55 lines
2.7 KiB
C++
55 lines
2.7 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_GJK_TEST_H
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#define GU_GJK_TEST_H
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#include "common/PxPhysXCommonConfig.h"
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#include "GuGJKUtil.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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struct GjkConvex;
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PX_PHYSX_COMMON_API GjkStatus testGjk(const GjkConvex& a, const GjkConvex& b, const aos::Vec3VArg initialSearchDir, const aos::FloatVArg contactDist, aos::Vec3V& closestA, aos::Vec3V& closestB,
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aos::Vec3V& normal, aos::FloatV& dist);
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PX_PHYSX_COMMON_API bool testGjkRaycast(const GjkConvex& a, const GjkConvex& b, const aos::Vec3VArg initialSearchDir, const aos::FloatVArg initialLambda, const aos::Vec3VArg s, const aos::Vec3VArg r,
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aos::FloatV& lambda, aos::Vec3V& normal, aos::Vec3V& closestA, PxReal inflation);
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PX_PHYSX_COMMON_API GjkStatus testGjkPenetration(const GjkConvex& a, const GjkConvex& b, const aos::Vec3VArg initialSearchDir, const aos::FloatVArg contactDist,
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PxU8* aIndices, PxU8* bIndices, PxU8& size, GjkOutput& output);
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PX_PHYSX_COMMON_API GjkStatus testEpaPenetration(const GjkConvex& a, const GjkConvex& b, const PxU8* aIndices, const PxU8* bIndices, PxU8 size, GjkOutput& output);
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}
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}
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#endif
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