158 lines
7.0 KiB
C
158 lines
7.0 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 GU_SWEEP_MESH_H
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#define GU_SWEEP_MESH_H
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#include "GuMidphaseInterface.h"
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#include "GuVecConvexHull.h"
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namespace physx
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{
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namespace Gu
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{
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// PT: intermediate class containing shared bits of code & members
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struct SweepShapeMeshHitCallback : MeshHitCallback<PxGeomRaycastHit>
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{
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SweepShapeMeshHitCallback(CallbackMode::Enum mode, const PxHitFlags& hitFlags, bool flipNormal, float distCoef);
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const PxHitFlags mHitFlags;
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bool mStatus; // Default is false, set to true if a valid hit is found. Stays true once true.
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bool mInitialOverlap; // Default is false, set to true if an initial overlap hit is found. Reset for each hit.
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bool mFlipNormal; // If negative scale is used we need to flip normal
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PxReal mDistCoeff; // dist coeff from unscaled to scaled distance
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void operator=(const SweepShapeMeshHitCallback&) {}
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};
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struct SweepCapsuleMeshHitCallback : SweepShapeMeshHitCallback
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{
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PxGeomSweepHit& mSweepHit;
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const PxMat34& mVertexToWorldSkew;
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const PxReal mTrueSweepDistance; // max sweep distance that can be used
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PxReal mBestAlignmentValue; // best alignment value for triangle normal
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PxReal mBestDist; // best distance, not the same as sweepHit.distance, can be shorter by epsilon
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const Capsule& mCapsule;
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const PxVec3& mUnitDir;
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const bool mMeshDoubleSided; // PT: true if PxMeshGeometryFlag::eDOUBLE_SIDED
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const bool mIsSphere;
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SweepCapsuleMeshHitCallback(PxGeomSweepHit& sweepHit, const PxMat34& worldMatrix, PxReal distance, bool meshDoubleSided,
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const Capsule& capsule, const PxVec3& unitDir, const PxHitFlags& hitFlags, bool flipNormal, float distCoef);
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virtual PxAgain processHit(const PxGeomRaycastHit& aHit, const PxVec3& v0, const PxVec3& v1, const PxVec3& v2, PxReal& shrunkMaxT, const PxU32*);
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// PT: TODO: unify these operators
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void operator=(const SweepCapsuleMeshHitCallback&) {}
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bool finalizeHit( PxGeomSweepHit& sweepHit, const Capsule& lss, const PxTriangleMeshGeometry& triMeshGeom,
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const PxTransform& pose, bool isDoubleSided) const;
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};
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#if PX_VC
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#pragma warning(push)
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#pragma warning( disable : 4324 ) // Padding was added at the end of a structure because of a __declspec(align) value.
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#endif
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struct SweepBoxMeshHitCallback : SweepShapeMeshHitCallback
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{
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const PxMat34Padded& mMeshToBox;
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PxReal mDist, mDist0;
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physx::aos::FloatV mDistV;
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const Box& mBox;
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const PxVec3& mLocalDir;
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const PxVec3& mWorldUnitDir;
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PxReal mInflation;
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PxTriangle mHitTriangle;
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physx::aos::Vec3V mMinClosestA;
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physx::aos::Vec3V mMinNormal;
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physx::aos::Vec3V mLocalMotionV;
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PxU32 mMinTriangleIndex;
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PxVec3 mOneOverDir;
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const bool mBothTriangleSidesCollide; // PT: true if PxMeshGeometryFlag::eDOUBLE_SIDED || PxHitFlag::eMESH_BOTH_SIDES
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SweepBoxMeshHitCallback(CallbackMode::Enum mode_, const PxMat34Padded& meshToBox, PxReal distance, bool bothTriangleSidesCollide,
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const Box& box, const PxVec3& localMotion, const PxVec3& localDir, const PxVec3& unitDir,
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const PxHitFlags& hitFlags, PxReal inflation, bool flipNormal, float distCoef);
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virtual ~SweepBoxMeshHitCallback() {}
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virtual PxAgain processHit(const PxGeomRaycastHit& meshHit, const PxVec3& lp0, const PxVec3& lp1, const PxVec3& lp2, PxReal& shrinkMaxT, const PxU32*);
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bool finalizeHit( PxGeomSweepHit& sweepHit, const PxTriangleMeshGeometry& triMeshGeom, const PxTransform& pose,
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const PxTransform& boxTransform, const PxVec3& localDir,
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bool meshBothSides, bool isDoubleSided) const;
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private:
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SweepBoxMeshHitCallback& operator=(const SweepBoxMeshHitCallback&);
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};
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struct SweepConvexMeshHitCallback : SweepShapeMeshHitCallback
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{
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PxTriangle mHitTriangle;
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ConvexHullV mConvexHull;
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physx::aos::PxMatTransformV mMeshToConvex;
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physx::aos::PxTransformV mConvexPoseV;
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const Cm::FastVertex2ShapeScaling& mMeshScale;
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PxGeomSweepHit mSweepHit; // stores either the closest or any hit depending on value of mAnyHit
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physx::aos::FloatV mInitialDistance;
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physx::aos::Vec3V mConvexSpaceDir; // convexPose.rotateInv(-unit*distance)
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PxVec3 mUnitDir;
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PxVec3 mMeshSpaceUnitDir;
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PxReal mInflation;
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const bool mAnyHit;
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const bool mBothTriangleSidesCollide; // PT: true if PxMeshGeometryFlag::eDOUBLE_SIDED || PxHitFlag::eMESH_BOTH_SIDES
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SweepConvexMeshHitCallback( const ConvexHullData& hull, const PxMeshScale& convexScale, const Cm::FastVertex2ShapeScaling& meshScale,
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const PxTransform& convexPose, const PxTransform& meshPose,
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const PxVec3& unitDir, PxReal distance, PxHitFlags hitFlags, bool bothTriangleSidesCollide, PxReal inflation,
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bool anyHit, float distCoef);
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virtual ~SweepConvexMeshHitCallback() {}
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virtual PxAgain processHit(const PxGeomRaycastHit& hit, const PxVec3& av0, const PxVec3& av1, const PxVec3& av2, PxReal& shrunkMaxT, const PxU32*);
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bool finalizeHit(PxGeomSweepHit& sweepHit, const PxTriangleMeshGeometry& meshGeom, const PxTransform& pose,
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const PxConvexMeshGeometry& convexGeom, const PxTransform& convexPose,
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const PxVec3& unitDir, PxReal inflation,
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bool isMtd, bool meshBothSides, bool isDoubleSided, bool bothTriangleSidesCollide);
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private:
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SweepConvexMeshHitCallback& operator=(const SweepConvexMeshHitCallback&);
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};
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#if PX_VC
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#pragma warning(pop)
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#endif
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}
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}
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#endif
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