feat(physics): wire physx sdk into build
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engine/third_party/physx/source/geomutils/src/intersection/GuIntersectionRayTriangle.h
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engine/third_party/physx/source/geomutils/src/intersection/GuIntersectionRayTriangle.h
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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_INTERSECTION_RAY_TRIANGLE_H
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#define GU_INTERSECTION_RAY_TRIANGLE_H
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#include "foundation/PxVec3.h"
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#include "common/PxPhysXCommonConfig.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: this is used for backface culling. It existed in Moller's original code already. Basically this is only to avoid dividing by zero.
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// This should not depend on what units are used, and neither should it depend on the size of triangles. A large triangle with the same
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// orientation as a small triangle should be backface culled the same way. A triangle whose orientation does not change should not suddenly
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// become culled or visible when we scale it.
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//
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// An absolute epsilon is fine here. The computation will work fine for small triangles, and large triangles will simply make 'det' larger,
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// more and more inaccurate, but it won't suddenly make it negative.
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//
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// Using FLT_EPSILON^2 ensures that triangles whose edges are smaller than FLT_EPSILON long are rejected. This epsilon makes the code work
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// for very small triangles, while still preventing divisions by too small values.
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#define GU_CULLING_EPSILON_RAY_TRIANGLE FLT_EPSILON*FLT_EPSILON
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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/**
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* Computes a ray-triangle intersection test.
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* From Tomas Moeller's "Fast Minimum Storage Ray-Triangle Intersection"
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* Could be optimized and cut into 2 methods (culled or not). Should make a batch one too to avoid the call overhead, or make it inline.
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*
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* \param orig [in] ray origin
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* \param dir [in] ray direction
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* \param vert0 [in] triangle vertex
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* \param vert1 [in] triangle vertex
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* \param vert2 [in] triangle vertex
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* \param at [out] distance
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* \param au [out] impact barycentric coordinate
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* \param av [out] impact barycentric coordinate
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* \param cull [in] true to use backface culling
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* \param enlarge [in] enlarge triangle by specified epsilon in UV space to avoid false near-edge rejections
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* \return true on overlap
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* \note u, v and t will remain unchanged if false is returned.
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*/
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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PX_FORCE_INLINE bool intersectRayTriangle( const PxVec3& orig, const PxVec3& dir,
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const PxVec3& vert0, const PxVec3& vert1, const PxVec3& vert2,
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PxReal& at, PxReal& au, PxReal& av,
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bool cull, float enlarge=0.0f)
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{
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// Find vectors for two edges sharing vert0
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const PxVec3 edge1 = vert1 - vert0;
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const PxVec3 edge2 = vert2 - vert0;
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// Begin calculating determinant - also used to calculate U parameter
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const PxVec3 pvec = dir.cross(edge2); // error ~ |v2-v0|
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// If determinant is near zero, ray lies in plane of triangle
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const PxReal det = edge1.dot(pvec); // error ~ |v2-v0|*|v1-v0|
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if(cull)
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{
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if(det<GU_CULLING_EPSILON_RAY_TRIANGLE)
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return false;
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// Calculate distance from vert0 to ray origin
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const PxVec3 tvec = orig - vert0;
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// Calculate U parameter and test bounds
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const PxReal u = tvec.dot(pvec);
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const PxReal enlargeCoeff = enlarge*det;
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const PxReal uvlimit = -enlargeCoeff;
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const PxReal uvlimit2 = det + enlargeCoeff;
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if(u<uvlimit || u>uvlimit2)
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return false;
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// Prepare to test V parameter
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const PxVec3 qvec = tvec.cross(edge1);
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// Calculate V parameter and test bounds
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const PxReal v = dir.dot(qvec);
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if(v<uvlimit || (u+v)>uvlimit2)
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return false;
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// Calculate t, scale parameters, ray intersects triangle
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const PxReal t = edge2.dot(qvec);
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const PxReal inv_det = 1.0f / det;
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at = t*inv_det;
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au = u*inv_det;
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av = v*inv_det;
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}
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else
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{
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// the non-culling branch
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if(PxAbs(det)<GU_CULLING_EPSILON_RAY_TRIANGLE)
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return false;
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const PxReal inv_det = 1.0f / det;
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// Calculate distance from vert0 to ray origin
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const PxVec3 tvec = orig - vert0; // error ~ |orig-v0|
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// Calculate U parameter and test bounds
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const PxReal u = tvec.dot(pvec) * inv_det;
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if(u<-enlarge || u>1.0f+enlarge)
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return false;
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// prepare to test V parameter
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const PxVec3 qvec = tvec.cross(edge1);
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// Calculate V parameter and test bounds
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const PxReal v = dir.dot(qvec) * inv_det;
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if(v<-enlarge || (u+v)>1.0f+enlarge)
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return false;
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// Calculate t, ray intersects triangle
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const PxReal t = edge2.dot(qvec) * inv_det;
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at = t;
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au = u;
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av = v;
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}
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return true;
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}
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/* \note u, v and t will remain unchanged if false is returned. */
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PX_FORCE_INLINE bool intersectRayTriangleCulling( const PxVec3& orig, const PxVec3& dir,
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const PxVec3& vert0, const PxVec3& vert1, const PxVec3& vert2,
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PxReal& t, PxReal& u, PxReal& v,
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float enlarge=0.0f)
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{
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return intersectRayTriangle(orig, dir, vert0, vert1, vert2, t, u, v, true, enlarge);
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}
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/* \note u, v and t will remain unchanged if false is returned. */
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PX_FORCE_INLINE bool intersectRayTriangleNoCulling( const PxVec3& orig, const PxVec3& dir,
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const PxVec3& vert0, const PxVec3& vert1, const PxVec3& vert2,
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PxReal& t, PxReal& u, PxReal& v,
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float enlarge=0.0f)
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{
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return intersectRayTriangle(orig, dir, vert0, vert1, vert2, t, u, v, false, enlarge);
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}
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} // namespace Gu
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}
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#endif
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