GuPCMContactGenUtil.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_PCM_CONTACT_GEN_UTIL_H
#define GU_PCM_CONTACT_GEN_UTIL_H
 
#include "foundation/PxVecMath.h"
#include "GuShapeConvex.h"
#include "GuVecCapsule.h"
#include "GuConvexSupportTable.h"
 
//The smallest epsilon we will permit (scaled by PxTolerancesScale.length)
#define PCM_WITNESS_POINT_LOWER_EPS     1e-2f
//The largest epsilon we will permit (scaled by PxTolerancesScale.length)
#define PCM_WITNESS_POINT_UPPER_EPS     5e-2f
 
namespace physx
{
namespace Gu
{
    enum FeatureStatus
    {
        POLYDATA0,
        POLYDATA1,
        EDGE
    };
 
    bool contains(aos::Vec3V* verts, const PxU32 numVerts, const aos::Vec3VArg p, const aos::Vec3VArg min, const aos::Vec3VArg max);
 
    PX_FORCE_INLINE aos::FloatV signed2DTriArea(const aos::Vec3VArg a, const aos::Vec3VArg b, const aos::Vec3VArg c)
    {
        using namespace aos;
        const Vec3V ca = V3Sub(a, c);
        const Vec3V cb = V3Sub(b, c);
 
        const FloatV t0 = FMul(V3GetX(ca), V3GetY(cb));
        const FloatV t1 = FMul(V3GetY(ca), V3GetX(cb));
 
        return FSub(t0, t1);
    }
 
    PxI32 getPolygonIndex(const Gu::PolygonalData& polyData, SupportLocal* map, const aos::Vec3VArg normal, PxI32& polyIndex2);
 
    PX_FORCE_INLINE PxI32 getPolygonIndex(const Gu::PolygonalData& polyData, SupportLocal* map, const aos::Vec3VArg normal)
    {
        using namespace aos;
 
        PxI32 index2;
        return getPolygonIndex(polyData, map, normal, index2);
    }
 
    PxU32 getWitnessPolygonIndex(   const Gu::PolygonalData& polyData, SupportLocal* map, const aos::Vec3VArg normal,
                                    const aos::Vec3VArg closest, const PxReal tolerance);
 
}//Gu
}//physx
 
#endif