1 | #ifndef NX_INTERSECTION_BOX_BOX
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2 | #define NX_INTERSECTION_BOX_BOX
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3 |
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4 | /*----------------------------------------------------------------------------*\
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5 | |
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6 | | NovodeX Technology
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7 | |
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8 | | www.novodex.com
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9 | |
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10 | \*----------------------------------------------------------------------------*/
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11 | /** \addtogroup physics
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12 | @{
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13 | */
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14 |
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15 | #include "Nxp.h"
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16 | #include "NxBox.h"
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17 | #include "PhysXLoader.h"
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18 |
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19 | /**
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20 | \brief Boolean intersection test between two OBBs.
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21 |
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22 | Uses the separating axis theorem. Disabling 'full_test' only performs 6 axis tests out of 15.
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23 |
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24 | \param[in] extents0 Extents/radii of first box before transformation. <b>Range:</b> direction vector
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25 | \param[in] center0 Centre of first box. <b>Range:</b> position vector
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26 | \param[in] rotation0 Rotatation to apply to first box (before translation). <b>Range:</b> rotation matrix
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27 | \param[in] extents1 Extents/radii of second box before transformation <b>Range:</b> direction vector
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28 | \param[in] center1 Centre of second box. <b>Range:</b> position vector
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29 | \param[in] rotation1 Rotatation to apply to second box(before translation). <b>Range:</b> rotation matrix
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30 | \param[in] fullTest If false test only the first 6 axis.
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31 |
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32 | \return true on intersection
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33 |
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34 | <b>Platform:</b>
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35 | \li PC SW: Yes
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36 | \li PPU : Yes
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37 | \li PS3 : Yes
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38 | \li XB360: Yes
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39 | */
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40 | NX_INLINE bool NX_CALL_CONV NxBoxBoxIntersect( const NxVec3& extents0, const NxVec3& center0, const NxMat33& rotation0,
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41 | const NxVec3& extents1, const NxVec3& center1, const NxMat33& rotation1,
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42 | bool fullTest)
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43 | {
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44 | return NxGetUtilLib()->NxBoxBoxIntersect(extents0,center0,rotation0,extents1,center1,rotation1,fullTest);
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45 | }
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46 |
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47 | /**
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48 | \brief Boolean intersection test between two OBBs.
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49 |
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50 | Uses the separating axis theorem. Disabling 'full_test' only performs 6 axis tests out of 15.
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51 |
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52 | \param[in] obb0 First Oriented Bounding Box. <b>Range:</b> See #NxBox
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53 | \param[in] obb1 Second Oriented Bounding Box. <b>Range:</b> See #NxBox
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54 | \param[in] fullTest If false test only the first 6 axis.
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55 |
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56 | \return true on intersection
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57 |
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58 | <b>Platform:</b>
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59 | \li PC SW: Yes
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60 | \li PPU : Yes
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61 | \li PS3 : Yes
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62 | \li XB360: Yes
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63 |
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64 | @see NxBox
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65 | */
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66 | NX_INLINE bool NxBoxBoxIntersect(const NxBox& obb0, const NxBox& obb1, bool fullTest=true)
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67 | {
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68 | return NxBoxBoxIntersect(
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69 | obb0.extents, obb0.center, obb0.rot,
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70 | obb1.extents, obb1.center, obb1.rot,
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71 | fullTest);
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72 | }
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73 |
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74 | /*
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75 | \brief Boolean intersection test between a triangle and an AABB.
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76 |
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77 | \param[in] vertex0 First vertex of triangle. <b>Range:</b> position vector
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78 | \param[in] vertex1 Second Vertex of triangle. <b>Range:</b> position vector
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79 | \param[in] vertex2 Third Vertex of triangle. <b>Range:</b> position vector
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80 | \param[in] center Centre of Axis Aligned bounding box. <b>Range:</b> position vector
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81 | \param[in] extents Extents/radii of AABB. <b>Range:</b> direction vector
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82 |
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83 | \return true on intersection.
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84 |
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85 | <b>Platform:</b>
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86 | \li PC SW: Yes
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87 | \li PPU : Yes
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88 | \li PS3 : Yes
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89 | \li XB360: Yes
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90 | */
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91 | NX_INLINE bool NX_CALL_CONV NxTriBoxIntersect(const NxVec3 & vertex0, const NxVec3 & vertex1, const NxVec3 & vertex2, const NxVec3 & center, const NxVec3& extents)
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92 | {
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93 | return NxGetUtilLib()->NxTriBoxIntersect(vertex0,vertex1,vertex2,center,extents);
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94 |
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95 | }
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96 |
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97 |
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98 | /**
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99 | \brief Computes the separating axis between two OBBs.
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100 |
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101 | \param[in] extents0 Extents/radii of first box before transformation. <b>Range:</b> direction vector
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102 | \param[in] center0 Centre of box first box. <b>Range:</b> position vector
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103 | \param[in] rotation0 Rotatation to apply to first box (before translation). <b>Range:</b> rotation matrix
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104 | \param[in] extents1 Extents/radii of second box before transformation. <b>Range:</b> direction vector
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105 | \param[in] center1 Centre of second box. <b>Range:</b> position vector
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106 | \param[in] rotation1 Rotatation to apply to second box (before translation). <b>Range:</b> rotation matrix
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107 | \param[in] fullTest If false test only the first 6 axis.
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108 |
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109 | \return The separating axis or NX_SEP_AXIS_OVERLAP for an overlap.
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110 |
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111 | <b>Platform:</b>
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112 | \li PC SW: Yes
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113 | \li PPU : Yes
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114 | \li PS3 : Yes
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115 | \li XB360: Yes
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116 |
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117 | @see NxSepAxis
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118 | */
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119 | NX_INLINE NxSepAxis NX_CALL_CONV NxSeparatingAxis( const NxVec3& extents0, const NxVec3& center0, const NxMat33& rotation0,
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120 | const NxVec3& extents1, const NxVec3& center1, const NxMat33& rotation1,
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121 | bool fullTest=true)
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122 | {
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123 | return NxGetUtilLib()->NxSeparatingAxis(extents0,center0,rotation0,extents1,center1,rotation1,fullTest);
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124 | }
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125 |
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126 | /**
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127 | \brief Computes the separating axis between two OBBs.
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128 |
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129 | \param[in] obb0 First Oriented Bounding box. <b>Range:</b> See #NxBox
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130 | \param[in] obb1 Second Oriented Bounding box. <b>Range:</b> See #NxBox
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131 | \param[in] fullTest If false test only the first 6 axis.
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132 |
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133 | \return The separating axis.
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134 |
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135 | <b>Platform:</b>
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136 | \li PC SW: Yes
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137 | \li PPU : Yes
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138 | \li PS3 : Yes
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139 | \li XB360: Yes
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140 |
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141 | @see NxSepAxis
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142 | */
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143 | NX_INLINE NxSepAxis NxSeparatingAxis(const NxBox& obb0, const NxBox& obb1, bool fullTest=true)
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144 | {
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145 | return NxSeparatingAxis(
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146 | obb0.extents, obb0.center, obb0.rot,
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147 | obb1.extents, obb1.center, obb1.rot,
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148 | fullTest);
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149 | }
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150 |
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151 | /** @} */
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152 | #endif
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153 |
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154 |
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155 | //AGCOPYRIGHTBEGIN
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156 | ///////////////////////////////////////////////////////////////////////////
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157 | // Copyright © 2005 AGEIA Technologies.
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158 | // All rights reserved. www.ageia.com
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159 | ///////////////////////////////////////////////////////////////////////////
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160 | //AGCOPYRIGHTEND
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161 |
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