GuBoxConversion.h

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#ifndef GU_BOX_CONVERSION_H
#define GU_BOX_CONVERSION_H
 
#include "GuBox.h"
#include "foundation/PxMathUtils.h"
#include "foundation/PxMat34.h"
#include "foundation/PxVecMath.h"
 
namespace physx
{
    // PT: builds rot from quat. WARNING: writes 4 bytes after 'dst.rot'.
    PX_FORCE_INLINE void buildFrom(Gu::Box& dst, const PxQuat& q)
    {
        using namespace aos;
        const QuatV qV = V4LoadU(&q.x);
        Vec3V column0, column1, column2;
        QuatGetMat33V(qV, column0, column1, column2);
        // PT: TODO: investigate if these overlapping stores are a problem
        V4StoreU(Vec4V_From_Vec3V(column0), &dst.rot.column0.x);
        V4StoreU(Vec4V_From_Vec3V(column1), &dst.rot.column1.x);
        V4StoreU(Vec4V_From_Vec3V(column2), &dst.rot.column2.x);
    }
 
    PX_FORCE_INLINE void buildFrom(Gu::Box& dst, const PxVec3& center, const PxVec3& extents, const PxQuat& q)
    {
        using namespace aos;
        // PT: writes 4 bytes after 'rot' but it's safe since we then write 'center' just afterwards
        buildFrom(dst, q);
        dst.center  = center;
        dst.extents = extents;
    }
 
    PX_FORCE_INLINE void buildMatrixFromBox(PxMat34& mat34, const Gu::Box& box)
    {
        mat34.m = box.rot;
        mat34.p = box.center;
    }
 
    // SD: function is now the same as FastVertex2ShapeScaling::transformQueryBounds
    // PT: lots of LHS in that one. TODO: revisit...
    PX_INLINE Gu::Box transform(const PxMat34& transfo, const Gu::Box& box)
    {
        Gu::Box ret;
        PxMat33& obbBasis = ret.rot;
 
        obbBasis.column0 = transfo.rotate(box.rot.column0 * box.extents.x);
        obbBasis.column1 = transfo.rotate(box.rot.column1 * box.extents.y);
        obbBasis.column2 = transfo.rotate(box.rot.column2 * box.extents.z);
 
        ret.center = transfo.transform(box.center);
        ret.extents = PxOptimizeBoundingBox(obbBasis);
        return ret;
    }
 
    PX_INLINE Gu::Box transformBoxOrthonormal(const Gu::Box& box, const PxTransform& t)
    {
        Gu::Box ret;
        PxMat33& obbBasis = ret.rot;
        obbBasis.column0 = t.rotate(box.rot.column0);
        obbBasis.column1 = t.rotate(box.rot.column1);
        obbBasis.column2 = t.rotate(box.rot.column2);
        ret.center = t.transform(box.center);
        ret.extents = box.extents;
        return ret;
    }
 
    PX_INLINE   void rotate(const Gu::Box& src, const PxMat34& mtx, Gu::Box& obb)
    {
        // The extents remain constant
        obb.extents = src.extents;
        // The center gets x-formed
        obb.center = mtx.transform(src.center);
        // Combine rotations
        obb.rot = mtx.m * src.rot;
    }
 
// PT: TODO: move this to a better place
    PX_FORCE_INLINE void getInverse(PxMat33& dstRot, PxVec3& dstTrans, const PxMat33& srcRot, const PxVec3& srcTrans)
    {
        const PxMat33 invRot = srcRot.getInverse();
        dstTrans = invRot.transform(-srcTrans);
        dstRot = invRot;
    }
 
}
 
#endif