481 lines
15 KiB
C
481 lines
15 KiB
C
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//
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// 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) 2008-2019 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 PXFOUNDATION_PXBOUNDS3_H
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#define PXFOUNDATION_PXBOUNDS3_H
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/** \addtogroup foundation
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@{
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*/
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#include "foundation/PxTransform.h"
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#include "foundation/PxMat33.h"
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#if !PX_DOXYGEN
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namespace physx
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{
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#endif
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// maximum extents defined such that floating point exceptions are avoided for standard use cases
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#define PX_MAX_BOUNDS_EXTENTS (PX_MAX_REAL * 0.25f)
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/**
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\brief Class representing 3D range or axis aligned bounding box.
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Stored as minimum and maximum extent corners. Alternate representation
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would be center and dimensions.
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May be empty or nonempty. For nonempty bounds, minimum <= maximum has to hold for all axes.
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Empty bounds have to be represented as minimum = PX_MAX_BOUNDS_EXTENTS and maximum = -PX_MAX_BOUNDS_EXTENTS for all
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axes.
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All other representations are invalid and the behavior is undefined.
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*/
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class PxBounds3
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{
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public:
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/**
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\brief Default constructor, not performing any initialization for performance reason.
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\remark Use empty() function below to construct empty bounds.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxBounds3()
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{
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}
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/**
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\brief Construct from two bounding points
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxBounds3(const PxVec3& minimum, const PxVec3& maximum);
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/**
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\brief Return empty bounds.
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*/
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static PX_CUDA_CALLABLE PX_FORCE_INLINE PxBounds3 empty();
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/**
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\brief returns the AABB containing v0 and v1.
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\param v0 first point included in the AABB.
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\param v1 second point included in the AABB.
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*/
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static PX_CUDA_CALLABLE PX_FORCE_INLINE PxBounds3 boundsOfPoints(const PxVec3& v0, const PxVec3& v1);
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/**
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\brief returns the AABB from center and extents vectors.
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\param center Center vector
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\param extent Extents vector
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*/
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static PX_CUDA_CALLABLE PX_FORCE_INLINE PxBounds3 centerExtents(const PxVec3& center, const PxVec3& extent);
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/**
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\brief Construct from center, extent, and (not necessarily orthogonal) basis
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*/
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static PX_CUDA_CALLABLE PX_INLINE PxBounds3
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basisExtent(const PxVec3& center, const PxMat33& basis, const PxVec3& extent);
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/**
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\brief Construct from pose and extent
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*/
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static PX_CUDA_CALLABLE PX_INLINE PxBounds3 poseExtent(const PxTransform& pose, const PxVec3& extent);
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/**
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\brief gets the transformed bounds of the passed AABB (resulting in a bigger AABB).
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This version is safe to call for empty bounds.
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\param[in] matrix Transform to apply, can contain scaling as well
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\param[in] bounds The bounds to transform.
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*/
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static PX_CUDA_CALLABLE PX_INLINE PxBounds3 transformSafe(const PxMat33& matrix, const PxBounds3& bounds);
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/**
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\brief gets the transformed bounds of the passed AABB (resulting in a bigger AABB).
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Calling this method for empty bounds leads to undefined behavior. Use #transformSafe() instead.
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\param[in] matrix Transform to apply, can contain scaling as well
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\param[in] bounds The bounds to transform.
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*/
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static PX_CUDA_CALLABLE PX_INLINE PxBounds3 transformFast(const PxMat33& matrix, const PxBounds3& bounds);
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/**
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\brief gets the transformed bounds of the passed AABB (resulting in a bigger AABB).
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This version is safe to call for empty bounds.
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\param[in] transform Transform to apply, can contain scaling as well
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\param[in] bounds The bounds to transform.
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*/
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static PX_CUDA_CALLABLE PX_INLINE PxBounds3 transformSafe(const PxTransform& transform, const PxBounds3& bounds);
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/**
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\brief gets the transformed bounds of the passed AABB (resulting in a bigger AABB).
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Calling this method for empty bounds leads to undefined behavior. Use #transformSafe() instead.
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\param[in] transform Transform to apply, can contain scaling as well
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\param[in] bounds The bounds to transform.
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*/
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static PX_CUDA_CALLABLE PX_INLINE PxBounds3 transformFast(const PxTransform& transform, const PxBounds3& bounds);
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/**
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\brief Sets empty to true
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE void setEmpty();
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/**
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\brief Sets the bounds to maximum size [-PX_MAX_BOUNDS_EXTENTS, PX_MAX_BOUNDS_EXTENTS].
