252 lines
8.5 KiB
C
252 lines
8.5 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 GU_INTERSECTION_TRIANGLE_BOX_REF_H
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#define GU_INTERSECTION_TRIANGLE_BOX_REF_H
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#include "CmPhysXCommon.h"
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#include "foundation/PxVec3.h"
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/********************************************************/
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/* AABB-triangle overlap test code */
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/* by Tomas Akenine-M?r */
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/* Function: int triBoxOverlap(float boxcenter[3], */
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/* float boxhalfsize[3],float triverts[3][3]); */
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/* History: */
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/* 2001-03-05: released the code in its first version */
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/* 2001-06-18: changed the order of the tests, faster */
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/* */
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/* Acknowledgement: Many thanks to Pierre Terdiman for */
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/* suggestions and discussions on how to optimize code. */
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/* Thanks to David Hunt for finding a ">="-bug! */
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/********************************************************/
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namespace physx
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{
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#define CROSS(dest,v1,v2) \
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dest.x=v1.y*v2.z-v1.z*v2.y; \
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dest.y=v1.z*v2.x-v1.x*v2.z; \
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dest.z=v1.x*v2.y-v1.y*v2.x;
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#define DOT(v1,v2) (v1.x*v2.x+v1.y*v2.y+v1.z*v2.z)
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#define FINDMINMAX(x0, x1, x2, minimum, maximum) \
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minimum = physx::intrinsics::selectMin(x0, x1); \
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maximum = physx::intrinsics::selectMax(x0, x1); \
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minimum = physx::intrinsics::selectMin(minimum, x2); \
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maximum = physx::intrinsics::selectMax(maximum, x2);
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static PX_CUDA_CALLABLE PX_FORCE_INLINE Ps::IntBool planeBoxOverlap(const PxVec3& normal, PxReal d, const PxVec3& maxbox)
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{
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PxVec3 vmin, vmax;
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if (normal.x>0.0f)
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{
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vmin.x = -maxbox.x;
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vmax.x = maxbox.x;
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}
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else
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{
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vmin.x = maxbox.x;
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vmax.x = -maxbox.x;
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}
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if (normal.y>0.0f)
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{
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vmin.y = -maxbox.y;
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vmax.y = maxbox.y;
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}
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else
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{
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vmin.y = maxbox.y;
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vmax.y = -maxbox.y;
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}
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if (normal.z>0.0f)
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{
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vmin.z = -maxbox.z;
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vmax.z = maxbox.z;
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}
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else
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{
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vmin.z = maxbox.z;
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vmax.z = -maxbox.z;
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}
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if (normal.dot(vmin) + d > 0.0f) return Ps::IntFalse;
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if (normal.dot(vmax) + d >= 0.0f) return Ps::IntTrue;
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return Ps::IntFalse;
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}
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/*======================== X-tests ========================*/
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#define AXISTEST_X01(a, b, fa, fb) \
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p0 = a*v0.y - b*v0.z; \
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p2 = a*v2.y - b*v2.z; \
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minimum = physx::intrinsics::selectMin(p0, p2); \
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maximum = physx::intrinsics::selectMax(p0, p2); \
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rad = fa * extents.y + fb * extents.z; \
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if(minimum>rad || maximum<-rad) return Ps::IntFalse;
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#define AXISTEST_X2(a, b, fa, fb) \
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p0 = a*v0.y - b*v0.z; \
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p1 = a*v1.y - b*v1.z; \
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minimum = physx::intrinsics::selectMin(p0, p1); \
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maximum = physx::intrinsics::selectMax(p0, p1); \
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rad = fa * extents.y + fb * extents.z; \
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if(minimum>rad || maximum<-rad) return Ps::IntFalse;
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/*======================== Y-tests ========================*/
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#define AXISTEST_Y02(a, b, fa, fb) \
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p0 = -a*v0.x + b*v0.z; \
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p2 = -a*v2.x + b*v2.z; \
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minimum = physx::intrinsics::selectMin(p0, p2); \
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maximum = physx::intrinsics::selectMax(p0, p2); \
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rad = fa * extents.x + fb * extents.z; \
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if(minimum>rad || maximum<-rad) return Ps::IntFalse;
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#define AXISTEST_Y1(a, b, fa, fb) \
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p0 = -a*v0.x + b*v0.z; \
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p1 = -a*v1.x + b*v1.z; \
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minimum = physx::intrinsics::selectMin(p0, p1); \
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maximum = physx::intrinsics::selectMax(p0, p1); \
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rad = fa * extents.x + fb * extents.z; \
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if(minimum>rad || maximum<-rad) return Ps::IntFalse;
