63 lines
2.4 KiB
C++
63 lines
2.4 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/PxIntrinsics.h"
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#include "GuInternal.h"
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#include "GuBox.h"
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#include "GuCapsule.h"
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using namespace physx;
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/**
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* Computes an OBB surrounding the capsule.
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* \param box [out] the OBB
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*/
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void Gu::computeBoxAroundCapsule(const Gu::Capsule& capsule, Gu::Box& box)
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{
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// Box center = center of the two capsule's endpoints
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box.center = capsule.computeCenter();
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// Box extents
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const PxF32 d = (capsule.p0 - capsule.p1).magnitude();
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box.extents.x = capsule.radius + (d * 0.5f);
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box.extents.y = capsule.radius;
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box.extents.z = capsule.radius;
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// Box orientation
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if(d==0.0f)
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{
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box.rot = PxMat33(PxIdentity);
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}
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else
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{
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PxVec3 dir, right, up;
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PxComputeBasisVectors(capsule.p0, capsule.p1, dir, right, up);
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box.setAxes(dir, right, up);
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}
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}
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