GuVecConvex.h

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#ifndef GU_VEC_CONVEX_H
#define GU_VEC_CONVEX_H
 
#include "foundation/PxVecMath.h"
 
#define PX_SUPPORT_INLINE PX_FORCE_INLINE
#define PX_SUPPORT_FORCE_INLINE PX_FORCE_INLINE
 
namespace physx
{
namespace Gu
{
 
    struct ConvexType
    {
        enum Type
        {
            eCONVEXHULL,
            eCONVEXHULLNOSCALE,
            eSPHERE,
            eBOX,
            eCAPSULE,
            eTRIANGLE,
            eTETRAHEDRON,
            eCUSTOM
        };
    };
    
    class ConvexV
    {
    public:
 
        PX_FORCE_INLINE ConvexV(const ConvexType::Type type_) : type(type_), bMarginIsRadius(false)
        {
            margin = 0.f;
            minMargin = 0.f;
            sweepMargin = 0.f;
            center = aos::V3Zero();
        }
 
        PX_FORCE_INLINE ConvexV(const ConvexType::Type type_, const aos::Vec3VArg center_) : type(type_), bMarginIsRadius(false)
        {
            using namespace aos;
            center = center_;
            margin = 0.f;
            minMargin = 0.f;
            sweepMargin = 0.f;
        }
 
        //everytime when someone transform the object, they need to up
        PX_FORCE_INLINE void setCenter(const aos::Vec3VArg _center)
        {
            center = _center;
        }
 
        PX_FORCE_INLINE void setMargin(const aos::FloatVArg margin_)
        {
            aos::FStore(margin_, &margin);
        }
 
        PX_FORCE_INLINE void setMargin(const PxReal margin_)
        {
            margin = margin_;
        }
 
 
        PX_FORCE_INLINE void setMinMargin(const aos::FloatVArg minMargin_)
        {
            aos::FStore(minMargin_, & minMargin);
        }
 
        PX_FORCE_INLINE void setSweepMargin(const aos::FloatVArg sweepMargin_)
        {
            aos::FStore(sweepMargin_, &sweepMargin);
        }
 
        PX_FORCE_INLINE aos::Vec3V getCenter()const 
        {
            return center;
        }
 
        PX_FORCE_INLINE aos::FloatV getMargin() const
        {
            return aos::FLoad(margin);
        }
 
        PX_FORCE_INLINE aos::FloatV getMinMargin() const
        {
            return aos::FLoad(minMargin);
        }
 
        PX_FORCE_INLINE aos::FloatV getSweepMargin() const
        {
            return aos::FLoad(sweepMargin);
        }
 
        PX_FORCE_INLINE ConvexType::Type getType() const
        {
            return type;
        }
 
        PX_FORCE_INLINE aos::BoolV isMarginEqRadius()const
        {
            return aos::BLoad(bMarginIsRadius);
        }
 
        PX_FORCE_INLINE bool getMarginIsRadius() const
        {
            return bMarginIsRadius;
        }
 
        PX_FORCE_INLINE PxReal getMarginF() const
        {
            return margin;
        }
 
 
    protected:
        ~ConvexV(){}
        aos::Vec3V center;
        PxReal margin;              //margin is the amount by which we shrunk the shape for a convex or box. If the shape are sphere/capsule, margin is the radius
        PxReal minMargin;           //minMargin is some percentage of marginBase, which is used to determine the termination condition for gjk
        PxReal sweepMargin;         //sweepMargin minMargin is some percentage of marginBase, which is used to determine the termination condition for gjkRaycast
        ConvexType::Type    type;
        bool bMarginIsRadius;
    };
 
    PX_FORCE_INLINE aos::FloatV getContactEps(const aos::FloatV& _marginA, const aos::FloatV& _marginB)
    {
        using namespace aos;
 
        const FloatV ratio = FLoad(0.25f);
        const FloatV minMargin = FMin(_marginA, _marginB);
        
        return FMul(minMargin, ratio);
    }
 
    PX_FORCE_INLINE aos::FloatV getSweepContactEps(const aos::FloatV& _marginA, const aos::FloatV& _marginB)
    {
        using namespace aos;
 
        const FloatV ratio = FLoad(100.f);
        const FloatV minMargin = FAdd(_marginA, _marginB);
        
        return FMul(minMargin, ratio);
    }
}
 
}
 
#endif