118 lines
4.2 KiB
C++
118 lines
4.2 KiB
C++
//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef GU_CONVEX_SUPPORT_TABLE_H
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#define GU_CONVEX_SUPPORT_TABLE_H
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#include "common/PxPhysXCommonConfig.h"
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#include "GuVecConvex.h"
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#include "PsVecTransform.h"
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namespace physx
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{
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namespace Gu
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{
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class TriangleV;
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class CapsuleV;
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class BoxV;
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class ConvexHullV;
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class ConvexHullNoScaleV;
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#if PX_VC
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#pragma warning(push)
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#pragma warning( disable : 4324 ) // Padding was added at the end of a structure because of a __declspec(align) value.
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#endif
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class SupportLocal
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{
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public:
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Ps::aos::Vec3V shapeSpaceCenterOfMass;
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const Ps::aos::PsTransformV& transform;
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const Ps::aos::Mat33V& vertex2Shape;
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const Ps::aos::Mat33V& shape2Vertex;
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const bool isIdentityScale;
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SupportLocal(const Ps::aos::PsTransformV& _transform, const Ps::aos::Mat33V& _vertex2Shape, const Ps::aos::Mat33V& _shape2Vertex, const bool _isIdentityScale = true): transform(_transform),
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vertex2Shape(_vertex2Shape), shape2Vertex(_shape2Vertex), isIdentityScale(_isIdentityScale)
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{
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}
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PX_FORCE_INLINE void setShapeSpaceCenterofMass(const Ps::aos::Vec3VArg _shapeSpaceCenterOfMass)
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{
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shapeSpaceCenterOfMass = _shapeSpaceCenterOfMass;
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}
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virtual ~SupportLocal() {}
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virtual Ps::aos::Vec3V doSupport(const Ps::aos::Vec3VArg dir) const = 0;
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virtual void doSupport(const Ps::aos::Vec3VArg dir, Ps::aos::FloatV& min, Ps::aos::FloatV& max) const = 0;
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virtual void populateVerts(const PxU8* inds, PxU32 numInds, const PxVec3* originalVerts, Ps::aos::Vec3V* verts)const = 0;
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protected:
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SupportLocal& operator=(const SupportLocal&);
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};
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#if PX_VC
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#pragma warning(pop)
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#endif
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template <typename Convex>
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class SupportLocalImpl : public SupportLocal
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{
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public:
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const Convex& conv;
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SupportLocalImpl(const Convex& _conv, const Ps::aos::PsTransformV& _transform, const Ps::aos::Mat33V& _vertex2Shape, const Ps::aos::Mat33V& _shape2Vertex, const bool _isIdentityScale = true) :
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SupportLocal(_transform, _vertex2Shape, _shape2Vertex, _isIdentityScale), conv(_conv)
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{
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}
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Ps::aos::Vec3V doSupport(const Ps::aos::Vec3VArg dir) const
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{
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//return conv.supportVertsLocal(dir);
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return conv.supportLocal(dir);
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}
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void doSupport(const Ps::aos::Vec3VArg dir, Ps::aos::FloatV& min, Ps::aos::FloatV& max) const
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{
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return conv.supportLocal(dir, min, max);
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}
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void populateVerts(const PxU8* inds, PxU32 numInds, const PxVec3* originalVerts, Ps::aos::Vec3V* verts) const
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{
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conv.populateVerts(inds, numInds, originalVerts, verts);
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}
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protected:
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SupportLocalImpl& operator=(const SupportLocalImpl&);
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};
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}
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}
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#endif
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