128 lines
4.0 KiB
C++
128 lines
4.0 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 "foundation/PxIntrinsics.h"
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#include "GuBoxConversion.h"
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#include "GuInternal.h"
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using namespace physx;
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void Gu::Box::create(const Gu::Capsule& capsule)
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{
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// Box center = center of the two LSS's endpoints
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center = capsule.computeCenter();
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// Box orientation
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const PxVec3 dir = capsule.p1 - capsule.p0;
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const float d = dir.magnitude();
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if(d!=0.0f)
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{
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rot.column0 = dir / d;
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PxComputeBasisVectors(rot.column0, rot.column1, rot.column2);
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}
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else
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rot = PxMat33(PxIdentity);
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// Box extents
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extents.x = capsule.radius + (d * 0.5f);
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extents.y = capsule.radius;
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extents.z = capsule.radius;
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}
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/**
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Returns edges.
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\return 24 indices (12 edges) indexing the list returned by ComputePoints()
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*/
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const PxU8* Gu::getBoxEdges()
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{
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// 7+------+6 0 = ---
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// /| /| 1 = +--
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// / | / | 2 = ++-
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// / 4+---/--+5 3 = -+-
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// 3+------+2 / y z 4 = --+
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// | / | / | / 5 = +-+
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// |/ |/ |/ 6 = +++
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// 0+------+1 *---x 7 = -++
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static PxU8 Indices[] = {
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0, 1, 1, 2, 2, 3, 3, 0,
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7, 6, 6, 5, 5, 4, 4, 7,
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1, 5, 6, 2,
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3, 7, 4, 0
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};
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return Indices;
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}
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void Gu::computeOBBPoints(PxVec3* PX_RESTRICT pts, const PxVec3& center, const PxVec3& extents, const PxVec3& base0, const PxVec3& base1, const PxVec3& base2)
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{
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PX_ASSERT(pts);
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// "Rotated extents"
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const PxVec3 axis0 = base0 * extents.x;
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const PxVec3 axis1 = base1 * extents.y;
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const PxVec3 axis2 = base2 * extents.z;
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// 7+------+6 0 = ---
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// /| /| 1 = +--
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// / | / | 2 = ++-
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// / 4+---/--+5 3 = -+-
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// 3+------+2 / y z 4 = --+
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// | / | / | / 5 = +-+
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// |/ |/ |/ 6 = +++
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// 0+------+1 *---x 7 = -++
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// Original code: 24 vector ops
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/* pts[0] = box.center - Axis0 - Axis1 - Axis2;
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pts[1] = box.center + Axis0 - Axis1 - Axis2;
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pts[2] = box.center + Axis0 + Axis1 - Axis2;
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pts[3] = box.center - Axis0 + Axis1 - Axis2;
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pts[4] = box.center - Axis0 - Axis1 + Axis2;
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pts[5] = box.center + Axis0 - Axis1 + Axis2;
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pts[6] = box.center + Axis0 + Axis1 + Axis2;
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pts[7] = box.center - Axis0 + Axis1 + Axis2;*/
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// Rewritten: 12 vector ops
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pts[0] = pts[3] = pts[4] = pts[7] = center - axis0;
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pts[1] = pts[2] = pts[5] = pts[6] = center + axis0;
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PxVec3 tmp = axis1 + axis2;
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pts[0] -= tmp;
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pts[1] -= tmp;
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pts[6] += tmp;
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pts[7] += tmp;
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tmp = axis1 - axis2;
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pts[2] += tmp;
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pts[3] += tmp;
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pts[4] -= tmp;
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pts[5] -= tmp;
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}
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