137 lines
4.8 KiB
C++
137 lines
4.8 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_DISTANCE_POINT_TETRAHEDRON_H
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#define GU_DISTANCE_POINT_TETRAHEDRON_H
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#include "foundation/PxVec3.h"
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#include "foundation/PxVec4.h"
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#include "common/PxPhysXCommonConfig.h"
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#include "GuDistancePointTriangle.h"
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#include "foundation/PxMathUtils.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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PX_INLINE PX_CUDA_CALLABLE PxVec4 PointOutsideOfPlane4(const PxVec3& p, const PxVec3& _a, const PxVec3& _b,
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const PxVec3& _c, const PxVec3& _d)
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{
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const PxVec3 ap = p - _a;
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const PxVec3 ab = _b - _a;
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const PxVec3 ac = _c - _a;
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const PxVec3 ad = _d - _a;
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const PxVec3 v0 = ab.cross(ac);
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const float signa0 = v0.dot(ap);
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const float signd0 = v0.dot(ad);// V3Dot(v0, _d);
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const PxVec3 v1 = ac.cross(ad);
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const float signa1 = v1.dot(ap);
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const float signd1 = v1.dot(ab);
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const PxVec3 v2 = ad.cross(ab);
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const float signa2 = v2.dot(ap);
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const float signd2 = v2.dot(ac);// V3Dot(v2, _c);
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const PxVec3 bd = _d - _b;
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const PxVec3 bc = _c - _b;
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const PxVec3 v3 = bd.cross(bc);
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const float signd3 = v3.dot(p - _b);
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const float signa3 = v3.dot(_a - _b);
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//if combined signDist is least zero, p is outside of that face
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PxVec4 result = PxVec4(signa0 * signd0, signa1 * signd1, signa2 * signd2, signa3 * signd3);
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return result;
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}
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PX_PHYSX_COMMON_API PxVec3 closestPtPointTetrahedron(const PxVec3& p, const PxVec3& a, const PxVec3& b, const PxVec3& c, const PxVec3& d, const PxVec4& result);
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PX_INLINE PX_CUDA_CALLABLE PxVec3 closestPtPointTetrahedron(const PxVec3& p, const PxVec3& a, const PxVec3& b, const PxVec3& c, const PxVec3& d)
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{
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const PxVec3 ab = b - a;
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const PxVec3 ac = c - a;
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const PxVec3 ad = d - a;
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const PxVec3 bc = c - b;
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const PxVec3 bd = d - b;
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//point to face 0, 1, 2
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PxVec3 bestClosestPt = closestPtPointTriangle2(p, a, b, c, ab, ac);
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PxVec3 diff = bestClosestPt - p;
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PxReal bestSqDist = diff.dot(diff);
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// 0, 2, 3
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PxVec3 closestPt = closestPtPointTriangle2(p, a, c, d, ac, ad);
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diff = closestPt - p;
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PxReal sqDist = diff.dot(diff);
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if (sqDist < bestSqDist)
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{
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bestClosestPt = closestPt;
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bestSqDist = sqDist;
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}
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// 0, 3, 1
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closestPt = closestPtPointTriangle2(p, a, d, b, ad, ab);
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diff = closestPt - p;
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sqDist = diff.dot(diff);
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if (sqDist < bestSqDist)
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{
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bestClosestPt = closestPt;
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bestSqDist = sqDist;
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}
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// 1, 3, 2
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closestPt = closestPtPointTriangle2(p, b, d, c, bd, bc);
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diff = closestPt - p;
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sqDist = diff.dot(diff);
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if (sqDist < bestSqDist)
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{
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bestClosestPt = closestPt;
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bestSqDist = sqDist;
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}
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return bestClosestPt;
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}
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PX_INLINE PX_CUDA_CALLABLE PxVec3 closestPtPointTetrahedronWithInsideCheck(const PxVec3& p, const PxVec3& a, const PxVec3& b, const PxVec3& c, const PxVec3& d, const PxReal eps = 0)
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{
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PxVec4 tmpBarycentric;
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PxComputeBarycentric(a, b, c, d, p, tmpBarycentric);
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if ((tmpBarycentric.x >= -eps && tmpBarycentric.x <= 1.f + eps) && (tmpBarycentric.y >= -eps && tmpBarycentric.y <= 1.f + eps) &&
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(tmpBarycentric.z >= -eps && tmpBarycentric.z <= 1.f + eps) && (tmpBarycentric.w >= -eps && tmpBarycentric.w <= 1.f + eps))
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return p;
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return closestPtPointTetrahedron(p, a, b, c, d);
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}
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}
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}
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#endif
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