92 lines
4.4 KiB
C++
92 lines
4.4 KiB
C++
// 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_MTD_H
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#define GU_SWEEP_MTD_H
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namespace physx
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{
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class PxConvexMeshGeometry;
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class PxTriangleMeshGeometry;
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class PxGeometry;
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class PxHeightFieldGeometry;
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class PxPlane;
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namespace Gu
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{
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class Sphere;
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class Capsule;
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bool computeCapsule_TriangleMeshMTD(const PxTriangleMeshGeometry& triMeshGeom, const PxTransform& pose, Gu::CapsuleV& capsuleV, PxReal inflatedRadius, bool isDoubleSided, PxGeomSweepHit& hit);
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bool computeCapsule_HeightFieldMTD(const PxHeightFieldGeometry& heightFieldGeom, const PxTransform& pose, Gu::CapsuleV& capsuleV, PxReal inflatedRadius, bool isDoubleSided, PxGeomSweepHit& hit);
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bool computeBox_TriangleMeshMTD(const PxTriangleMeshGeometry& triMeshGeom, const PxTransform& pose, const Gu::Box& box, const PxTransform& boxTransform, PxReal inflation,
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bool isDoubleSided, PxGeomSweepHit& hit);
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bool computeBox_HeightFieldMTD( const PxHeightFieldGeometry& heightFieldGeom, const PxTransform& pose, const Gu::Box& box, const PxTransform& boxTransform, PxReal inflation, bool isDoubleSided, PxGeomSweepHit& hit);
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bool computeConvex_TriangleMeshMTD( const PxTriangleMeshGeometry& triMeshGeom, const PxTransform& pose, const PxConvexMeshGeometry& convexGeom, const PxTransform& convexTransform, PxReal inflation,
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bool isDoubleSided, PxGeomSweepHit& hit);
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bool computeConvex_HeightFieldMTD( const PxHeightFieldGeometry& heightFieldGeom, const PxTransform& pose, const PxConvexMeshGeometry& convexGeom, const PxTransform& convexTransform, PxReal inflation, bool isDoubleSided, PxGeomSweepHit& hit);
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bool computeSphere_SphereMTD(const Sphere& sphere0, const Sphere& sphere1, PxGeomSweepHit& hit);
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bool computeSphere_CapsuleMTD(const Sphere& sphere, const Capsule& capsule, PxGeomSweepHit& hit);
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bool computeCapsule_CapsuleMTD(const Capsule& capsule0, const Capsule& capsule1, PxGeomSweepHit& hit);
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bool computePlane_CapsuleMTD(const PxPlane& plane, const Capsule& capsule, PxGeomSweepHit& hit);
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bool computePlane_BoxMTD(const PxPlane& plane, const Box& box, PxGeomSweepHit& hit);
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bool computePlane_ConvexMTD(const PxPlane& plane, const PxConvexMeshGeometry& convexGeom, const PxTransform& convexPose, PxGeomSweepHit& hit);
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// PT: wrapper just to avoid duplicating these lines.
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PX_FORCE_INLINE void setupSweepHitForMTD(PxGeomSweepHit& sweepHit, bool hasContacts, const PxVec3& unitDir)
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{
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sweepHit.flags = PxHitFlag::eNORMAL | PxHitFlag::eFACE_INDEX;
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if(!hasContacts)
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{
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sweepHit.distance = 0.0f;
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sweepHit.normal = -unitDir;
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}
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else
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{
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//ML: touching contact. We need to overwrite the normal to the negative of sweep direction
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if(sweepHit.distance == 0.0f && sweepHit.normal.isZero())
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sweepHit.normal = -unitDir;
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sweepHit.flags |= PxHitFlag::ePOSITION;
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}
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}
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}
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}
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#endif
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