125 lines
4.1 KiB
C++
125 lines
4.1 KiB
C++
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2025 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#include "foundation/PxBounds3.h"
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#include "geometry/PxCapsuleGeometry.h"
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#include "foundation/PxIntrinsics.h"
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#include "GuInternal.h"
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#include "GuBox.h"
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#include "GuVecPlane.h"
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#include "foundation/PxVecMath.h"
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using namespace physx;
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using namespace aos;
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/**
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Computes the aabb points.
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\param pts [out] 8 box points
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*/
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void Gu::computeBoxPoints(const PxBounds3& bounds, PxVec3* PX_RESTRICT pts)
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{
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PX_ASSERT(pts);
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// Get box corners
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const PxVec3& minimum = bounds.minimum;
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const PxVec3& maximum = bounds.maximum;
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// 7+------+6 0 = ---
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// /| /| 1 = +--
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// / | / | 2 = ++-
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// / 4+---/--+5 3 = -+-
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// 3+------+2 / y z 4 = --+
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// | / | / | / 5 = +-+
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// |/ |/ |/ 6 = +++
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// 0+------+1 *---x 7 = -++
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// Generate 8 corners of the bbox
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pts[0] = PxVec3(minimum.x, minimum.y, minimum.z);
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pts[1] = PxVec3(maximum.x, minimum.y, minimum.z);
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pts[2] = PxVec3(maximum.x, maximum.y, minimum.z);
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pts[3] = PxVec3(minimum.x, maximum.y, minimum.z);
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pts[4] = PxVec3(minimum.x, minimum.y, maximum.z);
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pts[5] = PxVec3(maximum.x, minimum.y, maximum.z);
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pts[6] = PxVec3(maximum.x, maximum.y, maximum.z);
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pts[7] = PxVec3(minimum.x, maximum.y, maximum.z);
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}
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PxPlane Gu::getPlane(const PxTransform& pose)
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{
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const PxVec3 n = pose.q.getBasisVector0();
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return PxPlane(n, -pose.p.dot(n));
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}
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void Gu::computeSweptBox(Gu::Box& dest, const PxVec3& extents, const PxVec3& center, const PxMat33& rot, const PxVec3& unitDir, PxReal distance)
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{
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PxVec3 R1, R2;
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PxComputeBasisVectors(unitDir, R1, R2);
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PxReal dd[3];
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dd[0] = PxAbs(rot.column0.dot(unitDir));
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dd[1] = PxAbs(rot.column1.dot(unitDir));
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dd[2] = PxAbs(rot.column2.dot(unitDir));
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PxReal dmax = dd[0];
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PxU32 ax0=1;
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PxU32 ax1=2;
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if(dd[1]>dmax)
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{
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dmax=dd[1];
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ax0=0;
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ax1=2;
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}
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if(dd[2]>dmax)
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{
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dmax=dd[2];
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ax0=0;
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ax1=1;
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}
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if(dd[ax1]<dd[ax0])
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PxSwap(ax0, ax1);
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R1 = rot[ax0];
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R1 -= (R1.dot(unitDir))*unitDir; // Project to plane whose normal is dir
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R1.normalize();
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R2 = unitDir.cross(R1);
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dest.setAxes(unitDir, R1, R2);
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PxReal offset[3];
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offset[0] = distance;
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offset[1] = distance*(unitDir.dot(R1));
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offset[2] = distance*(unitDir.dot(R2));
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for(PxU32 r=0; r<3; r++)
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{
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const PxVec3& R = dest.rot[r];
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dest.extents[r] = offset[r]*0.5f + PxAbs(rot.column0.dot(R))*extents.x + PxAbs(rot.column1.dot(R))*extents.y + PxAbs(rot.column2.dot(R))*extents.z;
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}
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dest.center = center + unitDir*distance*0.5f;
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}
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