GuBox.h

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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
#ifndef GU_BOX_H
#define GU_BOX_H
 
#include "foundation/PxTransform.h"
#include "foundation/PxMat33.h"
#include "common/PxPhysXCommonConfig.h"
 
namespace physx
{
namespace Gu
{
    class Capsule;
 
    PX_PHYSX_COMMON_API void computeOBBPoints(PxVec3* PX_RESTRICT pts, const PxVec3& center, const PxVec3& extents, const PxVec3& base0, const PxVec3& base1, const PxVec3& base2);
 
 
#if PX_VC 
    #pragma warning(push)
    #pragma warning( disable : 4251 ) // class needs to have dll-interface to be used by clients of class
#endif
    class PX_PHYSX_COMMON_API Box
    {
    public:
        PX_FORCE_INLINE Box()
        {
        }
 
        PX_FORCE_INLINE Box(const PxVec3& origin, const PxVec3& extent, const PxMat33& base) : rot(base), center(origin), extents(extent)
        {}
 
        PX_FORCE_INLINE Box(const Box& other) : rot(other.rot), center(other.center), extents(other.extents)
        {}
 
        PX_FORCE_INLINE ~Box()
        {
        }
 
        PX_FORCE_INLINE const Box& operator=(const Box& other)
        {
            rot     = other.rot;
            center  = other.center;
            extents = other.extents;
            return *this;
        }
 
        PX_INLINE void setEmpty()
        {
            center = PxVec3(0);
            extents = PxVec3(-PX_MAX_REAL, -PX_MAX_REAL, -PX_MAX_REAL);
            rot = PxMat33(PxIdentity);
        }
 
        PX_INLINE bool isValid() const
        {
            // Consistency condition for (Center, Extents) boxes: Extents >= 0.0f
            if(extents.x < 0.0f)    return false;
            if(extents.y < 0.0f)    return false;
            if(extents.z < 0.0f)    return false;
            return true;
        }
 
        PX_FORCE_INLINE void    setAxes(const PxVec3& axis0, const PxVec3& axis1, const PxVec3& axis2)
        {
            rot.column0 = axis0;
            rot.column1 = axis1;
            rot.column2 = axis2;
        }
 
        PX_FORCE_INLINE PxVec3  rotate(const PxVec3& src)   const
        {
            return rot * src;
        }
 
        PX_FORCE_INLINE PxVec3  rotateInv(const PxVec3& src)    const
        {
            return rot.transformTranspose(src);
        }
 
        PX_FORCE_INLINE PxVec3  transform(const PxVec3& src)    const
        {
            return rot * src + center;
        }
 
        PX_FORCE_INLINE PxTransform getTransform()  const
        {
            return PxTransform(center, PxQuat(rot));
        }
 
        PX_INLINE PxVec3 computeAABBExtent() const
        {
            const PxReal a00 = PxAbs(rot[0][0]);
            const PxReal a01 = PxAbs(rot[0][1]);
            const PxReal a02 = PxAbs(rot[0][2]);
 
            const PxReal a10 = PxAbs(rot[1][0]);
            const PxReal a11 = PxAbs(rot[1][1]);
            const PxReal a12 = PxAbs(rot[1][2]);
 
            const PxReal a20 = PxAbs(rot[2][0]);
            const PxReal a21 = PxAbs(rot[2][1]);
            const PxReal a22 = PxAbs(rot[2][2]);
 
            const PxReal ex = extents.x;
            const PxReal ey = extents.y;
            const PxReal ez = extents.z;
 
            return PxVec3(  a00 * ex + a10 * ey + a20 * ez,
                            a01 * ex + a11 * ey + a21 * ez,
                            a02 * ex + a12 * ey + a22 * ez);
        }
 
        PX_FORCE_INLINE void computeBoxPoints(PxVec3* PX_RESTRICT pts) const
        {
            Gu::computeOBBPoints(pts, center, extents, rot.column0, rot.column1, rot.column2);
        }
 
        void create(const Gu::Capsule& capsule);
 
        PxMat33 rot;
        PxVec3  center;
        PxVec3  extents;
    };
    PX_COMPILE_TIME_ASSERT(sizeof(Gu::Box) == 60);
 
    class BoxPadded : public Box
    {
    public:
        PX_FORCE_INLINE BoxPadded()     {}
        PX_FORCE_INLINE ~BoxPadded()    {}
        PxU32   padding;
    };
    PX_COMPILE_TIME_ASSERT(sizeof(Gu::BoxPadded) == 64);
 
#if PX_VC 
     #pragma warning(pop) 
#endif
 
}
 
}
 
#endif