126 lines
7.6 KiB
C++
126 lines
7.6 KiB
C++
// Filename: physxUtilLib.h
|
|
// Created by: enn0x (01Nov09)
|
|
//
|
|
////////////////////////////////////////////////////////////////////
|
|
//
|
|
// PANDA 3D SOFTWARE
|
|
// Copyright (c) Carnegie Mellon University. All rights reserved.
|
|
//
|
|
// All use of this software is subject to the terms of the revised BSD
|
|
// license. You should have received a copy of this license along
|
|
// with this source code in a file named "LICENSE."
|
|
//
|
|
////////////////////////////////////////////////////////////////////
|
|
|
|
#ifndef PHYSXUTILLIB_H
|
|
#define PHYSXUTILLIB_H
|
|
|
|
#include "pandabase.h"
|
|
#include "luse.h"
|
|
|
|
#include "config_physx.h"
|
|
|
|
class PhysxBounds3;
|
|
class PhysxBox;
|
|
class PhysxCapsule;
|
|
class PhysxPlane;
|
|
class PhysxRay;
|
|
class PhysxSegment;
|
|
class PhysxSphere;
|
|
|
|
////////////////////////////////////////////////////////////////////
|
|
// Class : PhysxUtilLib
|
|
// Description :
|
|
////////////////////////////////////////////////////////////////////
|
|
class EXPCL_PANDAPHYSX PhysxUtilLib {
|
|
|
|
PUBLISHED:
|
|
INLINE PhysxUtilLib();
|
|
INLINE ~PhysxUtilLib();
|
|
|
|
bool box_contains_point(const PhysxBox &box, const LPoint3f &p);
|
|
PhysxBox create_box(const PhysxBounds3 &aabb, const LMatrix4f &mat);
|
|
LVector3f compute_box_world_edge_normal(const PhysxBox &box, unsigned int edge_index);
|
|
PhysxCapsule compute_capsule_around_box(const PhysxBox &box);
|
|
bool is_box_a_inside_box_b(const PhysxBox &a, const PhysxBox &b);
|
|
PhysxBox compute_box_around_capsule(const PhysxCapsule &capsule);
|
|
void set_fpu_exceptions(bool b);
|
|
void set_fpu_precision24();
|
|
void set_fpu_precision53();
|
|
void set_fpu_precision64();
|
|
void set_fpu_rounding_chop();
|
|
void set_fpu_rounding_down();
|
|
void set_fpu_rounding_near();
|
|
void set_fpu_rounding_up();
|
|
int int_ceil(const float &f);
|
|
int int_chop(const float &f);
|
|
int int_floor(const float &f);
|
|
float compute_distance_squared(const PhysxRay &ray, const LPoint3f &point);
|
|
float compute_square_distance(const PhysxSegment &seg, const LPoint3f &point);
|
|
PhysxSphere merge_spheres(const PhysxSphere &sphere0, const PhysxSphere &sphere1);
|
|
void normal_to_tangents(const LVector3f &n, LVector3f &t1, LVector3f &t2);
|
|
LMatrix3f find_rotation_matrix(const LVector3f &x, const LVector3f &b);
|
|
float compute_sphere_mass(float radius, float density);
|
|
float compute_sphere_density(float radius, float mass);
|
|
float compute_box_mass(const LVector3f &extents, float density);
|
|
float compute_box_density(const LVector3f &extents, float mass);
|
|
float compute_ellipsoid_mass(const LVector3f &extents, float density);
|
|
float compute_ellipsoid_density(const LVector3f &extents, float mass);
|
|
float compute_cylinder_mass(float radius, float length, float density);
|
|
float compute_cylinder_density(float radius, float length, float mass);
|
|
float compute_cone_mass(float radius, float length, float density);
|
|
float compute_cone_density(float radius, float length, float mass);
|
|
LVector3f compute_box_inertia_tensor(float mass, float xlength, float ylength, float zlength);
|
|
LVector3f compute_sphere_inertia_tensor(float mass, float radius, bool hollow);
|
|
bool box_box_intersect(const LVector3f &extents0, const LPoint3f ¢er0, const LMatrix3f &rotation0, const LVector3f &extents1, const LPoint3f ¢er1, const LMatrix3f &rotation1, bool full_test);
|
|
bool tri_box_intersect(const LPoint3f &vertex0, const LPoint3f &vertex1, const LPoint3f &vertex2, const LPoint3f ¢er, const LVector3f &extents);
|
|
bool ray_plane_intersect(const PhysxRay &ray, const PhysxPlane &plane, LPoint3f &point_on_plane);
|
|
bool ray_sphere_intersect(const LPoint3f &origin, const LVector3f &dir, float length, const LPoint3f ¢er, float radius, LPoint3f &hit_pos);
|
|
bool segment_box_intersect(const LPoint3f &p1, const LPoint3f &p2, const LPoint3f &bbox_min, const LPoint3f &bbox_max, LPoint3f &intercept);
|
|
