Panda3D

physxUtilLib.h
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1 /**
2 * PANDA 3D SOFTWARE
3 * Copyright (c) Carnegie Mellon University. All rights reserved.
4 *
5 * All use of this software is subject to the terms of the revised BSD
6 * license. You should have received a copy of this license along
7 * with this source code in a file named "LICENSE."
8 *
9 * @file physxUtilLib.h
10 * @author enn0x
11 * @date 2009-11-01
12 */
13
14 #ifndef PHYSXUTILLIB_H
15 #define PHYSXUTILLIB_H
16
17 #include "pandabase.h"
18 #include "luse.h"
19
20 #include "config_physx.h"
21
22 class PhysxBounds3;
23 class PhysxBox;
24 class PhysxCapsule;
25 class PhysxPlane;
26 class PhysxRay;
27 class PhysxSegment;
28 class PhysxSphere;
29
30 /**
31 *
32 */
33 class EXPCL_PANDAPHYSX PhysxUtilLib {
34
35 PUBLISHED:
36 INLINE PhysxUtilLib();
37 INLINE ~PhysxUtilLib();
38
39 bool box_contains_point(const PhysxBox &box, const LPoint3f &p);
40 PhysxBox create_box(const PhysxBounds3 &aabb, const LMatrix4f &mat);
41 LVector3f compute_box_world_edge_normal(const PhysxBox &box, unsigned int edge_index);
42 PhysxCapsule compute_capsule_around_box(const PhysxBox &box);
43 bool is_box_a_inside_box_b(const PhysxBox &a, const PhysxBox &b);
44 PhysxBox compute_box_around_capsule(const PhysxCapsule &capsule);
45 void set_fpu_exceptions(bool b);
46 void set_fpu_precision24();
47 void set_fpu_precision53();
48 void set_fpu_precision64();
49 void set_fpu_rounding_chop();
50 void set_fpu_rounding_down();
51 void set_fpu_rounding_near();
52 void set_fpu_rounding_up();
53 int int_ceil(const float &f);
54 int int_chop(const float &f);
55 int int_floor(const float &f);
56 float compute_distance_squared(const PhysxRay &ray, const LPoint3f &point);
57 float compute_square_distance(const PhysxSegment &seg, const LPoint3f &point);
58 PhysxSphere merge_spheres(const PhysxSphere &sphere0, const PhysxSphere &sphere1);
59 void normal_to_tangents(const LVector3f &n, LVector3f &t1, LVector3f &t2);
60 LMatrix3f find_rotation_matrix(const LVector3f &x, const LVector3f &b);
61 float compute_sphere_mass(float radius, float density);
62 float compute_sphere_density(float radius, float mass);
63 float compute_box_mass(const LVector3f &extents, float density);
64 float compute_box_density(const LVector3f &extents, float mass);
65 float compute_ellipsoid_mass(const LVector3f &extents, float density);
66 float compute_ellipsoid_density(const LVector3f &extents, float mass);
67 float compute_cylinder_mass(float radius, float length, float density);
68 float compute_cylinder_density(float radius, float length, float mass);
69 float compute_cone_mass(float radius, float length, float density);
70 float compute_cone_density(float radius, float length, float mass);
71 LVector3f compute_box_inertia_tensor(float mass, float xlength, float ylength, float zlength);
72 LVector3f compute_sphere_inertia_tensor(float mass, float radius, bool hollow);
73 bool box_box_intersect(const LVector3f &extents0, const LPoint3f &center0, const LMatrix3f &rotation0, const LVector3f &extents1, const LPoint3f &center1, const LMatrix3f &rotation1, bool full_test);
74 bool tri_box_intersect(const LPoint3f &vertex0, const LPoint3f &vertex1, const LPoint3f &vertex2, const LPoint3f &center, const LVector3f &extents);
75 bool ray_plane_intersect(const PhysxRay &ray, const PhysxPlane &plane, LPoint3f &point_on_plane);
76 bool ray_sphere_intersect(const LPoint3f &origin, const LVector3f &dir, float length, const LPoint3f &center, float radius, LPoint3f &hit_pos);
77 bool segment_box_intersect(const LPoint3f &p1, const LPoint3f &p2, const LPoint3f &bbox_min, const LPoint3f &bbox_max, LPoint3f &intercept);
78 bool ray_aabb_intersect(const LPoint3f &min, const LPoint3f &max, const LPoint3f &origin, const LVector3f &dir, LPoint3f &coord);
79 bool segment_obb_intersect(const LPoint3f &p0, const LPoint3f &p1, const LPoint3f &center, const LVector3f &extents, const LMatrix3f &rot);
80 bool segment_aabb_intersect(const LPoint3f &p0, const LPoint3f &p1, const LPoint3f &min, const LPoint3f &max);
81 bool ray_obb_intersect(const PhysxRay &ray, const LPoint3f &center, const LVector3f &extents, const LMatrix3f &rot);
