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physxUtilLib.h
00001 // Filename: physxUtilLib.h
00002 // Created by:  enn0x (01Nov09)
00003 //
00004 ////////////////////////////////////////////////////////////////////
00005 //
00006 // PANDA 3D SOFTWARE
00007 // Copyright (c) Carnegie Mellon University.  All rights reserved.
00008 //
00009 // All use of this software is subject to the terms of the revised BSD
00010 // license.  You should have received a copy of this license along
00011 // with this source code in a file named "LICENSE."
00012 //
00013 ////////////////////////////////////////////////////////////////////
00014 
00015 #ifndef PHYSXUTILLIB_H
00016 #define PHYSXUTILLIB_H
00017 
00018 #include "pandabase.h"
00019 #include "luse.h"
00020 
00021 #include "config_physx.h"
00022 
00023 class PhysxBounds3;
00024 class PhysxBox;
00025 class PhysxCapsule;
00026 class PhysxPlane;
00027 class PhysxRay;
00028 class PhysxSegment;
00029 class PhysxSphere;
00030 
00031 ////////////////////////////////////////////////////////////////////
00032 //       Class : PhysxUtilLib
00033 // Description : 
00034 ////////////////////////////////////////////////////////////////////
00035 class EXPCL_PANDAPHYSX PhysxUtilLib {
00036 
00037 PUBLISHED:
00038   INLINE PhysxUtilLib();
00039   INLINE ~PhysxUtilLib();
00040 
00041   bool box_contains_point(const PhysxBox &box, const LPoint3f &p);
00042   PhysxBox create_box(const PhysxBounds3 &aabb, const LMatrix4f &mat);
00043   LVector3f compute_box_world_edge_normal(const PhysxBox &box, unsigned int edge_index);
00044   PhysxCapsule compute_capsule_around_box(const PhysxBox &box);
00045   bool is_box_a_inside_box_b(const PhysxBox &a, const PhysxBox &b);
00046   PhysxBox compute_box_around_capsule(const PhysxCapsule &capsule);
00047   void set_fpu_exceptions(bool b);
00048   void set_fpu_precision24();
00049   void set_fpu_precision53();
00050   void set_fpu_precision64();
00051   void set_fpu_rounding_chop();
00052   void set_fpu_rounding_down();
00053   void set_fpu_rounding_near();
00054   void set_fpu_rounding_up();
00055   int int_ceil(const float &f);
00056   int int_chop(const float &f);
00057   int int_floor(const float &f);
00058   float compute_distance_squared(const PhysxRay &ray, const LPoint3f &point);
00059   float compute_square_distance(const PhysxSegment &seg, const LPoint3f &point);
00060   PhysxSphere merge_spheres(const PhysxSphere &sphere0, const PhysxSphere &sphere1);
00061   void normal_to_tangents(const LVector3f &n, LVector3f &t1, LVector3f &t2);
00062   LMatrix3f find_rotation_matrix(const LVector3f &x, const LVector3f &b);
00063   float compute_sphere_mass(float radius, float density);
00064   float compute_sphere_density(float radius, float mass);
00065   float compute_box_mass(const LVector3f &extents, float density);
00066   float compute_box_density(const LVector3f &extents, float mass);
00067   float compute_ellipsoid_mass(const LVector3f &extents, float density);
00068   float compute_ellipsoid_density(const LVector3f &extents, float mass);
00069   float compute_cylinder_mass(float radius, float length, float density);
00070   float compute_cylinder_density(float radius, float length, float mass);
00071   float compute_cone_mass(float radius, float length, float density);
00072   float compute_cone_density(float radius, float length, float mass);
00073   LVector3f compute_box_inertia_tensor(float mass, float xlength, float ylength, float zlength);
00074   LVector3f compute_sphere_inertia_tensor(float mass, float radius, bool hollow);
00075   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);
00076   bool tri_box_intersect(const LPoint3f &vertex0, const LPoint3f &vertex1, const LPoint3f &vertex2, const LPoint3f &center, const LVector3f &extents);
00077   bool ray_plane_intersect(const PhysxRay &ray, const PhysxPlane &plane, LPoint3f &point_on_plane);
00078   bool ray_sphere_intersect(const LPoint3f &origin, const LVector3f &dir, float length, const LPoint3f &center, float radius, LPoint3f &hit_pos);
