199 lines
6.1 KiB
C
199 lines
6.1 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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#ifndef BP_BROADPHASE_MBP_COMMON_H
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#define BP_BROADPHASE_MBP_COMMON_H
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#include "PxPhysXConfig.h"
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#include "BpBroadPhaseIntegerAABB.h"
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#include "foundation/PxUserAllocated.h"
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namespace physx
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{
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namespace Bp
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{
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#define MBP_USE_WORDS
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#define MBP_USE_NO_CMP_OVERLAP
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#if PX_INTEL_FAMILY && !defined(PX_SIMD_DISABLED)
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#define MBP_SIMD_OVERLAP
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#endif
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#ifdef MBP_USE_WORDS
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typedef PxU16 MBP_Index;
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#else
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typedef PxU32 MBP_Index;
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#endif
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typedef PxU32 MBP_ObjectIndex; // PT: index in mMBP_Objects
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typedef PxU32 MBP_Handle; // PT: returned to MBP users, combination of index/flip-flop/static-bit
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struct IAABB : public PxUserAllocated
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{
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PX_FORCE_INLINE bool isInside(const IAABB& box) const
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{
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if(box.mMinX>mMinX) return false;
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if(box.mMinY>mMinY) return false;
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if(box.mMinZ>mMinZ) return false;
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if(box.mMaxX<mMaxX) return false;
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if(box.mMaxY<mMaxY) return false;
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if(box.mMaxZ<mMaxZ) return false;
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return true;
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}
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PX_FORCE_INLINE PxIntBool intersects(const IAABB& a) const
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{
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if(mMaxX < a.mMinX || a.mMaxX < mMinX
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|| mMaxY < a.mMinY || a.mMaxY < mMinY
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|| mMaxZ < a.mMinZ || a.mMaxZ < mMinZ
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)
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return PxIntFalse;
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return PxIntTrue;
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}
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PX_FORCE_INLINE PxIntBool intersectNoTouch(const IAABB& a) const
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{
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if(mMaxX <= a.mMinX || a.mMaxX <= mMinX
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|| mMaxY <= a.mMinY || a.mMaxY <= mMinY
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|| mMaxZ <= a.mMinZ || a.mMaxZ <= mMinZ
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)
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return PxIntFalse;
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return PxIntTrue;
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}
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PX_FORCE_INLINE void initFrom2(const PxBounds3& box)
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{
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const PxU32* PX_RESTRICT binary = reinterpret_cast<const PxU32*>(&box.minimum.x);
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mMinX = encodeFloat(binary[0])>>1;
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mMinY = encodeFloat(binary[1])>>1;
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mMinZ = encodeFloat(binary[2])>>1;
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mMaxX = encodeFloat(binary[3])>>1;
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mMaxY = encodeFloat(binary[4])>>1;
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mMaxZ = encodeFloat(binary[5])>>1;
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}
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PX_FORCE_INLINE void decode(PxBounds3& box) const
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{
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PxU32* PX_RESTRICT binary = reinterpret_cast<PxU32*>(&box.minimum.x);
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binary[0] = decodeFloat(mMinX<<1);
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binary[1] = decodeFloat(mMinY<<1);
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binary[2] = decodeFloat(mMinZ<<1);
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binary[3] = decodeFloat(mMaxX<<1);
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binary[4] = decodeFloat(mMaxY<<1);
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binary[5] = decodeFloat(mMaxZ<<1);
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}
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PX_FORCE_INLINE PxU32 getMin(PxU32 i) const { return (&mMinX)[i]; }
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PX_FORCE_INLINE PxU32 getMax(PxU32 i) const { return (&mMaxX)[i]; }
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PxU32 mMinX;
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PxU32 mMinY;
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PxU32 mMinZ;
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PxU32 mMaxX;
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PxU32 mMaxY;
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PxU32 mMaxZ;
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};
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struct SIMD_AABB : public PxUserAllocated
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{
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PX_FORCE_INLINE void initFrom(const PxBounds3& box)
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{
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const PxU32* PX_RESTRICT binary = reinterpret_cast<const PxU32*>(&box.minimum.x);
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mMinX = encodeFloat(binary[0]);
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mMinY = encodeFloat(binary[1]);
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mMinZ = encodeFloat(binary[2]);
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mMaxX = encodeFloat(binary[3]);
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mMaxY = encodeFloat(binary[4]);
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mMaxZ = encodeFloat(binary[5]);
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}
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PX_FORCE_INLINE void initFrom2(const PxBounds3& box)
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{
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const PxU32* PX_RESTRICT binary = reinterpret_cast<const PxU32*>(&box.minimum.x);
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mMinX = encodeFloat(binary[0])>>1;
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mMinY = encodeFloat(binary[1])>>1;
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mMinZ = encodeFloat(binary[2])>>1;
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mMaxX = encodeFloat(binary[3])>>1;
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mMaxY = encodeFloat(binary[4])>>1;
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mMaxZ = encodeFloat(binary[5])>>1;
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}
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PX_FORCE_INLINE void decode(PxBounds3& box) const
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{
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PxU32* PX_RESTRICT binary = reinterpret_cast<PxU32*>(&box.minimum.x);
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binary[0] = decodeFloat(mMinX<<1);
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binary[1] = decodeFloat(mMinY<<1);
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binary[2] = decodeFloat(mMinZ<<1);
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binary[3] = decodeFloat(mMaxX<<1);
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binary[4] = decodeFloat(mMaxY<<1);
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binary[5] = decodeFloat(mMaxZ<<1);
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}
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PX_FORCE_INLINE bool isInside(const SIMD_AABB& box) const
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{
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if(box.mMinX>mMinX) return false;
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if(box.mMinY>mMinY) return false;
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if(box.mMinZ>mMinZ) return false;
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if(box.mMaxX<mMaxX) return false;
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if(box.mMaxY<mMaxY) return false;
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if(box.mMaxZ<mMaxZ) return false;
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return true;
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}
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PX_FORCE_INLINE PxIntBool intersects(const SIMD_AABB& a) const
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{
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if(mMaxX < a.mMinX || a.mMaxX < mMinX
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|| mMaxY < a.mMinY || a.mMaxY < mMinY
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|| mMaxZ < a.mMinZ || a.mMaxZ < mMinZ
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)
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return PxIntFalse;
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return PxIntTrue;
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}
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PX_FORCE_INLINE PxIntBool intersectNoTouch(const SIMD_AABB& a) const
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{
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if(mMaxX <= a.mMinX || a.mMaxX <= mMinX
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|| mMaxY <= a.mMinY || a.mMaxY <= mMinY
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|| mMaxZ <= a.mMinZ || a.mMaxZ <= mMinZ
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)
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return PxIntFalse;
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return PxIntTrue;
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}
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PxU32 mMinX;
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PxU32 mMaxX;
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PxU32 mMinY;
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PxU32 mMinZ;
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PxU32 mMaxY;
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PxU32 mMaxZ;
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};
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}
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} // namespace physx
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#endif // BP_BROADPHASE_MBP_COMMON_H
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