GuVecTriangle.h

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#ifndef GU_VEC_TRIANGLE_H
#define GU_VEC_TRIANGLE_H
#include "GuVecConvex.h"
#include "GuConvexSupportTable.h"
#include "GuDistancePointTriangleSIMD.h"
 
namespace physx
{
namespace Gu
{
 
    
    class TriangleV : public ConvexV
    {
        public:
        PX_FORCE_INLINE         TriangleV() : ConvexV(ConvexType::eTRIANGLE)
        {
            margin = 0.02f;
            minMargin = PX_MAX_REAL;
            sweepMargin = PX_MAX_REAL;
        }
        PX_FORCE_INLINE TriangleV(const aos::Vec3VArg p0, const aos::Vec3VArg p1, const aos::Vec3VArg p2): ConvexV(ConvexType::eTRIANGLE)                                   
        {
            using namespace aos;
            //const FloatV zero = FZero();
            const FloatV num = FLoad(0.333333f);
            center = V3Scale(V3Add(V3Add(p0, p1), p2), num);
            verts[0] = p0;
            verts[1] = p1;
            verts[2] = p2;
            margin = 0.f;
            minMargin = PX_MAX_REAL;
            sweepMargin = PX_MAX_REAL;
        }
 
        PX_FORCE_INLINE TriangleV(const PxVec3* pts) : ConvexV(ConvexType::eTRIANGLE)
        {
            using namespace aos;
            const Vec3V p0 = V3LoadU(pts[0]);
            const Vec3V p1 = V3LoadU(pts[1]);
            const Vec3V p2 = V3LoadU(pts[2]);
            const FloatV num = FLoad(0.333333f);
            center = V3Scale(V3Add(V3Add(p0, p1), p2), num);
            verts[0] = p0;
            verts[1] = p1;
            verts[2] = p2;
            margin = 0.f;
            minMargin = PX_MAX_REAL;
            sweepMargin = PX_MAX_REAL;
        }
 
        PX_FORCE_INLINE         TriangleV(const Gu::TriangleV& triangle) : ConvexV(ConvexType::eTRIANGLE)
        {
            using namespace aos;
            verts[0] = triangle.verts[0];
            verts[1] = triangle.verts[1];
            verts[2] = triangle.verts[2];
 
            center = triangle.center;
            margin = 0.f;
            minMargin = PX_MAX_REAL;
            sweepMargin = PX_MAX_REAL;
        }
        PX_FORCE_INLINE         ~TriangleV()
        {
        }
 
        PX_FORCE_INLINE void populateVerts(const PxU8* inds, PxU32 numInds, const PxVec3* originalVerts, aos::Vec3V* vertexs)const
        {
            using namespace aos;
 
            for(PxU32 i=0; i<numInds; ++i)
            {
                vertexs[i] = V3LoadU(originalVerts[inds[i]]);
            }
        }
 
        PX_FORCE_INLINE aos::FloatV getSweepMargin() const
        {
            return aos::FMax();
        }
 
        PX_FORCE_INLINE void setCenter(const aos::Vec3VArg _center)
        {
            using namespace aos;
            Vec3V offset = V3Sub(_center, center);
            center = _center;
            verts[0] = V3Add(verts[0], offset);
            verts[1] = V3Add(verts[1], offset);
            verts[2] = V3Add(verts[2], offset);
        }
 
        PX_FORCE_INLINE aos::Vec3V  normal() const  
        {
            using namespace aos;
            const Vec3V ab = V3Sub(verts[1], verts[0]);
            const Vec3V ac = V3Sub(verts[2], verts[0]);
            const Vec3V n = V3Cross(ab, ac);
            return V3Normalize(n);
        }  
 
        PX_FORCE_INLINE void    denormalizedNormal(aos::Vec3V& _normal) const
        {
            using namespace aos;
            const Vec3V ab = V3Sub(verts[1], verts[0]);
            const Vec3V ac = V3Sub(verts[2], verts[0]);
            _normal = V3Cross(ab, ac);
        }
 