bool ray_aabb_intersect(const LPoint3f &min, const LPoint3f &max, const LPoint3f &origin, const LVector3f &dir, LPoint3f &coord);
|
|
bool segment_obb_intersect(const LPoint3f &p0, const LPoint3f &p1, const LPoint3f ¢er, const LVector3f &extents, const LMatrix3f &rot);
|
|
bool segment_aabb_intersect(const LPoint3f &p0, const LPoint3f &p1, const LPoint3f &min, const LPoint3f &max);
|
|
bool ray_obb_intersect(const PhysxRay &ray, const LPoint3f ¢er, const LVector3f &extents, const LMatrix3f &rot);
|
|
unsigned int ray_capsule_intersect(const LPoint3f &origin, const LVector3f &dir, const PhysxCapsule &capsule);
|
|
bool swept_spheres_intersect(const PhysxSphere &sphere0, const LVector3f &velocity0, const PhysxSphere &sphere1, const LVector3f &velocity1);
|
|
bool ray_tri_intersect(const LPoint3f &orig, const LVector3f &dir, const LPoint3f &vert0, const LPoint3f &vert1, const LPoint3f &vert2, LVector3f &hit, bool cull);
|
|
bool sweep_box_capsule(const PhysxBox &box, const PhysxCapsule &lss, const LVector3f &dir, float length, LVector3f &normal);
|
|
bool sweep_box_sphere(const PhysxBox &box, const PhysxSphere &sphere, const LVector3f &dir, float length, LVector3f &normal);
|
|
bool sweep_capsule_capsule(const PhysxCapsule &lss0, const PhysxCapsule &lss1, const LVector3f &dir, float length, LPoint3f &ip, LVector3f &normal);
|
|
bool sweep_sphere_capsule(const PhysxSphere &sphere, const PhysxCapsule &lss, const LVector3f &dir, float length, LPoint3f &ip, LVector3f &normal);
|
|
bool sweep_box_box(const PhysxBox &box0, const PhysxBox &box1, const LVector3f &dir, float length, LPoint3f &ip, LVector3f &normal);
|
|
float point_obb_sqr_dist(const LPoint3f &point, const LPoint3f ¢er, const LVector3f &extents, const LMatrix3f &rot, LPoint3f ¶ms);
|
|
|
|
public:
|
|
NxUtilLib *_ptr;
|
|
};
|
|
|
|
#include "physxUtilLib.I"
|
|
|
|
#endif // PHYSUTILLIB_H
|
|
|
|
/*
|
|
NOT WRAPPED:
|
|
bool NxComputeBoxPlanes(const NxBox &box, NxPlane *planes)
|
|
bool NxComputeBoxPoints(const NxBox &box, NxVec3 *pts)
|
|
bool NxComputeBoxVertexNormals(const NxBox &box, NxVec3 *pts)
|
|
const NxU32 *NxGetBoxEdges()
|
|
const NxI32 *NxGetBoxEdgesAxes()
|
|
const NxU32 *NxGetBoxTriangles()
|
|
const NxVec3 *NxGetBoxLocalEdgeNormals()
|
|
const NxU32 *NxGetBoxQuads()
|
|
const NxU32 *NxBoxVertexToQuad(NxU32 vertexIndex)
|
|
NxBSphereMethod NxComputeSphere(NxSphere &sphere, unsigned nb_verts, const NxVec3 *verts)
|
|
bool NxFastComputeSphere(NxSphere &sphere, unsigned nb_verts, const NxVec3 *verts)
|
|
bool NxDiagonalizeInertiaTensor(const NxMat33 &denseInertia, NxVec3 &diagonalInertia, NxMat33 &rotation)
|
|
void NxComputeBounds(NxVec3 &min, NxVec3 &max, NxU32 nbVerts, const NxVec3 *verts)
|
|
NxU32 NxCrc32(const void *buffer, NxU32 nbBytes)
|
|
NxSepAxis NxSeparatingAxis(const NxVec3 &extents0, const NxVec3 ¢er0, const NxMat33 &rotation0, const NxVec3 &extents1, const NxVec3 ¢er1, const NxMat33 &rotation1, bool fullTest=true)
|
|
void NxSegmentPlaneIntersect(const NxVec3 &v1, const NxVec3 &v2, const NxPlane &plane, NxReal &dist, NxVec3 &pointOnPlane)
|
|
NxU32 NxRayAABBIntersect2(const NxVec3 &min, const NxVec3 &max, const NxVec3 &origin, const NxVec3 &dir, NxVec3 &coord, NxReal &t)
|
|
bool NxBuildSmoothNormals(NxU32 nbTris, NxU32 nbVerts, const NxVec3 *verts, const NxU32 *dFaces, const NxU16 *wFaces, NxVec3 *normals, bool flip=false)
|
|
bool NxSweepBoxTriangles(NxU32 nb_tris, const NxTriangle *triangles, const NxTriangle *edge_triangles, const NxU32 *edge_flags, const NxBounds3 &box, const NxVec3 &dir, float length, NxVec3 &hit, NxVec3 &normal, float &d, NxU32 &index, NxU32 *cachedIndex=NULL)
|
|
bool NxSweepCapsuleTriangles(NxU32 up_direction, NxU32 nb_tris, const NxTriangle *triangles, const NxU32 *edge_flags, const NxVec3 ¢er, const float radius, const float height, const NxVec3 &dir, float length, NxVec3 &hit, NxVec3 &normal, float &d, NxU32 &index, NxU32 *cachedIndex=NULL)
|
|
float NxSegmentOBBSqrDist(const NxSegment &segment, const NxVec3 &c0, const NxVec3 &e0, const NxMat33 &r0, float *t, NxVec3 *p)
|
|
*/
|