152 lines
6.6 KiB
C++
152 lines
6.6 KiB
C++
//
|
|
// Redistribution and use in source and binary forms, with or without
|
|
// modification, are permitted provided that the following conditions
|
|
// are met:
|
|
// * Redistributions of source code must retain the above copyright
|
|
// notice, this list of conditions and the following disclaimer.
|
|
// * Redistributions in binary form must reproduce the above copyright
|
|
// notice, this list of conditions and the following disclaimer in the
|
|
// documentation and/or other materials provided with the distribution.
|
|
// * Neither the name of NVIDIA CORPORATION nor the names of its
|
|
// contributors may be used to endorse or promote products derived
|
|
// from this software without specific prior written permission.
|
|
//
|
|
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
|
|
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
|
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
|
|
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
|
|
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
|
|
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
|
|
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
|
|
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
|
|
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
|
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
|
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
|
//
|
|
// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
|
|
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
|
|
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
|
|
|
|
#ifndef GU_GEOM_UTILS_INTERNAL_H
|
|
#define GU_GEOM_UTILS_INTERNAL_H
|
|
|
|
#include "geometry/PxCapsuleGeometry.h"
|
|
#include "geometry/PxBoxGeometry.h"
|
|
#include "CmPhysXCommon.h"
|
|
#include "GuCapsule.h"
|
|
#include "PsMathUtils.h"
|
|
#include "PsUtilities.h"
|
|
|
|
#define GU_EPSILON_SAME_DISTANCE 1e-3f
|
|
|
|
namespace physx
|
|
{
|
|
namespace Gu
|
|
{
|
|
class Box;
|
|
|
|
// PT: TODO: now that the Gu files are not exposed to users anymore, we should move back capsule-related functions
|
|
// to GuCapsule.h, etc
|
|
|
|
PX_PHYSX_COMMON_API const PxU8* getBoxEdges();
|
|
|
|
PX_PHYSX_COMMON_API void computeBoxPoints(const PxBounds3& bounds, PxVec3* PX_RESTRICT pts);
|
|
PX_PHYSX_COMMON_API void computeBoundsAroundVertices(PxBounds3& bounds, PxU32 nbVerts, const PxVec3* PX_RESTRICT verts);
|
|
|
|
void computeBoxAroundCapsule(const Capsule& capsule, Box& box);
|
|
|
|
PxPlane getPlane(const PxTransform& pose);
|
|
|
|
PX_FORCE_INLINE PxVec3 getCapsuleHalfHeightVector(const PxTransform& transform, const PxCapsuleGeometry& capsuleGeom)
|
|
{
|
|
return transform.q.getBasisVector0() * capsuleGeom.halfHeight;
|
|
}
|
|
|
|
PX_FORCE_INLINE void getCapsuleSegment(const PxTransform& transform, const PxCapsuleGeometry& capsuleGeom, Gu::Segment& segment)
|
|
{
|
|
const PxVec3 tmp = getCapsuleHalfHeightVector(transform, capsuleGeom);
|
|
segment.p0 = transform.p + tmp;
|
|
segment.p1 = transform.p - tmp;
|
|
}
|
|
|
|
PX_FORCE_INLINE void getCapsule(Gu::Capsule& capsule, const PxCapsuleGeometry& capsuleGeom, const PxTransform& pose)
|
|
{
|
|
getCapsuleSegment(pose, capsuleGeom, capsule);
|
|
capsule.radius = capsuleGeom.radius;
|
|
}
|
|
|
|
void computeSweptBox(Gu::Box& box, const PxVec3& extents, const PxVec3& center, const PxMat33& rot, const PxVec3& unitDir, const PxReal distance);
|
|
|
|
/**
|
|
* PT: computes "alignment value" used to select the "best" triangle in case of identical impact distances (for sweeps).
|
|
* This simply computes how much a triangle is aligned with a given sweep direction.
|
|
* Captured in a function to make sure it is always computed correctly, i.e. working for double-sided triangles.
|
|
*
|
|
* \param triNormal [in] triangle's normal
|
|
* \param unitDir [in] sweep direction (normalized)
|
|
* \return alignment value in [-1.0f, 0.0f]. -1.0f for fully aligned, 0.0f for fully orthogonal.
|
|
*/
|
|
PX_FORCE_INLINE PxReal computeAlignmentValue(const PxVec3& triNormal, const PxVec3& unitDir)
|
|
{
|
|
// PT: initial dot product gives the angle between the two, with "best" triangles getting a +1 or -1 score
|
|
// depending on their winding. We take the absolute value to ignore the impact of winding. We negate the result
|
|
// to make the function compatible with the initial code, which assumed single-sided triangles and expected -1
|
|
// for best triangles.
|
|
return -PxAbs(triNormal.dot(unitDir));
|
|
}
|
|
|
|
/**
|
|
* PT: sweeps: determines if a newly touched triangle is "better" than best one so far.
|
|
* In this context "better" means either clearly smaller impact distance, or a similar impact
|
|
* distance but a normal more aligned with the sweep direction.
|
|
*
|
|
* \param triImpactDistance [in] new triangle's impact distance
|
|
* \param triAlignmentValue [in] new triangle's alignment value (as computed by computeAlignmentValue)
|
|
* \param bestImpactDistance [in] current best triangle's impact distance
|
|
* \param bestAlignmentValue [in] current best triangle's alignment value (as computed by computeAlignmentValue)
|
|
* \param maxDistance [in] maximum distance of the query, hit cannot be longer than this maxDistance
|
|
* \param distEpsilon [in] tris have "similar" impact distances if the difference is smaller than 2*distEpsilon
|
|
* \return true if new triangle is better
|
|
*/
|
|
PX_FORCE_INLINE bool keepTriangle( float triImpactDistance, float triAlignmentValue,
|
|
float bestImpactDistance, float bestAlignmentValue, float maxDistance,
|
|
float distEpsilon)
|
|
{
|
|
// Reject triangle if further than the maxDistance
|
|
if(triImpactDistance > maxDistance)
|
|
return false;
|
|
|
|
// PT: make it a relative epsilon to make sure it still works with large distances
|
|
distEpsilon *= PxMax(1.0f, PxMax(triImpactDistance, bestImpactDistance));
|
|
|
|
// If new distance is more than epsilon closer than old distance
|
|
if(triImpactDistance < bestImpactDistance - distEpsilon)
|
|
return true;
|
|
|
|
// If new distance is no more than epsilon farther than oldDistance and "face is more opposing than previous"
|
|
if(triImpactDistance < bestImpactDistance+distEpsilon && triAlignmentValue < bestAlignmentValue)
|
|
return true;
|
|
|
|
// If alignment value is the same, but the new triangle is closer than the best distance
|
|
if(triAlignmentValue == bestAlignmentValue && triImpactDistance < bestImpactDistance)
|
|
return true;
|
|
|
|
// If initial overlap happens, keep the triangle
|
|
if(triImpactDistance == 0.0f)
|
|
return true;
|
|
|
|
return false;
|
|
}
|
|
|
|
#define StoreBounds(bounds, minV, maxV) \
|
|
V4StoreU(minV, &bounds.minimum.x); \
|
|
PX_ALIGN(16, PxVec4) max4; \
|
|
V4StoreA(maxV, &max4.x); \
|
|
bounds.maximum = PxVec3(max4.x, max4.y, max4.z);
|
|
|
|
} // namespace Gu
|
|
|
|
}
|
|
|
|
#endif
|