GuIntersectionRayBox.h

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#ifndef GU_INTERSECTION_RAY_BOX_H
#define GU_INTERSECTION_RAY_BOX_H
 
#include "foundation/PxMathIntrinsics.h"
#include "common/PxPhysXCommonConfig.h"
 
namespace physx
{
namespace Gu
{
 
    bool    rayAABBIntersect(const PxVec3& minimum, const PxVec3& maximum, const PxVec3& origin, const PxVec3& _dir, PxVec3& coord);
    PxU32   rayAABBIntersect2(const PxVec3& minimum, const PxVec3& maximum, const PxVec3& origin, const PxVec3& _dir, PxVec3& coord, PxReal & t);
 
    // Collide ray defined by ray origin (rayOrigin) and ray direction (rayDirection)
    // with the bounding box. Returns -1 on no collision and the face index
    // for first intersection if a collision is found together with
    // the distance to the collision points (tnear and tfar)
    //
    // ptchernev:
    // Even though the above is the original comment by Pierre I am quite confident 
    // that the tnear and tfar parameters are parameters along rayDirection of the
    // intersection points:
    //
    // ip0 = rayOrigin + (rayDirection * tnear)
    // ip1 = rayOrigin + (rayDirection * tfar)
    //
    // The return code is:
    // -1 no intersection
    //  0 the ray first hits the plane at aabbMin.x
    //  1 the ray first hits the plane at aabbMin.y
    //  2 the ray first hits the plane at aabbMin.z
    //  3 the ray first hits the plane at aabbMax.x
    //  4 the ray first hits the plane at aabbMax.y
    //  5 the ray first hits the plane at aabbMax.z
    //
    // The return code will be -1 if the RAY does not intersect the AABB.
    // The tnear and tfar values will give the parameters of the intersection 
    // points between the INFINITE LINE and the AABB.
    int PX_PHYSX_COMMON_API intersectRayAABB(   const PxVec3& minimum, const PxVec3& maximum,
                                                const PxVec3& rayOrigin, const PxVec3& rayDirection,
                                                float& tnear, float& tfar);
 
    // Faster version when one-over-dir is available
    int intersectRayAABB(   const PxVec3& minimum, const PxVec3& maximum,
                            const PxVec3& rayOrigin, const PxVec3& rayDirection, const PxVec3& invDirection,
                            float& tnear, float& tfar);
 
    // minimum extent length required for intersectRayAABB2 to return true for a zero-extent box
    // this can happen when inflating the raycast by a 2-d square
    #define GU_MIN_AABB_EXTENT 1e-3f
 
    // a much faster version that doesn't return face codes
    bool PX_PHYSX_COMMON_API intersectRayAABB2(
        const PxVec3& minimum, const PxVec3& maximum, const PxVec3& ro, const PxVec3& rd, float maxDist, float& tnear, float& tfar);
 
} // namespace Gu
 
}
 
#endif