[1378] | 1 | #ifndef NX_UTIL_LIB
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| 2 | #define NX_UTIL_LIB
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| 3 |
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| 4 | #include "NxFoundation.h"
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| 5 | #include "Nxp.h"
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| 6 | class NxJointDesc;
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| 7 |
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| 8 | /**
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| 9 | \brief Abstract interface used to expose utility functions
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| 10 |
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| 11 | The functions contained withint NxUtil were previously exposed as static exports from NxPhysics.dll.
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| 12 | However to allow a switchable PhysXCore, they are now exposed through this interface.
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| 13 | */
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| 14 | class NxUtilLib
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| 15 | {
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| 16 |
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| 17 | public:
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| 18 |
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| 19 | /*
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| 20 | ** From NxExportedUtils.h
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| 21 | */
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| 22 | /***************************************************************************/
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| 23 | /**
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| 24 | \brief Test if an oriented box contains a point.
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| 25 |
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| 26 | \param[in] box Oriented Box to test point against.
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| 27 | \param[in] p Point to test.
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| 28 |
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| 29 | \return True if the box contains p.
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| 30 |
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| 31 | <b>Platform:</b>
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| 32 | \li PC SW: Yes
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| 33 | \li PPU : Yes
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| 34 | \li PS3 : Yes
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| 35 | \li XB360: Yes
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| 36 |
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| 37 | @see NxBox
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| 38 | */
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| 39 | virtual bool NxBoxContainsPoint(const NxBox& box, const NxVec3& p)=0;
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| 40 |
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| 41 | /**
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| 42 |
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| 43 | \brief Create an oriented box from an axis aligned box and a transformaton.
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| 44 |
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| 45 | \param[out] box Used to store the oriented box.
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| 46 | \param[in] aabb Axis aligned box.
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| 47 | \param[in] mat Transformation to apply to the axis aligned box.
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| 48 |
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| 49 | <b>Platform:</b>
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| 50 | \li PC SW: Yes
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| 51 | \li PPU : Yes
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| 52 | \li PS3 : Yes
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| 53 | \li XB360: Yes
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| 54 |
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| 55 | @see NxBox NxBounds3
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| 56 | */
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| 57 | virtual void NxCreateBox(NxBox& box, const NxBounds3& aabb, const NxMat34& mat)=0;
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| 58 |
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| 59 | /**
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| 60 |
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| 61 | \brief Computes plane equation for each face of an oriented boc.
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| 62 |
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| 63 | \param[in] box The oriented box.
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| 64 | \param[out] planes Array to recieve the computed planes(should be large enough to hold 6 planes)
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| 65 |
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| 66 | \return True on success.
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| 67 |
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| 68 | <b>Platform:</b>
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| 69 | \li PC SW: Yes
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| 70 | \li PPU : Yes
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| 71 | \li PS3 : Yes
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| 72 | \li XB360: Yes
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| 73 |
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| 74 | @see NxBox NxPlane
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| 75 | */
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| 76 | virtual bool NxComputeBoxPlanes(const NxBox& box, NxPlane* planes)=0;
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| 77 |
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| 78 | /**
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| 79 |
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| 80 | \brief Compute the corner points of an oriented box.
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| 81 |
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| 82 | \param[in] box The oriented box.
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| 83 | \param[out] pts Array to recieve the box point (should be large enough to hold 8 points)
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| 84 |
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| 85 | \return True on success.
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| 86 |
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| 87 | <b>Platform:</b>
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| 88 | \li PC SW: Yes
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| 89 | \li PPU : Yes
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| 90 | \li PS3 : Yes
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| 91 | \li XB360: Yes
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| 92 |
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| 93 | @see NxBox
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| 94 | */
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| 95 | virtual bool NxComputeBoxPoints(const NxBox& box, NxVec3* pts)=0;
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| 96 |
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| 97 | /**
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| 98 |
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| 99 | \brief Compute the vertex normals of an oriented box. These are smooth normals, ie averaged from the faces of the box.
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| 100 |
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| 101 | \param[in] box The oriented box.
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| 102 | \param[out] pts The normals for each vertex(should be large enough to hold 8 normals).
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| 103 |
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| 104 | \return True on success.
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| 105 |
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| 106 | <b>Platform:</b>
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| 107 | \li PC SW: Yes
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| 108 | \li PPU : Yes
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| 109 | \li PS3 : Yes
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| 110 | \li XB360: Yes
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| 111 |
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| 112 | @see NxBox
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| 113 | */
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| 114 | virtual bool NxComputeBoxVertexNormals(const NxBox& box, NxVec3* pts)=0;
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| 115 |
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| 116 | /**
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| 117 | \brief Return a list of edge indices.
