315 lines
11 KiB
C++
315 lines
11 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_INTERNAL_H
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#define GU_INTERNAL_H
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#include "geometry/PxCapsuleGeometry.h"
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#include "geometry/PxBoxGeometry.h"
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#include "GuCapsule.h"
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#include "foundation/PxTransform.h"
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#include "foundation/PxMathUtils.h"
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#include "foundation/PxUtilities.h"
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#include "foundation/PxMat33.h"
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#define GU_EPSILON_SAME_DISTANCE 1e-3f
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namespace physx
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{
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class PxBounds3;
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namespace Gu
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{
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class Box;
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// PT: TODO: now that the Gu files are not exposed to users anymore, we should move back capsule-related functions
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// to GuCapsule.h, etc
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PX_PHYSX_COMMON_API const PxU8* getBoxEdges();
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PX_PHYSX_COMMON_API void computeBoxPoints(const PxBounds3& bounds, PxVec3* PX_RESTRICT pts);
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void computeBoxAroundCapsule(const Capsule& capsule, Box& box);
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PxPlane getPlane(const PxTransform& pose);
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PX_FORCE_INLINE PxVec3 getCapsuleHalfHeightVector(const PxTransform& transform, const PxCapsuleGeometry& capsuleGeom)
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{
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return transform.q.getBasisVector0() * capsuleGeom.halfHeight;
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}
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PX_FORCE_INLINE void getCapsuleSegment(const PxTransform& transform, const PxCapsuleGeometry& capsuleGeom, Gu::Segment& segment)
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{
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const PxVec3 tmp = getCapsuleHalfHeightVector(transform, capsuleGeom);
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segment.p0 = transform.p + tmp;
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segment.p1 = transform.p - tmp;
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}
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PX_FORCE_INLINE void getCapsule(Gu::Capsule& capsule, const PxCapsuleGeometry& capsuleGeom, const PxTransform& pose)
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{
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getCapsuleSegment(pose, capsuleGeom, capsule);
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capsule.radius = capsuleGeom.radius;
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}
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void computeSweptBox(Gu::Box& box, const PxVec3& extents, const PxVec3& center, const PxMat33& rot, const PxVec3& unitDir, PxReal distance);
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/**
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* PT: computes "alignment value" used to select the "best" triangle in case of identical impact distances (for sweeps).
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* This simply computes how much a triangle is aligned with a given sweep direction.
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* Captured in a function to make sure it is always computed correctly, i.e. working for double-sided triangles.
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*
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* \param triNormal [in] triangle's normal
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* \param unitDir [in] sweep direction (normalized)
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* \return alignment value in [-1.0f, 0.0f]. -1.0f for fully aligned, 0.0f for fully orthogonal.
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*/
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PX_FORCE_INLINE PxReal computeAlignmentValue(const PxVec3& triNormal, const PxVec3& unitDir)
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{
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PX_ASSERT(triNormal.isNormalized());
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// PT: initial dot product gives the angle between the two, with "best" triangles getting a +1 or -1 score
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// depending on their winding. We take the absolute value to ignore the impact of winding. We negate the result
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// to make the function compatible with the initial code, which assumed single-sided triangles and expected -1
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// for best triangles.
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return -PxAbs(triNormal.dot(unitDir));
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}
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/**
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* PT: sweeps: determines if a newly touched triangle is "better" than best one so far.
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* In this context "better" means either clearly smaller impact distance, or a similar impact
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* distance but a normal more aligned with the sweep direction.
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*
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* \param triImpactDistance [in] new triangle's impact distance
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* \param triAlignmentValue [in] new triangle's alignment value (as computed by computeAlignmentValue)
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* \param bestImpactDistance [in] current best triangle's impact distance
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* \param bestAlignmentValue [in] current best triangle's alignment value (as computed by computeAlignmentValue)
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* \param maxDistance [in] maximum distance of the query, hit cannot be longer than this maxDistance
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* \return true if new triangle is better
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*/
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PX_FORCE_INLINE bool keepTriangle( float triImpactDistance, float triAlignmentValue,
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float bestImpactDistance, float bestAlignmentValue, float maxDistance)
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{
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// Reject triangle if further than the maxDistance
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if(triImpactDistance > maxDistance)
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return false;
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// If initial overlap happens, keep the triangle
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if(triImpactDistance == 0.0f)
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return true;
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// tris have "similar" impact distances if the difference is smaller than 2*distEpsilon
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float distEpsilon = GU_EPSILON_SAME_DISTANCE; // pick a farther hit within distEpsilon that is more opposing than the previous closest hit
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// PT: make it a relative epsilon to make sure it still works with large distances
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distEpsilon *= PxMax(1.0f, PxMax(triImpactDistance, bestImpactDistance));
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// If new distance is more than epsilon closer than old distance
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if(triImpactDistance < bestImpactDistance - distEpsilon)
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return true;
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// If new distance is no more than epsilon farther than oldDistance and "face is more opposing than previous"
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if(triImpactDistance < bestImpactDistance+distEpsilon && triAlignmentValue < bestAlignmentValue)
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return true;
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// If alignment value is the same, but the new triangle is closer than the best distance
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if(triAlignmentValue == bestAlignmentValue && triImpactDistance < bestImpactDistance)
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return true;
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return false;
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}
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PX_FORCE_INLINE bool keepTriangleBasic(float triImpactDistance, float bestImpactDistance, float maxDistance)
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{
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// Reject triangle if further than the maxDistance
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if(triImpactDistance > maxDistance)
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return false;
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// If initial overlap happens, keep the triangle
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if(triImpactDistance == 0.0f)
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return true;
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// If new distance is more than epsilon closer than old distance
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if(triImpactDistance < bestImpactDistance)
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return true;
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return false;
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}
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PX_FORCE_INLINE PxVec3 cross100(const PxVec3& b)
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{
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return PxVec3(0.0f, -b.z, b.y);
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}
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PX_FORCE_INLINE PxVec3 cross010(const PxVec3& b)
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{
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return PxVec3(b.z, 0.0f, -b.x);
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}
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PX_FORCE_INLINE PxVec3 cross001(const PxVec3& b)
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{
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return PxVec3(-b.y, b.x, 0.0f);
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}
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//! Compute point as combination of barycentric coordinates
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PX_FORCE_INLINE PxVec3 computeBarycentricPoint(const PxVec3& p0, const PxVec3& p1, const PxVec3& p2, PxReal u, PxReal v)
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{
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// This seems to confuse the compiler...
