91 lines
3.0 KiB
C++
91 lines
3.0 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_DISTANCE_POINT_SEGMENT_H
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#define GU_DISTANCE_POINT_SEGMENT_H
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#include "common/PxPhysXCommonConfig.h"
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#include "GuSegment.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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// dir = p1 - p0
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PX_FORCE_INLINE PxReal distancePointSegmentSquaredInternal(const PxVec3& p0, const PxVec3& dir, const PxVec3& point, PxReal* param=NULL)
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{
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PxVec3 diff = point - p0;
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PxReal fT = diff.dot(dir);
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if(fT<=0.0f)
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{
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fT = 0.0f;
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}
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else
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{
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const PxReal sqrLen = dir.magnitudeSquared();
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if(fT>=sqrLen)
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{
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fT = 1.0f;
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diff -= dir;
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}
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else
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{
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fT /= sqrLen;
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diff -= fT*dir;
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}
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}
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if(param)
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*param = fT;
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return diff.magnitudeSquared();
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}
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/**
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A segment is defined by S(t) = mP0 * (1 - t) + mP1 * t, with 0 <= t <= 1
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Alternatively, a segment is S(t) = Origin + t * Direction for 0 <= t <= 1.
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Direction is not necessarily unit length. The end points are Origin = mP0 and Origin + Direction = mP1.
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*/
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PX_FORCE_INLINE PxReal distancePointSegmentSquared(const PxVec3& p0, const PxVec3& p1, const PxVec3& point, PxReal* param=NULL)
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{
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return distancePointSegmentSquaredInternal(p0, p1 - p0, point, param);
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}
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PX_INLINE PxReal distancePointSegmentSquared(const Gu::Segment& segment, const PxVec3& point, PxReal* param=NULL)
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{
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return distancePointSegmentSquared(segment.p0, segment.p1, point, param);
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}
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} // namespace Gu
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}
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#endif
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