00079   bool segment_box_intersect(const LPoint3f &p1, const LPoint3f &p2, const LPoint3f &bbox_min, const LPoint3f &bbox_max, LPoint3f &intercept);
00080   bool ray_aabb_intersect(const LPoint3f &min, const LPoint3f &max, const LPoint3f &origin, const LVector3f &dir, LPoint3f &coord);
00081   bool segment_obb_intersect(const LPoint3f &p0, const LPoint3f &p1, const LPoint3f &center, const LVector3f &extents, const LMatrix3f &rot);
00082   bool segment_aabb_intersect(const LPoint3f &p0, const LPoint3f &p1, const LPoint3f &min, const LPoint3f &max);
00083   bool ray_obb_intersect(const PhysxRay &ray, const LPoint3f &center, const LVector3f &extents, const LMatrix3f &rot);
00084   unsigned int ray_capsule_intersect(const LPoint3f &origin, const LVector3f &dir, const PhysxCapsule &capsule);
00085   bool swept_spheres_intersect(const PhysxSphere &sphere0, const LVector3f &velocity0, const PhysxSphere &sphere1, const LVector3f &velocity1);
00086   bool ray_tri_intersect(const LPoint3f &orig, const LVector3f &dir, const LPoint3f &vert0, const LPoint3f &vert1, const LPoint3f &vert2, LVector3f &hit, bool cull);
00087   bool sweep_box_capsule(const PhysxBox &box, const PhysxCapsule &lss, const LVector3f &dir, float length, LVector3f &normal);
00088   bool sweep_box_sphere(const PhysxBox &box, const PhysxSphere &sphere, const LVector3f &dir, float length, LVector3f &normal);
00089   bool sweep_capsule_capsule(const PhysxCapsule &lss0, const PhysxCapsule &lss1, const LVector3f &dir, float length, LPoint3f &ip, LVector3f &normal);
00090   bool sweep_sphere_capsule(const PhysxSphere &sphere, const PhysxCapsule &lss, const LVector3f &dir, float length, LPoint3f &ip, LVector3f &normal);
00091   bool sweep_box_box(const PhysxBox &box0, const PhysxBox &box1, const LVector3f &dir, float length, LPoint3f &ip, LVector3f &normal);
00092   float point_obb_sqr_dist(const LPoint3f &point, const LPoint3f &center, const LVector3f &extents, const LMatrix3f &rot, LPoint3f &params);
00093 
00094 public:
00095   NxUtilLib *_ptr;
00096 };
00097 
00098 #include "physxUtilLib.I"
00099 
00100 #endif // PHYSUTILLIB_H
00101 
00102 /*
00103 NOT WRAPPED:
00104 bool NxComputeBoxPlanes(const NxBox &box, NxPlane *planes)
00105 bool NxComputeBoxPoints(const NxBox &box, NxVec3 *pts)
00106 bool NxComputeBoxVertexNormals(const NxBox &box, NxVec3 *pts)
00107 const NxU32 *NxGetBoxEdges()
00108 const NxI32 *NxGetBoxEdgesAxes()
00109 const NxU32 *NxGetBoxTriangles()
00110 const NxVec3 *NxGetBoxLocalEdgeNormals()
00111 const NxU32 *NxGetBoxQuads()
00112 const NxU32 *NxBoxVertexToQuad(NxU32 vertexIndex)
00113 NxBSphereMethod NxComputeSphere(NxSphere &sphere, unsigned nb_verts, const NxVec3 *verts)
00114 bool NxFastComputeSphere(NxSphere &sphere, unsigned nb_verts, const NxVec3 *verts)
00115 bool NxDiagonalizeInertiaTensor(const NxMat33 &denseInertia, NxVec3 &diagonalInertia, NxMat33 &rotation)
00116 void NxComputeBounds(NxVec3 &min, NxVec3 &max, NxU32 nbVerts, const NxVec3 *verts)
00117 NxU32 NxCrc32(const void *buffer, NxU32 nbBytes)
00118 NxSepAxis NxSeparatingAxis(const NxVec3 &extents0, const NxVec3 &center0, const NxMat33 &rotation0, const NxVec3 &extents1, const NxVec3 &center1, const NxMat33 &rotation1, bool fullTest=true)
00119 void NxSegmentPlaneIntersect(const NxVec3 &v1, const NxVec3 &v2, const NxPlane &plane, NxReal &dist, NxVec3 &pointOnPlane)
00120 NxU32 NxRayAABBIntersect2(const NxVec3 &min, const NxVec3 &max, const NxVec3 &origin, const NxVec3 &dir, NxVec3 &coord, NxReal &t)
00121 bool NxBuildSmoothNormals(NxU32 nbTris, NxU32 nbVerts, const NxVec3 *verts, const NxU32 *dFaces, const NxU16 *wFaces, NxVec3 *normals, bool flip=false)
00122 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)
00123 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)
00124 float NxSegmentOBBSqrDist(const NxSegment &segment, const NxVec3 &c0, const NxVec3 &e0, const NxMat33 &r0, float *t, NxVec3 *p)
00125 */
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