GuMTD.h

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#ifndef GU_MTD_H
#define GU_MTD_H
 
#include "foundation/PxVec3.h"
#include "geometry/PxGeometry.h"
 
namespace physx
{
namespace Gu
{
    // PT: we use a define to be able to quickly change the signature of all MTD functions.
    // (this also ensures they all use consistent names for passed parameters).
    // \param[out]  mtd     computed depenetration dir
    // \param[out]  depth   computed depenetration depth
    // \param[in]   geom0   first geometry object
    // \param[in]   pose0   pose of first geometry object
    // \param[in]   geom1   second geometry object
    // \param[in]   pose1   pose of second geometry object
    // \param[in]   cache   optional cached data for triggers
    #define GU_MTD_FUNC_PARAMS  PxVec3& mtd, PxF32& depth,                          \
                                const PxGeometry& geom0, const PxTransform& pose0,  \
                                const PxGeometry& geom1, const PxTransform& pose1
 
    // PT: function pointer for Geom-indexed MTD functions
    // See GU_MTD_FUNC_PARAMS for function parameters details.
    // \return      true if an overlap was found, false otherwise
    // \note        depenetration vector D is equal to mtd * depth. It should be applied to the 1st object, to get out of the 2nd object.
    typedef bool (*GeomMTDFunc) (GU_MTD_FUNC_PARAMS);
 
    PX_FORCE_INLINE PxF32 manualNormalize(PxVec3& mtd, const PxVec3& normal, PxReal lenSq)
    {
        const PxF32 len = PxSqrt(lenSq);
 
        // We do a *manual* normalization to check for singularity condition
        if(lenSq < 1e-6f)
            mtd = PxVec3(1.0f, 0.0f, 0.0f);         // PT: zero normal => pick up random one
        else
            mtd = normal * 1.0f / len;
 
        return len;
    }
}
}
 
#endif