.5f;
}
PX_INLINE void setCenterExtents(PxExtendedBounds3& b, const PxExtendedVec3& c, const PxVec3& e)
{
b.minimum = c; b.minimum -= e;
b.maximum = c; b.maximum += e;
}
PX_INLINE void add(PxExtendedBounds3& b, const PxExtendedBounds3& b2)
{
// - if we're empty, minimum = MAX,MAX,MAX => minimum will be b2 in all cases => it will copy b2, ok
// - if b2 is empty, the opposite happens => keep us unchanged => ok
// => same behaviour as before, automatically
b.minimum.minimum(b2.minimum);
b.maximum.maximum(b2.maximum);
}
#else
#include "foundation/PxBounds3.h"
#include "GuBox.h"
#include "GuCapsule.h"
#include "GuPlane.h"
typedef Gu::Box PxExtendedBox;
typedef Gu::Sphere PxExtendedSphere;
typedef Gu::Segment PxExtendedSegment;
typedef Gu::Capsule PxExtendedCapsule;
typedef PxBounds3 PxExtendedBounds3;
PX_INLINE PxExtended distance(const PxVec3& v2, const PxVec3& v)
{
const PxExtended dx = v2.x - v.x;
const PxExtended dy = v2.y - v.y;
const PxExtended dz = v2.z - v.z;
return PxSqrt(dx * dx + dy * dy + dz * dz);
}
PX_INLINE void getCenter(const PxBounds3& b, PxVec3& center)
{
center = b.minimum + b.maximum;
center *= 0.5;
}
PX_INLINE void getExtents(const PxBounds3& b, PxVec3& extents)
{
extents = b.maximum - b.minimum;
extents *= 0.5f;
}
PX_INLINE void setCenterExtents(PxBounds3& b, const PxVec3& center, const PxVec3& extents)
{
b.minimum = center - extents;
b.maximum = center + extents;
}
PX_INLINE void add(PxBounds3& b, const PxBounds3& b2)
{
// - if we're empty, minimum = MAX,MAX,MAX => minimum will be b2 in all cases => it will copy b2, ok
// - if b2 is empty, the opposite happens => keep us unchanged => ok
// => same behaviour as before, automatically
b.minimum.minimum(b2.minimum);
b.maximum.maximum(b2.maximum);
}
#endif
}
#endif
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