82 unsigned int ray_capsule_intersect(const LPoint3f &origin, const LVector3f &dir, const PhysxCapsule &capsule);
83 bool swept_spheres_intersect(const PhysxSphere &sphere0, const LVector3f &velocity0, const PhysxSphere &sphere1, const LVector3f &velocity1);
84 bool ray_tri_intersect(const LPoint3f &orig, const LVector3f &dir, const LPoint3f &vert0, const LPoint3f &vert1, const LPoint3f &vert2, LVector3f &hit, bool cull);
85 bool sweep_box_capsule(const PhysxBox &box, const PhysxCapsule &lss, const LVector3f &dir, float length, LVector3f &normal);
86 bool sweep_box_sphere(const PhysxBox &box, const PhysxSphere &sphere, const LVector3f &dir, float length, LVector3f &normal);
87 bool sweep_capsule_capsule(const PhysxCapsule &lss0, const PhysxCapsule &lss1, const LVector3f &dir, float length, LPoint3f &ip, LVector3f &normal);
88 bool sweep_sphere_capsule(const PhysxSphere &sphere, const PhysxCapsule &lss, const LVector3f &dir, float length, LPoint3f &ip, LVector3f &normal);
89 bool sweep_box_box(const PhysxBox &box0, const PhysxBox &box1, const LVector3f &dir, float length, LPoint3f &ip, LVector3f &normal);
90 float point_obb_sqr_dist(const LPoint3f &point, const LPoint3f &center, const LVector3f &extents, const LMatrix3f &rot, LPoint3f &params);
91
92 public:
93 NxUtilLib *_ptr;
94 };
95
96 #include "physxUtilLib.I"
97
98 #endif // PHYSUTILLIB_H
99
100 /*
101 NOT WRAPPED:
102 bool NxComputeBoxPlanes(const NxBox &box, NxPlane *planes)
103 bool NxComputeBoxPoints(const NxBox &box, NxVec3 *pts)
104 bool NxComputeBoxVertexNormals(const NxBox &box, NxVec3 *pts)
105 const NxU32 *NxGetBoxEdges()
106 const NxI32 *NxGetBoxEdgesAxes()
107 const NxU32 *NxGetBoxTriangles()
108 const NxVec3 *NxGetBoxLocalEdgeNormals()
109 const NxU32 *NxGetBoxQuads()
110 const NxU32 *NxBoxVertexToQuad(NxU32 vertexIndex)
111 NxBSphereMethod NxComputeSphere(NxSphere &sphere, unsigned nb_verts, const NxVec3 *verts)
112 bool NxFastComputeSphere(NxSphere &sphere, unsigned nb_verts, const NxVec3 *verts)
113 bool NxDiagonalizeInertiaTensor(const NxMat33 &denseInertia, NxVec3 &diagonalInertia, NxMat33 &rotation)
114 void NxComputeBounds(NxVec3 &min, NxVec3 &max, NxU32 nbVerts, const NxVec3 *verts)
115 NxU32 NxCrc32(const void *buffer, NxU32 nbBytes)
116 NxSepAxis NxSeparatingAxis(const NxVec3 &extents0, const NxVec3 &center0, const NxMat33 &rotation0, const NxVec3 &extents1, const NxVec3 &center1, const NxMat33 &rotation1, bool fullTest=true)
117 void NxSegmentPlaneIntersect(const NxVec3 &v1, const NxVec3 &v2, const NxPlane &plane, NxReal &dist, NxVec3 &pointOnPlane)
118 NxU32 NxRayAABBIntersect2(const NxVec3 &min, const NxVec3 &max, const NxVec3 &origin, const NxVec3 &dir, NxVec3 &coord, NxReal &t)
119 bool NxBuildSmoothNormals(NxU32 nbTris, NxU32 nbVerts, const NxVec3 *verts, const NxU32 *dFaces, const NxU16 *wFaces, NxVec3 *normals, bool flip=false)
120 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)
121 bool NxSweepCapsuleTriangles(NxU32 up_direction, NxU32 nb_tris, const NxTriangle *triangles, const NxU32 *edge_flags, const NxVec3 &center, const float radius, const float height, const NxVec3 &dir, float length, NxVec3 &hit, NxVec3 &normal, float &d, NxU32 &index, NxU32 *cachedIndex=NULL)
122 float NxSegmentOBBSqrDist(const NxSegment &segment, const NxVec3 &c0, const NxVec3 &e0, const NxMat33 &r0, float *t, NxVec3 *p)
123 */
PhysxBounds3
Represention of a axis aligned bounding box.
Definition: physxBounds3.h:29
PhysxBox
Represents an oriented bounding box, as a center point, extents(radii) and a rotation.
Definition: physxBox.h:29
PhysxCapsule
Represents a capsule.
Definition: physxCapsule.h:25
PhysxPlane
Definition: physxPlane.h:25
PhysxRay
Represents an ray as an origin and direction.
Definition: physxRay.h:26
PhysxSegment
Represents a line segment.
Definition: physxSegment.h:25
PhysxSphere
Represents a sphere defined by its center point and radius.
Definition: physxSphere.h:25
PhysxUtilLib
Definition: physxUtilLib.h:33
config_physx.h
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
luse.h
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
pandabase.h
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.
physxUtilLib.I
PANDA 3D SOFTWARE Copyright (c) Carnegie Mellon University.