174 lines
5.7 KiB
C++
174 lines
5.7 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_INTERSECTION_TETRAHEDRON_TETRAHEDRON_H
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#define GU_INTERSECTION_TETRAHEDRON_TETRAHEDRON_H
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#include "foundation/PxPlane.h"
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#include "common/PxPhysXCommonConfig.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 Tetrahedron
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{
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PxVec3 verts[4];
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PxPlane planes[4];
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PxVec3 centroid;
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};
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PX_INLINE PX_CUDA_CALLABLE PxPlane createPlane(const PxVec3& pa, const PxVec3& pb, const PxVec3& pc, const PxVec3& pd)
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{
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PxPlane plane(pa, pb, pc);
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PxReal distance = plane.distance(pd);
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if (distance > 0.f)
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{
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plane.n = -plane.n;
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plane.d = -plane.d;
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}
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return plane;
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}
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PX_INLINE PX_CUDA_CALLABLE void constructTetrahedron(const PxVec3& a, const PxVec3& b, const PxVec3& c, const PxVec3& d,
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Tetrahedron& tet)
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{
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tet.verts[0] = a; tet.verts[1] = b; tet.verts[2] = c; tet.verts[3] = d;
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tet.planes[0] = createPlane(a, b, c, d);
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tet.planes[1] = createPlane(a, b, d, c);
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tet.planes[2] = createPlane(a, c, d, b);
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tet.planes[3] = createPlane(b, c, d, a);
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tet.centroid = (a + b + c) * (1.f / 3.f);
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}
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PX_INLINE PX_CUDA_CALLABLE PxReal minProject(const PxPlane& plane, const Tetrahedron& tet)
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{
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/*return PxMin(plane.distance(tet.verts[0]), PxMin(plane.distance(tet.verts[1]),
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PxMin(plane.distance(tet.verts[2]), plane.distance(tet.verts[3]))));*/
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return PxMin(plane.n.dot(tet.verts[0]),PxMin(plane.n.dot(tet.verts[1]),
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PxMin(plane.n.dot(tet.verts[2]), plane.n.dot(tet.verts[3])))) + plane.d;
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}
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PX_INLINE PX_CUDA_CALLABLE PxReal testSeparatingAxis(const PxVec3& axis, const Tetrahedron& tet0, const Tetrahedron& tet1)
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{
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PxReal min0, max0, min1, max1;
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min0 = max0 = tet0.verts[0].dot(axis);
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min1 = max1 = tet1.verts[0].dot(axis);
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for (PxU32 i = 1; i < 4; ++i)
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{
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PxReal proj0 = tet0.verts[i].dot(axis);
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PxReal proj1 = tet1.verts[i].dot(axis);
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min0 = PxMin(proj0, min0);
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max0 = PxMax(proj0, max0);
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min1 = PxMin(proj1, min1);
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max1 = PxMax(proj1, max1);
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}
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return PxMax(min1 - max0, min0 - max1);
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}
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template <bool TDoCross = true>
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PX_INLINE PX_CUDA_CALLABLE PxReal satIntersect(const Tetrahedron& tet0, const Tetrahedron& tet1, const PxReal tolerance)
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{
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PxReal sep = minProject(tet0.planes[0], tet1);
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if (sep > tolerance)
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return sep;
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sep = PxMax(sep, minProject(tet0.planes[1], tet1));
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if (sep > tolerance)
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return sep;
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sep = PxMax(sep, minProject(tet0.planes[2], tet1));
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if (sep > tolerance)
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return sep;
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sep = PxMax(sep, minProject(tet0.planes[3], tet1));
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if (sep > tolerance)
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return sep;
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sep = PxMax(sep, minProject(tet1.planes[0], tet0));
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if (sep > tolerance)
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return sep;
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sep = PxMax(sep, minProject(tet1.planes[1], tet0));
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if (sep > tolerance)
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return sep;
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sep = PxMax(sep, minProject(tet1.planes[2], tet0));
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if (sep > tolerance)
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return sep;
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sep = PxMax(sep, minProject(tet1.planes[3], tet0));
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if (sep > tolerance)
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return sep;
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if (TDoCross)
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{
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PxVec3 axes0[6];
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PxVec3 axes1[6];
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axes0[0] = tet0.verts[1] - tet0.verts[0];
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axes0[1] = tet0.verts[2] - tet0.verts[0];
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axes0[2] = tet0.verts[3] - tet0.verts[0];
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axes0[3] = tet0.verts[2] - tet0.verts[1];
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axes0[4] = tet0.verts[3] - tet0.verts[1];
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axes0[5] = tet0.verts[3] - tet0.verts[2];
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axes1[0] = tet1.verts[1] - tet1.verts[0];
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axes1[1] = tet1.verts[2] - tet1.verts[0];
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axes1[2] = tet1.verts[3] - tet1.verts[0];
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axes1[3] = tet1.verts[2] - tet1.verts[1];
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axes1[4] = tet1.verts[3] - tet1.verts[1];
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axes1[5] = tet1.verts[3] - tet1.verts[2];
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for (PxU32 i = 0; i < 6; ++i)
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{
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const PxVec3 axis0 = axes0[i];
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for (PxU32 j = 0; j < 6; ++j)
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{
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const PxVec3 axis1 = axes1[j];
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PxVec3 sepAxis = axis0.cross(axis1);
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const PxReal magSq = sepAxis.magnitudeSquared();
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if (magSq > 1e-5f)
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{
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sepAxis = sepAxis * (1.f / PxSqrt(magSq));
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const PxReal tSep = testSeparatingAxis(sepAxis, tet0, tet1);
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sep = PxMax(sep, tSep);
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if (sep > tolerance)
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return sep;
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}
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}
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}
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}
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return sep;
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}
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} // namespace Gu
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}
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#endif
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