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// return (1.0f - u - v)*p0 + u*p1 + v*p2;
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const PxF32 w = 1.0f - u - v;
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return PxVec3(w * p0.x + u * p1.x + v * p2.x, w * p0.y + u * p1.y + v * p2.y, w * p0.z + u * p1.z + v * p2.z);
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}
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PX_FORCE_INLINE PxReal computeTetrahedronVolume(const PxVec3& x0, const PxVec3& x1, const PxVec3& x2, const PxVec3& x3, PxMat33& edgeMatrix)
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{
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const PxVec3 u1 = x1 - x0;
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const PxVec3 u2 = x2 - x0;
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const PxVec3 u3 = x3 - x0;
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edgeMatrix = PxMat33(u1, u2, u3);
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const PxReal det = edgeMatrix.getDeterminant();
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const PxReal volume = det / 6.0f;
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return volume;
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}
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PX_FORCE_INLINE PxReal computeTetrahedronVolume(const PxVec3& x0, const PxVec3& x1, const PxVec3& x2, const PxVec3& x3)
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{
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PxMat33 edgeMatrix;
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return computeTetrahedronVolume(x0, x1, x2, x3, edgeMatrix);
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}
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// IndexType should be PxU16 or PxU32.
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template<typename IndexType>
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PX_FORCE_INLINE PxReal computeTriangleMeshVolume(const PxVec3* vertices, const IndexType* indices,
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const PxU32 numTriangles)
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{
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// See https://twitter.com/keenanisalive/status/1437178786286653445?lang=en
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float volume = 0.0f;
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for(PxU32 i = 0; i < numTriangles; ++i)
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{
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PxVec3 v0 = vertices[indices[3*i]];
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PxVec3 v1 = vertices[indices[3 * i + 1]];
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PxVec3 v2 = vertices[indices[3 * i + 2]];
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PxVec3 v0v1 = v0.cross(v1);
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volume += v0v1.dot(v2);
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}
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return volume / 6.0f;
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}
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// IndexType should be PxU16 or PxU32.
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// W in PxVec4 of vertices are ignored.
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template <typename IndexType>
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PX_FORCE_INLINE PxReal computeTriangleMeshVolume(const PxVec4* vertices, const IndexType* indices,
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const PxU32 numTriangles)
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{
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// See https://twitter.com/keenanisalive/status/1437178786286653445?lang=en
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float volume = 0.0f;
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for(PxU32 i = 0; i < numTriangles; ++i)
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{
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PxVec3 v0 = vertices[indices[3 * i]].getXYZ();
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PxVec3 v1 = vertices[indices[3 * i + 1]].getXYZ();
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PxVec3 v2 = vertices[indices[3 * i + 2]].getXYZ();
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PxVec3 v0v1 = v0.cross(v1);
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volume += v0v1.dot(v2);
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}
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return volume / 6.0f;
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}
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/*!
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Extend an edge along its length by a factor
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*/
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PX_FORCE_INLINE void makeFatEdge(PxVec3& p0, PxVec3& p1, PxReal fatCoeff)
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{
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PxVec3 delta = p1 - p0;
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const PxReal m = delta.magnitude();
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if (m > 0.0f)
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{
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delta *= fatCoeff / m;
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p0 -= delta;
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p1 += delta;
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}
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}
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#if 0
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/*!
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Extend an edge along its length by a factor
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*/
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PX_FORCE_INLINE void makeFatEdge(aos::Vec3V& p0, aos::Vec3V& p1, const aos::FloatVArg fatCoeff)
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{
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const aos::Vec3V delta = aos::V3Sub(p1, p0);
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const aos::FloatV m = aos::V3Length(delta);
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const aos::BoolV con = aos::FIsGrtr(m, aos::FZero());
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const aos::Vec3V fatDelta = aos::V3Scale(aos::V3ScaleInv(delta, m), fatCoeff);
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p0 = aos::V3Sel(con, aos::V3Sub(p0, fatDelta), p0);
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p1 = aos::V3Sel(con, aos::V3Add(p1, fatDelta), p1);
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}
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#endif
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PX_FORCE_INLINE PxU32 closestAxis(const PxVec3& v, PxU32& j, PxU32& k)
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{
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// find largest 2D plane projection
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const PxF32 absPx = PxAbs(v.x);
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const PxF32 absNy = PxAbs(v.y);
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const PxF32 absNz = PxAbs(v.z);
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PxU32 m = 0; // x biggest axis
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j = 1;
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k = 2;
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if (absNy > absPx && absNy > absNz)
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{
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// y biggest
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j = 2;
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k = 0;
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m = 1;
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}
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else if (absNz > absPx)
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{
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// z biggest
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j = 0;
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k = 1;
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m = 2;
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}
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return m;
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}
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PX_FORCE_INLINE bool isAlmostZero(const PxVec3& v)
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{
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if (PxAbs(v.x) > 1e-6f || PxAbs(v.y) > 1e-6f || PxAbs(v.z) > 1e-6f)
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return false;
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return true;
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}
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} // namespace Gu
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}
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#endif
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