GuVecBox.h

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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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#ifndef GU_VEC_BOX_H
#define GU_VEC_BOX_H
 
#include "foundation/PxTransform.h"
#include "common/PxPhysXCommonConfig.h"
#include "geometry/PxBoxGeometry.h"
#include "foundation/PxVecTransform.h"
#include "GuVecConvex.h"
#include "GuConvexSupportTable.h"
 
namespace physx
{
PX_PHYSX_COMMON_API extern const aos::BoolV boxVertexTable[8];
 
namespace Gu
{
 
#define BOX_MARGIN_RATIO        0.15f
#define BOX_MIN_MARGIN_RATIO    0.05f
#define BOX_SWEEP_MARGIN_RATIO  0.05f
 
#define BOX_MARGIN_CCD_RATIO        0.01f
#define BOX_MIN_MARGIN_CCD_RATIO    0.005f
 
 
    class CapsuleV;
 
 
    PX_FORCE_INLINE void CalculateBoxMargin(const aos::Vec3VArg extent, PxReal& margin, PxReal& minMargin, PxReal& sweepMargin,
        const PxReal marginR = BOX_MARGIN_RATIO, const PxReal minMarginR = BOX_MIN_MARGIN_RATIO)
    {
        using namespace aos;
 
        PxReal minExtent;
        const FloatV min = V3ExtractMin(extent);
        FStore(min, &minExtent);
 
        margin = minExtent * marginR;
        minMargin = minExtent * minMarginR;
        sweepMargin = minExtent * BOX_SWEEP_MARGIN_RATIO;
    }
 
    PX_FORCE_INLINE aos::FloatV CalculateBoxTolerance(const aos::Vec3VArg extent)
    {
        using namespace aos;
        
        const FloatV r0 = FLoad(0.01f);
        const FloatV min = V3ExtractMin(extent);//FMin(V3GetX(extent), FMin(V3GetY(extent), V3GetZ(extent)));
        return FMul(min, r0);
    }
 
    //This method is called in the PCM contact gen for the refreshing contacts 
    PX_FORCE_INLINE aos::FloatV CalculatePCMBoxMargin(const aos::Vec3VArg extent, const PxReal toleranceLength, const PxReal toleranceMarginRatio = BOX_MARGIN_RATIO)
    {
        using namespace aos;
    
        const FloatV min = V3ExtractMin(extent);//FMin(V3GetX(extent), FMin(V3GetY(extent), V3GetZ(extent)));
        const FloatV toleranceMargin = FLoad(toleranceLength * toleranceMarginRatio);
        return FMin(FMul(min, FLoad(BOX_MARGIN_RATIO)), toleranceMargin);
    }
 
    PX_FORCE_INLINE aos::FloatV CalculateMTDBoxMargin(const aos::Vec3VArg extent)
    {
        using namespace aos;
 
        const FloatV min = V3ExtractMin(extent);//FMin(V3GetX(extent), FMin(V3GetY(extent), V3GetZ(extent)));
        return FMul(min, FLoad(BOX_MARGIN_RATIO));
    }
 
    class BoxV : public ConvexV
    {
    public:
 
        PX_INLINE BoxV() : ConvexV(ConvexType::eBOX)
        {
        }
 
        PX_FORCE_INLINE BoxV(const aos::Vec3VArg origin, const aos::Vec3VArg extent) : 
            ConvexV(ConvexType::eBOX, origin), extents(extent)
        {
            CalculateBoxMargin(extent, margin, minMargin, sweepMargin);
        }
        
        //this constructor is used by the CCD system
        PX_FORCE_INLINE BoxV(const PxGeometry& geom) : ConvexV(ConvexType::eBOX, aos::V3Zero())
        {
            using namespace aos;
            const PxBoxGeometry& boxGeom = static_cast<const PxBoxGeometry&>(geom);
            const Vec3V extent = aos::V3LoadU(boxGeom.halfExtents);
            extents = extent;
            CalculateBoxMargin(extent, margin, minMargin, sweepMargin, BOX_MARGIN_CCD_RATIO, BOX_MIN_MARGIN_CCD_RATIO);
        }
 
