GuConvexSupportTable.h

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#ifndef GU_CONVEX_SUPPORT_TABLE_H
#define GU_CONVEX_SUPPORT_TABLE_H
 
#include "common/PxPhysXCommonConfig.h"
#include "GuVecConvex.h"
#include "foundation/PxVecTransform.h"
 
namespace physx
{
namespace Gu  
{
 
    class TriangleV; 
    class CapsuleV;
    class BoxV;
    class ConvexHullV;
    class ConvexHullNoScaleV;
 
#if PX_VC 
    #pragma warning(push)   
    #pragma warning( disable : 4324 ) // Padding was added at the end of a structure because of a __declspec(align) value.
#endif
    class SupportLocal
    {
    public:     
        aos::Vec3V shapeSpaceCenterOfMass;
        const aos::PxTransformV& transform;
        const aos::Mat33V& vertex2Shape;
        const aos::Mat33V& shape2Vertex;
        const bool isIdentityScale; 
 
        SupportLocal(const aos::PxTransformV& _transform, const aos::Mat33V& _vertex2Shape, const aos::Mat33V& _shape2Vertex, const bool _isIdentityScale = true): transform(_transform), 
            vertex2Shape(_vertex2Shape), shape2Vertex(_shape2Vertex), isIdentityScale(_isIdentityScale)
        {
        }
 
        PX_FORCE_INLINE void setShapeSpaceCenterofMass(const aos::Vec3VArg _shapeSpaceCenterOfMass)
        {
            shapeSpaceCenterOfMass = _shapeSpaceCenterOfMass;
        }
        virtual ~SupportLocal() {}
        virtual aos::Vec3V doSupport(const aos::Vec3VArg dir) const = 0;
        virtual void doSupport(const aos::Vec3VArg dir, aos::FloatV& min, aos::FloatV& max) const = 0;
        virtual void populateVerts(const PxU8* inds, PxU32 numInds, const PxVec3* originalVerts, aos::Vec3V* verts)const = 0;
    
    protected:
        SupportLocal& operator=(const SupportLocal&);
    };
#if PX_VC 
     #pragma warning(pop) 
#endif
 
    template <typename Convex>
    class SupportLocalImpl : public SupportLocal
    {
        
    public:
        const Convex& conv;
        SupportLocalImpl(const Convex& _conv, const aos::PxTransformV& _transform, const aos::Mat33V& _vertex2Shape, const aos::Mat33V& _shape2Vertex, const bool _isIdentityScale = true) : 
        SupportLocal(_transform, _vertex2Shape, _shape2Vertex, _isIdentityScale), conv(_conv)
        {
        }
 
        aos::Vec3V doSupport(const aos::Vec3VArg dir) const
        {
            //return conv.supportVertsLocal(dir);
            return conv.supportLocal(dir);
        }
 
        void doSupport(const aos::Vec3VArg dir, aos::FloatV& min, aos::FloatV& max) const
        {
            return conv.supportLocal(dir, min, max);
        }
 
        void populateVerts(const PxU8* inds, PxU32 numInds, const PxVec3* originalVerts, aos::Vec3V* verts) const 
        {
            conv.populateVerts(inds, numInds, originalVerts, verts);
        }
 
    protected:
        SupportLocalImpl& operator=(const SupportLocalImpl&);
 
    };
}
 
}
 
#endif