75 lines
3.2 KiB
C++
75 lines
3.2 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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#ifndef GU_MTD_H
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#define GU_MTD_H
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#include "foundation/PxVec3.h"
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#include "foundation/PxTransform.h"
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#include "geometry/PxGeometry.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: we use a define to be able to quickly change the signature of all MTD functions.
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// (this also ensures they all use consistent names for passed parameters).
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// \param[out] mtd computed depenetration dir
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// \param[out] depth computed depenetration depth
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// \param[in] geom0 first geometry object
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// \param[in] pose0 pose of first geometry object
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// \param[in] geom1 second geometry object
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// \param[in] pose1 pose of second geometry object
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// \param[in] cache optional cached data for triggers
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#define GU_MTD_FUNC_PARAMS PxVec3& mtd, PxF32& depth, \
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const PxGeometry& geom0, const PxTransform32& pose0, \
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const PxGeometry& geom1, const PxTransform32& pose1
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// PT: function pointer for Geom-indexed MTD functions
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// See GU_MTD_FUNC_PARAMS for function parameters details.
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// \return true if an overlap was found, false otherwise
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// \note depenetration vector D is equal to mtd * depth. It should be applied to the 1st object, to get out of the 2nd object.
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typedef bool (*GeomMTDFunc) (GU_MTD_FUNC_PARAMS);
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PX_FORCE_INLINE PxF32 manualNormalize(PxVec3& mtd, const PxVec3& normal, PxReal lenSq)
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{
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const PxF32 len = PxSqrt(lenSq);
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// We do a *manual* normalization to check for singularity condition
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if(lenSq < 1e-6f)
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mtd = PxVec3(1.0f, 0.0f, 0.0f); // PT: zero normal => pick up random one
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else
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mtd = normal * 1.0f / len;
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return len;
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}
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}
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}
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#endif
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