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/*======================== Z-tests ========================*/
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#define AXISTEST_Z12(a, b, fa, fb) \
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p1 = a*v1.x - b*v1.y; \
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p2 = a*v2.x - b*v2.y; \
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minimum = physx::intrinsics::selectMin(p1, p2); \
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maximum = physx::intrinsics::selectMax(p1, p2); \
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rad = fa * extents.x + fb * extents.y; \
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if(minimum>rad || maximum<-rad) return Ps::IntFalse;
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#define AXISTEST_Z0(a, b, fa, fb) \
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p0 = a*v0.x - b*v0.y; \
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p1 = a*v1.x - b*v1.y; \
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minimum = physx::intrinsics::selectMin(p0, p1); \
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maximum = physx::intrinsics::selectMax(p0, p1); \
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rad = fa * extents.x + fb * extents.y; \
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if(minimum>rad || maximum<-rad) return Ps::IntFalse;
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namespace Gu
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{
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static PX_CUDA_CALLABLE PX_FORCE_INLINE Ps::IntBool intersectTriangleBox_RefImpl(const PxVec3& boxcenter, const PxVec3& extents, const PxVec3& tp0, const PxVec3& tp1, const PxVec3& tp2)
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{
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/* use separating axis theorem to test overlap between triangle and box */
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/* need to test for overlap in these directions: */
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/* 1) the {x,y,z}-directions (actually, since we use the AABB of the triangle */
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/* we do not even need to test these) */
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/* 2) normal of the triangle */
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/* 3) crossproduct(edge from tri, {x,y,z}-directin) */
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/* this gives 3x3=9 more tests */
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// This is the fastest branch on Sun - move everything so that the boxcenter is in (0,0,0)
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const PxVec3 v0 = tp0 - boxcenter;
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const PxVec3 v1 = tp1 - boxcenter;
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const PxVec3 v2 = tp2 - boxcenter;
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// compute triangle edges
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const PxVec3 e0 = v1 - v0; // tri edge 0
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const PxVec3 e1 = v2 - v1; // tri edge 1
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const PxVec3 e2 = v0 - v2; // tri edge 2
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float minimum, maximum, rad, p0, p1, p2;
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// Bullet 3: test the 9 tests first (this was faster)
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float fex = PxAbs(e0.x);
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float fey = PxAbs(e0.y);
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float fez = PxAbs(e0.z);
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AXISTEST_X01(e0.z, e0.y, fez, fey);
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AXISTEST_Y02(e0.z, e0.x, fez, fex);
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AXISTEST_Z12(e0.y, e0.x, fey, fex);
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fex = PxAbs(e1.x);
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fey = PxAbs(e1.y);
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fez = PxAbs(e1.z);
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AXISTEST_X01(e1.z, e1.y, fez, fey);
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AXISTEST_Y02(e1.z, e1.x, fez, fex);
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AXISTEST_Z0(e1.y, e1.x, fey, fex);
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fex = PxAbs(e2.x);
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fey = PxAbs(e2.y);
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fez = PxAbs(e2.z);
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AXISTEST_X2(e2.z, e2.y, fez, fey);
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AXISTEST_Y1(e2.z, e2.x, fez, fex);
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AXISTEST_Z12(e2.y, e2.x, fey, fex);
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// Bullet 1:
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// first test overlap in the {x,y,z}-directions
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// find minimum, maximum of the triangle each direction, and test for overlap in
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// that direction -- this is equivalent to testing a minimal AABB around
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// the triangle against the AABB
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// test in X-direction
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FINDMINMAX(v0.x, v1.x, v2.x, minimum, maximum);
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if (minimum>extents.x || maximum<-extents.x) return Ps::IntFalse;
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// test in Y-direction
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FINDMINMAX(v0.y, v1.y, v2.y, minimum, maximum);
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if (minimum>extents.y || maximum<-extents.y) return Ps::IntFalse;
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// test in Z-direction
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FINDMINMAX(v0.z, v1.z, v2.z, minimum, maximum);
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if (minimum>extents.z || maximum<-extents.z) return Ps::IntFalse;
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// Bullet 2:
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// test if the box intersects the plane of the triangle
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// compute plane equation of triangle: normal*x+d=0
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PxVec3 normal;
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CROSS(normal, e0, e1);
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const float d = -DOT(normal, v0); // plane eq: normal.x+d=0
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if (!planeBoxOverlap(normal, d, extents)) return Ps::IntFalse;
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return Ps::IntTrue; // box and triangle overlaps
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}
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}
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#undef CROSS
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#undef DOT
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#undef FINDMINMAX
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#undef AXISTEST_X01
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#undef AXISTEST_X2
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#undef AXISTEST_Y02
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#undef AXISTEST_Y1
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#undef AXISTEST_Z12
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#undef AXISTEST_Z0
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}
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#endif
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