        PX_INLINE ~BoxV()
        {
        }
 
        PX_FORCE_INLINE void resetMargin(const PxReal toleranceLength)
        {
            minMargin = PxMin(toleranceLength * BOX_MIN_MARGIN_RATIO, minMargin);
        }
 
        PX_FORCE_INLINE const BoxV& operator=(const BoxV& other)
        {
            center  = other.center;
            extents = other.extents;
            margin =  other.margin;
            minMargin = other.minMargin;
            sweepMargin = other.sweepMargin;
            return *this;
        }
 
        PX_FORCE_INLINE void populateVerts(const PxU8* inds, PxU32 numInds, const PxVec3* originalVerts, aos::Vec3V* verts)const
        {
            using namespace aos;
 
            for(PxU32 i=0; i<numInds; ++i)
                verts[i] = V3LoadU_SafeReadW(originalVerts[inds[i]]);   // PT: safe because of the way vertex memory is allocated in ConvexHullData (and 'populateVerts' is always called with polyData.mVerts)
        }
 
        PX_FORCE_INLINE aos::Vec3V supportPoint(const PxI32 index)const
        {
            using namespace aos;
            const BoolV con = boxVertexTable[index];
            return V3Sel(con, extents, V3Neg(extents));
        }  
 
        PX_FORCE_INLINE void getIndex(const aos::BoolV con, PxI32& index)const 
        { 
            using namespace aos;
            index = PxI32(BGetBitMask(con) & 0x7); 
        }
 
        PX_FORCE_INLINE aos::Vec3V supportLocal(const aos::Vec3VArg dir)const  
        {
            using namespace aos;
            return V3Sel(V3IsGrtr(dir,  V3Zero()), extents, V3Neg(extents));
        }
 
        //this is used in the sat test for the full contact gen
        PX_SUPPORT_INLINE void supportLocal(const aos::Vec3VArg dir, aos::FloatV& min, aos::FloatV& max)const
        {
            using namespace aos;
            const Vec3V point = V3Sel(V3IsGrtr(dir,  V3Zero()), extents, V3Neg(extents));
            max = V3Dot(dir, point);
            min = FNeg(max);
        }
 
        PX_SUPPORT_INLINE aos::Vec3V supportRelative(const aos::Vec3VArg dir, const aos::PxMatTransformV& aTob, const aos::PxMatTransformV& aTobT) const  
        {
            //a is the current object, b is the other object, dir is in the local space of b
            using namespace aos;
//          const Vec3V _dir = aTob.rotateInv(dir);//relTra.rotateInv(dir);//from b to a
            const Vec3V _dir = aTobT.rotate(dir);//relTra.rotateInv(dir);//from b to a
            const Vec3V p =  supportLocal(_dir);
            //transfer p into the b space
            return aTob.transform(p);//relTra.transform(p);
        }
 
        PX_SUPPORT_INLINE aos::Vec3V supportLocal(const aos::Vec3VArg dir, PxI32& index)const  
        {
            using namespace aos;
            const BoolV comp = V3IsGrtr(dir, V3Zero());
            getIndex(comp, index);
            return  V3Sel(comp, extents, V3Neg(extents));
        }
 
        PX_SUPPORT_INLINE aos::Vec3V supportRelative(   const aos::Vec3VArg dir, const aos::PxMatTransformV& aTob,
                                                            const aos::PxMatTransformV& aTobT, PxI32& index)const  
        {
            //a is the current object, b is the other object, dir is in the local space of b
            using namespace aos;
//          const Vec3V _dir = aTob.rotateInv(dir);//relTra.rotateInv(dir);//from b to a
            const Vec3V _dir = aTobT.rotate(dir);//relTra.rotateInv(dir);//from b to a
            const Vec3V p = supportLocal(_dir, index);
            //transfer p into the b space
            return aTob.transform(p);//relTra.transform(p);
        }
 
        aos::Vec3V  extents;
    };
}   //PX_COMPILE_TIME_ASSERT(sizeof(Gu::BoxV) == 96);
 
}
 
#endif