139 lines
4.2 KiB
C++
139 lines
4.2 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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#include "GuIntersectionBoxBox.h"
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using namespace physx;
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bool Gu::intersectOBBOBB(const PxVec3& e0, const PxVec3& c0, const PxMat33& r0, const PxVec3& e1, const PxVec3& c1, const PxMat33& r1, bool full_test)
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{
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// Translation, in parent frame
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const PxVec3 v = c1 - c0;
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// Translation, in A's frame
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const PxVec3 T(v.dot(r0[0]), v.dot(r0[1]), v.dot(r0[2]));
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// B's basis with respect to A's local frame
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PxReal R[3][3];
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PxReal FR[3][3];
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PxReal ra, rb, t;
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// Calculate rotation matrix
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for(PxU32 i=0;i<3;i++)
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{
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for(PxU32 k=0;k<3;k++)
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{
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R[i][k] = r0[i].dot(r1[k]);
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FR[i][k] = 1e-6f + PxAbs(R[i][k]); // Precompute fabs matrix
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}
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}
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// A's basis vectors
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for(PxU32 i=0;i<3;i++)
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{
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ra = e0[i];
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rb = e1[0]*FR[i][0] + e1[1]*FR[i][1] + e1[2]*FR[i][2];
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t = PxAbs(T[i]);
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if(t > ra + rb) return false;
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}
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// B's basis vectors
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for(PxU32 k=0;k<3;k++)
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{
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ra = e0[0]*FR[0][k] + e0[1]*FR[1][k] + e0[2]*FR[2][k];
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rb = e1[k];
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t = PxAbs(T[0]*R[0][k] + T[1]*R[1][k] + T[2]*R[2][k]);
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if( t > ra + rb ) return false;
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}
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if(full_test)
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{
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//9 cross products
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//L = A0 x B0
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ra = e0[1]*FR[2][0] + e0[2]*FR[1][0];
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rb = e1[1]*FR[0][2] + e1[2]*FR[0][1];
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t = PxAbs(T[2]*R[1][0] - T[1]*R[2][0]);
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if(t > ra + rb) return false;
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//L = A0 x B1
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ra = e0[1]*FR[2][1] + e0[2]*FR[1][1];
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rb = e1[0]*FR[0][2] + e1[2]*FR[0][0];
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t = PxAbs(T[2]*R[1][1] - T[1]*R[2][1]);
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if(t > ra + rb) return false;
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//L = A0 x B2
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ra = e0[1]*FR[2][2] + e0[2]*FR[1][2];
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rb = e1[0]*FR[0][1] + e1[1]*FR[0][0];
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t = PxAbs(T[2]*R[1][2] - T[1]*R[2][2]);
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if(t > ra + rb) return false;
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//L = A1 x B0
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ra = e0[0]*FR[2][0] + e0[2]*FR[0][0];
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rb = e1[1]*FR[1][2] + e1[2]*FR[1][1];
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t = PxAbs(T[0]*R[2][0] - T[2]*R[0][0]);
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if(t > ra + rb) return false;
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//L = A1 x B1
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ra = e0[0]*FR[2][1] + e0[2]*FR[0][1];
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rb = e1[0]*FR[1][2] + e1[2]*FR[1][0];
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t = PxAbs(T[0]*R[2][1] - T[2]*R[0][1]);
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if(t > ra + rb) return false;
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//L = A1 x B2
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ra = e0[0]*FR[2][2] + e0[2]*FR[0][2];
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rb = e1[0]*FR[1][1] + e1[1]*FR[1][0];
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t = PxAbs(T[0]*R[2][2] - T[2]*R[0][2]);
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if(t > ra + rb) return false;
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//L = A2 x B0
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ra = e0[0]*FR[1][0] + e0[1]*FR[0][0];
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rb = e1[1]*FR[2][2] + e1[2]*FR[2][1];
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t = PxAbs(T[1]*R[0][0] - T[0]*R[1][0]);
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if(t > ra + rb) return false;
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//L = A2 x B1
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ra = e0[0]*FR[1][1] + e0[1]*FR[0][1];
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rb = e1[0] *FR[2][2] + e1[2]*FR[2][0];
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t = PxAbs(T[1]*R[0][1] - T[0]*R[1][1]);
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if(t > ra + rb) return false;
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//L = A2 x B2
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ra = e0[0]*FR[1][2] + e0[1]*FR[0][2];
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rb = e1[0]*FR[2][1] + e1[1]*FR[2][0];
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t = PxAbs(T[1]*R[0][2] - T[0]*R[1][2]);
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if(t > ra + rb) return false;
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}
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return true;
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}
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