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE void setMaximal();
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/**
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\brief expands the volume to include v
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\param v Point to expand to.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE void include(const PxVec3& v);
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/**
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\brief expands the volume to include b.
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\param b Bounds to perform union with.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE void include(const PxBounds3& b);
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PX_CUDA_CALLABLE PX_FORCE_INLINE bool isEmpty() const;
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/**
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\brief indicates whether the intersection of this and b is empty or not.
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\param b Bounds to test for intersection.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE bool intersects(const PxBounds3& b) const;
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/**
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\brief computes the 1D-intersection between two AABBs, on a given axis.
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\param a the other AABB
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\param axis the axis (0, 1, 2)
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE bool intersects1D(const PxBounds3& a, uint32_t axis) const;
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/**
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\brief indicates if these bounds contain v.
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\param v Point to test against bounds.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE bool contains(const PxVec3& v) const;
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/**
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\brief checks a box is inside another box.
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\param box the other AABB
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE bool isInside(const PxBounds3& box) const;
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/**
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\brief returns the center of this axis aligned box.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 getCenter() const;
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/**
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\brief get component of the box's center along a given axis
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE float getCenter(uint32_t axis) const;
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/**
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\brief get component of the box's extents along a given axis
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE float getExtents(uint32_t axis) const;
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/**
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\brief returns the dimensions (width/height/depth) of this axis aligned box.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 getDimensions() const;
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/**
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\brief returns the extents, which are half of the width/height/depth.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 getExtents() const;
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/**
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\brief scales the AABB.
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This version is safe to call for empty bounds.
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\param scale Factor to scale AABB by.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE void scaleSafe(float scale);
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/**
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\brief scales the AABB.
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Calling this method for empty bounds leads to undefined behavior. Use #scaleSafe() instead.
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\param scale Factor to scale AABB by.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE void scaleFast(float scale);
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/**
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fattens the AABB in all 3 dimensions by the given distance.
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This version is safe to call for empty bounds.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE void fattenSafe(float distance);
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/**
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fattens the AABB in all 3 dimensions by the given distance.
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Calling this method for empty bounds leads to undefined behavior. Use #fattenSafe() instead.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE void fattenFast(float distance);
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/**
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checks that the AABB values are not NaN
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE bool isFinite() const;
