GuBV4_BoxOverlap_Internal.h

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#ifndef GU_BV4_BOX_OVERLAP_INTERNAL_H
#define GU_BV4_BOX_OVERLAP_INTERNAL_H
 
#include "GuBV4_Common.h"
 
    template<class ParamsT>
    PX_FORCE_INLINE void precomputeData(ParamsT* PX_RESTRICT dst, PxMat33* PX_RESTRICT absRot, const PxMat33* PX_RESTRICT boxToModelR)
    {
        // Precompute absolute box-to-model rotation matrix
        dst->mPreca0_PaddedAligned.x = boxToModelR->column0.x;
        dst->mPreca0_PaddedAligned.y = boxToModelR->column1.y;
        dst->mPreca0_PaddedAligned.z = boxToModelR->column2.z;
 
        dst->mPreca1_PaddedAligned.x = boxToModelR->column0.y;
        dst->mPreca1_PaddedAligned.y = boxToModelR->column1.z;
        dst->mPreca1_PaddedAligned.z = boxToModelR->column2.x;
 
        dst->mPreca2_PaddedAligned.x = boxToModelR->column0.z;
        dst->mPreca2_PaddedAligned.y = boxToModelR->column1.x;
        dst->mPreca2_PaddedAligned.z = boxToModelR->column2.y;
 
        // Epsilon value prevents floating-point inaccuracies (strategy borrowed from RAPID)
        const PxReal epsilon = 1e-6f;
        absRot->column0.x = dst->mPreca0b_PaddedAligned.x = epsilon + fabsf(boxToModelR->column0.x);
        absRot->column0.y = dst->mPreca1b_PaddedAligned.x = epsilon + fabsf(boxToModelR->column0.y);
        absRot->column0.z = dst->mPreca2b_PaddedAligned.x = epsilon + fabsf(boxToModelR->column0.z);
 
        absRot->column1.x = dst->mPreca2b_PaddedAligned.y = epsilon + fabsf(boxToModelR->column1.x);
        absRot->column1.y = dst->mPreca0b_PaddedAligned.y = epsilon + fabsf(boxToModelR->column1.y);
        absRot->column1.z = dst->mPreca1b_PaddedAligned.y = epsilon + fabsf(boxToModelR->column1.z);
 
        absRot->column2.x = dst->mPreca1b_PaddedAligned.z = epsilon + fabsf(boxToModelR->column2.x);
        absRot->column2.y = dst->mPreca2b_PaddedAligned.z = epsilon + fabsf(boxToModelR->column2.y);
        absRot->column2.z = dst->mPreca0b_PaddedAligned.z = epsilon + fabsf(boxToModelR->column2.z);
    }
 
    template<class ParamsT>
    PX_FORCE_INLINE void setupBoxData(ParamsT* PX_RESTRICT dst, const PxVec3& extents, const PxMat33* PX_RESTRICT mAR)
    {
        dst->mBoxExtents_PaddedAligned = extents;
 
        const float Ex = extents.x;
        const float Ey = extents.y;
        const float Ez = extents.z;
        dst->mBB_PaddedAligned.x = Ex*mAR->column0.x + Ey*mAR->column1.x + Ez*mAR->column2.x;
        dst->mBB_PaddedAligned.y = Ex*mAR->column0.y + Ey*mAR->column1.y + Ez*mAR->column2.y;
        dst->mBB_PaddedAligned.z = Ex*mAR->column0.z + Ey*mAR->column1.z + Ez*mAR->column2.z;
    }
 
    struct OBBTestParams    // Data needed to perform the OBB-OBB overlap test
    {
        BV4_ALIGN16(PxVec3p mCenterOrMinCoeff_PaddedAligned);
        BV4_ALIGN16(PxVec3p mExtentsOrMaxCoeff_PaddedAligned);
        BV4_ALIGN16(PxVec3p mTBoxToModel_PaddedAligned);        
        BV4_ALIGN16(PxVec3p mBB_PaddedAligned);
        BV4_ALIGN16(PxVec3p mBoxExtents_PaddedAligned);
 
        BV4_ALIGN16(PxVec3p mPreca0_PaddedAligned);
        BV4_ALIGN16(PxVec3p mPreca1_PaddedAligned);
        BV4_ALIGN16(PxVec3p mPreca2_PaddedAligned);
        BV4_ALIGN16(PxVec3p mPreca0b_PaddedAligned);
        BV4_ALIGN16(PxVec3p mPreca1b_PaddedAligned);
        BV4_ALIGN16(PxVec3p mPreca2b_PaddedAligned);
 
        PX_FORCE_INLINE void    precomputeBoxData(const PxVec3& extents, const PxMat33* PX_RESTRICT box_to_model)
        {
            PxMat33 absRot; 
            precomputeData(this, &absRot, box_to_model);
 
            setupBoxData(this, extents, &absRot);
        }
    };
 
#endif // GU_BV4_BOX_OVERLAP_INTERNAL_H