        PX_FORCE_INLINE aos::FloatV area() const
        {
            using namespace aos;
            const FloatV half = FLoad(0.5f);
            const Vec3V ba = V3Sub(verts[0], verts[1]);
            const Vec3V ca = V3Sub(verts[0], verts[2]);
            const Vec3V v = V3Cross(ba, ca);
            return FMul(V3Length(v), half);
        }
 
        //dir is in local space, verts in the local space
        PX_FORCE_INLINE aos::Vec3V supportLocal(const aos::Vec3VArg dir) const
        {
            using namespace aos;
            const Vec3V v0 = verts[0];
            const Vec3V v1 = verts[1];
            const Vec3V v2 = verts[2];
            const FloatV d0 = V3Dot(v0, dir);
            const FloatV d1 = V3Dot(v1, dir);
            const FloatV d2 = V3Dot(v2, dir);
 
            const BoolV con0 = BAnd(FIsGrtr(d0, d1), FIsGrtr(d0, d2));
            const BoolV con1 = FIsGrtr(d1, d2);
            return V3Sel(con0, v0, V3Sel(con1, v1, v2));
        }
 
        PX_FORCE_INLINE void supportLocal(const aos::Vec3VArg dir, aos::FloatV& min, aos::FloatV& max) const
        {
            using namespace aos;
            const Vec3V v0 = verts[0];
            const Vec3V v1 = verts[1];
            const Vec3V v2 = verts[2];
            FloatV d0 = V3Dot(v0, dir);
            FloatV d1 = V3Dot(v1, dir);
            FloatV d2 = V3Dot(v2, dir);
 
            max = FMax(d0, FMax(d1, d2));
            min = FMin(d0, FMin(d1, d2));
        }
 
        //dir is in b space
        PX_FORCE_INLINE aos::Vec3V supportRelative(const aos::Vec3VArg dir, const aos::PxMatTransformV& aToB, const aos::PxMatTransformV& aTobT) const
        {
            using namespace aos;
            //verts are in local space
//          const Vec3V _dir = aToB.rotateInv(dir); //transform dir back to a space
            const Vec3V _dir = aTobT.rotate(dir); //transform dir back to a space
            const Vec3V maxPoint = supportLocal(_dir);
            return aToB.transform(maxPoint);//transform maxPoint to the b space
        }
 
        PX_FORCE_INLINE aos::Vec3V supportLocal(const aos::Vec3VArg dir, PxI32& index) const
        {
        
            using namespace aos;
            const VecI32V vZero = VecI32V_Zero();
            const VecI32V vOne = VecI32V_One();
            const VecI32V vTwo = VecI32V_Two();
            const Vec3V v0 = verts[0];
            const Vec3V v1 = verts[1];
            const Vec3V v2 = verts[2];
            const FloatV d0 = V3Dot(v0, dir);
            const FloatV d1 = V3Dot(v1, dir);
            const FloatV d2 = V3Dot(v2, dir);
            const BoolV con0 = BAnd(FIsGrtr(d0, d1), FIsGrtr(d0, d2));
            const BoolV con1 = FIsGrtr(d1, d2);
            const VecI32V vIndex = VecI32V_Sel(con0, vZero, VecI32V_Sel(con1, vOne, vTwo));
            PxI32_From_VecI32V(vIndex, &index);
            return V3Sel(con0, v0, V3Sel(con1, v1, v2));
        }
 
        PX_FORCE_INLINE aos::Vec3V supportRelative( const aos::Vec3VArg dir, const aos::PxMatTransformV& aToB,
                                                        const aos::PxMatTransformV& aTobT, PxI32& index)const
        {
            //don't put margin in the triangle
            using namespace aos;
            //transfer dir into the local space of triangle
//          const Vec3V _dir = aToB.rotateInv(dir);
            const Vec3V _dir = aTobT.rotate(dir);
            return aToB.transform(supportLocal(_dir, index));//transform the support poin to b space
        }
    
        PX_FORCE_INLINE aos::Vec3V supportPoint(const PxI32 index)const
        {
            return verts[index];
        }
 
        aos::Vec3V      verts[3];
    };
}
 
}
 
#endif