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/**
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checks that the AABB values describe a valid configuration.
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*/
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PX_CUDA_CALLABLE PX_FORCE_INLINE bool isValid() const;
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PxVec3 minimum, maximum;
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};
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxBounds3::PxBounds3(const PxVec3& minimum_, const PxVec3& maximum_)
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: minimum(minimum_), maximum(maximum_)
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{
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxBounds3 PxBounds3::empty()
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{
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return PxBounds3(PxVec3(PX_MAX_BOUNDS_EXTENTS), PxVec3(-PX_MAX_BOUNDS_EXTENTS));
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE bool PxBounds3::isFinite() const
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{
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return minimum.isFinite() && maximum.isFinite();
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxBounds3 PxBounds3::boundsOfPoints(const PxVec3& v0, const PxVec3& v1)
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{
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return PxBounds3(v0.minimum(v1), v0.maximum(v1));
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxBounds3 PxBounds3::centerExtents(const PxVec3& center, const PxVec3& extent)
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{
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return PxBounds3(center - extent, center + extent);
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}
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PX_CUDA_CALLABLE PX_INLINE PxBounds3
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PxBounds3::basisExtent(const PxVec3& center, const PxMat33& basis, const PxVec3& extent)
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{
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// extended basis vectors
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PxVec3 c0 = basis.column0 * extent.x;
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PxVec3 c1 = basis.column1 * extent.y;
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PxVec3 c2 = basis.column2 * extent.z;
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PxVec3 w;
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// find combination of base vectors that produces max. distance for each component = sum of abs()
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w.x = PxAbs(c0.x) + PxAbs(c1.x) + PxAbs(c2.x);
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w.y = PxAbs(c0.y) + PxAbs(c1.y) + PxAbs(c2.y);
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w.z = PxAbs(c0.z) + PxAbs(c1.z) + PxAbs(c2.z);
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return PxBounds3(center - w, center + w);
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}
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PX_CUDA_CALLABLE PX_INLINE PxBounds3 PxBounds3::poseExtent(const PxTransform& pose, const PxVec3& extent)
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{
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return basisExtent(pose.p, PxMat33(pose.q), extent);
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE void PxBounds3::setEmpty()
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{
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minimum = PxVec3(PX_MAX_BOUNDS_EXTENTS);
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maximum = PxVec3(-PX_MAX_BOUNDS_EXTENTS);
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE void PxBounds3::setMaximal()
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{
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minimum = PxVec3(-PX_MAX_BOUNDS_EXTENTS);
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maximum = PxVec3(PX_MAX_BOUNDS_EXTENTS);
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE void PxBounds3::include(const PxVec3& v)
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{
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PX_SHARED_ASSERT(isValid());
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minimum = minimum.minimum(v);
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maximum = maximum.maximum(v);
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE void PxBounds3::include(const PxBounds3& b)
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{
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PX_SHARED_ASSERT(isValid());
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minimum = minimum.minimum(b.minimum);
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maximum = maximum.maximum(b.maximum);
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE bool PxBounds3::isEmpty() const
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{
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PX_SHARED_ASSERT(isValid());
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return minimum.x > maximum.x;
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE bool PxBounds3::intersects(const PxBounds3& b) const
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{
