55 lines
2.7 KiB
C
55 lines
2.7 KiB
C
|
// 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) 2008-2025 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 GU_GJK_TEST_H
|
||
|
|
#define GU_GJK_TEST_H
|
||
|
|
|
||
|
|
#include "common/PxPhysXCommonConfig.h"
|
||
|
|
#include "GuGJKUtil.h"
|
||
|
|
|
||
|
|
namespace physx
|
||
|
|
{
|
||
|
|
namespace Gu
|
||
|
|
{
|
||
|
|
struct GjkConvex;
|
||
|
|
|
||
|
|
PX_PHYSX_COMMON_API GjkStatus testGjk(const GjkConvex& a, const GjkConvex& b, const aos::Vec3VArg initialSearchDir, const aos::FloatVArg contactDist, aos::Vec3V& closestA, aos::Vec3V& closestB,
|
||
|
|
aos::Vec3V& normal, aos::FloatV& dist);
|
||
|
|
|
||
|
|
PX_PHYSX_COMMON_API bool testGjkRaycast(const GjkConvex& a, const GjkConvex& b, const aos::Vec3VArg initialSearchDir, const aos::FloatVArg initialLambda, const aos::Vec3VArg s, const aos::Vec3VArg r,
|
||
|
|
aos::FloatV& lambda, aos::Vec3V& normal, aos::Vec3V& closestA, PxReal inflation);
|
||
|
|
|
||
|
|
PX_PHYSX_COMMON_API GjkStatus testGjkPenetration(const GjkConvex& a, const GjkConvex& b, const aos::Vec3VArg initialSearchDir, const aos::FloatVArg contactDist,
|
||
|
|
PxU8* aIndices, PxU8* bIndices, PxU8& size, GjkOutput& output);
|
||
|
|
|
||
|
|
PX_PHYSX_COMMON_API GjkStatus testEpaPenetration(const GjkConvex& a, const GjkConvex& b, const PxU8* aIndices, const PxU8* bIndices, PxU8 size, GjkOutput& output);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
#endif
|