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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 "foundation/PxTransform.h"
#include "SqBounds.h"
#include "CmTransformUtils.h"
#include "SqPruner.h"
#include "ScbShape.h"
#include "ScbActor.h"
#include "ScbRigidStatic.h"
#include "ScbBody.h"
#include "PsAllocator.h"
#include "GuBounds.h"
using namespace physx;
using namespace Sq;
void Sq::computeStaticWorldAABB(PxBounds3& bounds, const Scb::Shape& scbShape, const Scb::Actor& scbActor)
{
const PxTransform& shape2Actor = scbShape.getShape2Actor();
PX_ALIGN(16, PxTransform) globalPose;
Cm::getStaticGlobalPoseAligned(static_cast<const Scb::RigidStatic&>(scbActor).getActor2World(), shape2Actor, globalPose);
Gu::computeBounds(bounds, scbShape.getGeometry(), globalPose, 0.0f, NULL, SQ_PRUNER_INFLATION, false);
}
void Sq::computeDynamicWorldAABB(PxBounds3& bounds, const Scb::Shape& scbShape, const Scb::Actor& scbActor)
{
const PxTransform& shape2Actor = scbShape.getShape2Actor();
PX_ALIGN(16, PxTransform) globalPose;
{
const Scb::Body& body = static_cast<const Scb::Body&>(scbActor);
PX_ALIGN(16, PxTransform) kinematicTarget;
const PxU16 sqktFlags = PxRigidBodyFlag::eKINEMATIC | PxRigidBodyFlag::eUSE_KINEMATIC_TARGET_FOR_SCENE_QUERIES;
const bool useTarget = (PxU16(body.getFlags()) & sqktFlags) == sqktFlags;
const PxTransform& body2World = (useTarget && body.getKinematicTarget(kinematicTarget)) ? kinematicTarget : body.getBody2World();
Cm::getDynamicGlobalPoseAligned(body2World, shape2Actor, body.getBody2Actor(), globalPose);
}
Gu::computeBounds(bounds, scbShape.getGeometry(), globalPose, 0.0f, NULL, SQ_PRUNER_INFLATION, false);
}
const ComputeBoundsFunc Sq::gComputeBoundsTable[2] =
{
computeStaticWorldAABB,
computeDynamicWorldAABB
};
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