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PX_SHARED_ASSERT(isValid() && b.isValid());
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return !(b.minimum.x > maximum.x || minimum.x > b.maximum.x || b.minimum.y > maximum.y || minimum.y > b.maximum.y ||
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b.minimum.z > maximum.z || minimum.z > b.maximum.z);
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE bool PxBounds3::intersects1D(const PxBounds3& a, uint32_t axis) const
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{
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PX_SHARED_ASSERT(isValid() && a.isValid());
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return maximum[axis] >= a.minimum[axis] && a.maximum[axis] >= minimum[axis];
|
||
|
|
}
|
||
|
|
|
||
|
|
PX_CUDA_CALLABLE PX_FORCE_INLINE bool PxBounds3::contains(const PxVec3& v) const
|
||
|
|
{
|
||
|
|
PX_SHARED_ASSERT(isValid());
|
||
|
|
|
||
|
|
return !(v.x < minimum.x || v.x > maximum.x || v.y < minimum.y || v.y > maximum.y || v.z < minimum.z ||
|
||
|
|
v.z > maximum.z);
|
||
|
|
}
|
||
|
|
|
||
|
|
PX_CUDA_CALLABLE PX_FORCE_INLINE bool PxBounds3::isInside(const PxBounds3& box) const
|
||
|
|
{
|
||
|
|
PX_SHARED_ASSERT(isValid() && box.isValid());
|
||
|
|
if(box.minimum.x > minimum.x)
|
||
|
|
return false;
|
||
|
|
if(box.minimum.y > minimum.y)
|
||
|
|
return false;
|
||
|
|
if(box.minimum.z > minimum.z)
|
||
|
|
return false;
|
||
|
|
if(box.maximum.x < maximum.x)
|
||
|
|
return false;
|
||
|
|
if(box.maximum.y < maximum.y)
|
||
|
|
return false;
|
||
|
|
if(box.maximum.z < maximum.z)
|
||
|
|
return false;
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 PxBounds3::getCenter() const
|
||
|
|
{
|
||
|
|
PX_SHARED_ASSERT(isValid());
|
||
|
|
return (minimum + maximum) * 0.5f;
|
||
|
|
}
|
||
|
|
|
||
|
|
PX_CUDA_CALLABLE PX_FORCE_INLINE float PxBounds3::getCenter(uint32_t axis) const
|
||
|
|
{
|
||
|
|
PX_SHARED_ASSERT(isValid());
|
||
|
|
return (minimum[axis] + maximum[axis]) * 0.5f;
|
||
|
|
}
|
||
|
|
|
||
|
|
PX_CUDA_CALLABLE PX_FORCE_INLINE float PxBounds3::getExtents(uint32_t axis) const
|
||
|
|
{
|
||
|
|
PX_SHARED_ASSERT(isValid());
|
||
|
|
return (maximum[axis] - minimum[axis]) * 0.5f;
|
||
|
|
}
|
||
|
|
|
||
|
|
PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 PxBounds3::getDimensions() const
|
||
|
|
{
|
||
|
|
PX_SHARED_ASSERT(isValid());
|
||
|
|
return maximum - minimum;
|
||
|
|
}
|
||
|
|
|
||
|
|
PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 PxBounds3::getExtents() const
|
||
|
|
{
|
||
|
|
PX_SHARED_ASSERT(isValid());
|
||
|
|
return getDimensions() * 0.5f;
|
||
|
|
}
|
||
|
|
|
||
|
|
PX_CUDA_CALLABLE PX_FORCE_INLINE void PxBounds3::scaleSafe(float scale)
|
||
|
|
{
|
||
|
|
PX_SHARED_ASSERT(isValid());
|
||
|
|
if(!isEmpty())
|
||
|
|
scaleFast(scale);
|
||
|
|
}
|
||
|
|
|
||
|
|
PX_CUDA_CALLABLE PX_FORCE_INLINE void PxBounds3::scaleFast(float scale)
|
||
|
|
{
|
||
|
|
PX_SHARED_ASSERT(isValid());
|
||
|
|
*this = centerExtents(getCenter(), getExtents() * scale);
|
||
|
|
}
|
||
|
|
|
||
|
|
PX_CUDA_CALLABLE PX_FORCE_INLINE void PxBounds3::fattenSafe(float distance)
|
||
|
|
{
|
||
|
|
PX_SHARED_ASSERT(isValid());
|
||
|
|
if(!isEmpty())
|
||
|
|
fattenFast(distance);
|
||
|
|
}
|
||
|
|
|
||
|
|
PX_CUDA_CALLABLE PX_FORCE_INLINE void PxBounds3::fattenFast(float distance)
|
||
|
|
{
|
||
|
|
PX_SHARED_ASSERT(isValid());
|
||
|
|
minimum.x -= distance;
|
||
|
|
minimum.y -= distance;
|
||
|
|
minimum.z -= distance;
|
||
|
|
|
||
|
|
maximum.x += distance;
|
||
|
|
maximum.y += distance;
|
||
|
|
maximum.z += distance;
|
||
|
|
}
|
||
|
|
|
||
|
|
PX_CUDA_CALLABLE PX_INLINE PxBounds3 PxBounds3::transformSafe(const PxMat33& matrix, const PxBounds3& bounds)
|
||
|
|
{
|
||
|
|
PX_SHARED_ASSERT(bounds.isValid());
|
||
|
|
return !bounds.isEmpty() ? transformFast(matrix, bounds) : bounds;
|
||
|
|
}
|
||
|
|
|
||
|
|
PX_CUDA_CALLABLE PX_INLINE PxBounds3 PxBounds3::transformFast(const PxMat33& matrix, const PxBounds3& bounds)
|
||
|
|
{
|
||
|
|
PX_SHARED_ASSERT(bounds.isValid());
|
||
|
|
return PxBounds3::basisExtent(matrix * bounds.getCenter(), matrix, bounds.getExtents());
|
||
|
|
}
|
||
|
|
|
||
|
|
PX_CUDA_CALLABLE PX_INLINE PxBounds3 PxBounds3::transformSafe(const PxTransform& transform, const PxBounds3& bounds)
|
||
|
|
{
|
||
|
|
PX_SHARED_ASSERT(bounds.isValid());
|
||
|
|
return !bounds.isEmpty() ? transformFast(transform, bounds) : bounds;
|
||
|
|
}
|
||
|
|
|
||
|
|
PX_CUDA_CALLABLE PX_INLINE PxBounds3 PxBounds3::transformFast(const PxTransform& transform, const PxBounds3& bounds)
|
||
|
|
{
|
||
|
|
PX_SHARED_ASSERT(bounds.isValid());
|
||
|
|
return PxBounds3::basisExtent(transform.transform(bounds.getCenter()), PxMat33(transform.q), bounds.getExtents());
|
||
|
|
}
|
||
|
|
|
||
|
|
PX_CUDA_CALLABLE PX_FORCE_INLINE bool PxBounds3::isValid() const
|
||
|
|
{
|
||
|
|
return (isFinite() && (((minimum.x <= maximum.x) && (minimum.y <= maximum.y) && (minimum.z <= maximum.z)) ||
|
||
|
|
((minimum.x == PX_MAX_BOUNDS_EXTENTS) && (minimum.y == PX_MAX_BOUNDS_EXTENTS) &&
|
||
|
|
(minimum.z == PX_MAX_BOUNDS_EXTENTS) && (maximum.x == -PX_MAX_BOUNDS_EXTENTS) &&
|
||
|
|
(maximum.y == -PX_MAX_BOUNDS_EXTENTS) && (maximum.z == -PX_MAX_BOUNDS_EXTENTS))));
|
||
|
|
}
|
||
|
|
|
||
|
|
#if !PX_DOXYGEN
|
||
|
|
} // namespace physx
|
||
|
|
#endif
|
||
|
|
|
||
|
|
/** @} */
|
||
|
|
#endif // #ifndef PXFOUNDATION_PXBOUNDS3_H
|