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| 118 |
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| 119 | \return List of edge indices.
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| 120 |
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| 121 | <b>Platform:</b>
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| 122 | \li PC SW: Yes
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| 123 | \li PPU : Yes
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| 124 | \li PS3 : Yes
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| 125 | \li XB360: Yes
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| 126 |
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| 127 | @see NxComputeBoxPoints
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| 128 | */
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| 129 | virtual const NxU32* NxGetBoxEdges()=0;
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| 130 |
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| 131 | /**
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| 132 | \brief Return a list of box edge axes.
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| 133 |
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| 134 | \return List of box edge axes.
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| 135 |
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| 136 | <b>Platform:</b>
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| 137 | \li PC SW: Yes
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| 138 | \li PPU : Yes
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| 139 | \li PS3 : Yes
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| 140 | \li XB360: Yes
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| 141 |
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| 142 | @see NxComputeBoxPoints
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| 143 | */
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| 144 | virtual const NxI32* NxGetBoxEdgesAxes()=0;
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| 145 |
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| 146 | /**
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| 147 | \brief Return a set of triangle indices suitable for use with #NxComputeBoxPoints.
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| 148 |
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| 149 | \return List of box triangles.
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| 150 |
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| 151 | <b>Platform:</b>
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| 152 | \li PC SW: Yes
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| 153 | \li PPU : Yes
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| 154 | \li PS3 : Yes
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| 155 | \li XB360: Yes
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| 156 |
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| 157 | @see NxComputeBoxPoints
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| 158 | */
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| 159 | virtual const NxU32* NxGetBoxTriangles()=0;
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| 160 |
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| 161 | /**
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| 162 | \brief Returns a list of local space edge normals.
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| 163 |
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| 164 | \return List of edge normals.
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| 165 |
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| 166 | <b>Platform:</b>
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| 167 | \li PC SW: Yes
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| 168 | \li PPU : Yes
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| 169 | \li PS3 : Yes
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| 170 | \li XB360: Yes
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| 171 | */
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| 172 | virtual const NxVec3* NxGetBoxLocalEdgeNormals()=0;
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| 173 |
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| 174 | /**
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| 175 | \brief Compute and edge normals for an oriented box.
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| 176 |
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| 177 | This is an averaged normal, from the two faces sharing the edge.
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| 178 |
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| 179 | The edge index should be from 0 to 11 (ie a box has 12 edges).
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| 180 |
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| 181 | Edge ordering:
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| 182 |
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| 183 | \image html boxEdgeDiagram.png
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| 184 |
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| 185 | \param[in] box The oriented box.
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| 186 | \param[in] edge_index The index of the edge to compute a normal for.
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| 187 | \param[out] world_normal The computed normal.
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| 188 |
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| 189 | <b>Platform:</b>
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| 190 | \li PC SW: Yes
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| 191 | \li PPU : Yes
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| 192 | \li PS3 : Yes
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| 193 | \li XB360: Yes
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| 194 | */
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| 195 | virtual void NxComputeBoxWorldEdgeNormal(const NxBox& box, NxU32 edge_index, NxVec3& world_normal)=0;
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| 196 |
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| 197 | /**
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| 198 |
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| 199 | \brief Compute a capsule which encloses a box.
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| 200 |
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| 201 | \param box Box to generate capsule for.
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| 202 | \param capsule Stores the capsule which is generated.
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| 203 |
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| 204 | <b>Platform:</b>
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| 205 | \li PC SW: Yes
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| 206 | \li PPU : Yes
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| 207 | \li PS3 : Yes
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| 208 | \li XB360: Yes
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| 209 |
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| 210 | @see NxBox NxCapsule NxComputeBoxAroundCapsule
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| 211 | */
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| 212 | virtual void NxComputeCapsuleAroundBox(const NxBox& box, NxCapsule& capsule)=0;
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| 213 |
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| 214 | /**
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| 215 | \brief Test if box A is inside another box B.
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| 216 |
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| 217 | \param a Box A
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| 218 | \param b Box B
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| 219 |
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| 220 | \return True if box A is inside box B.
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| 221 |
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| 222 | <b>Platform:</b>
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| 223 | \li PC SW: Yes
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| 224 | \li PPU : Yes
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| 225 | \li PS3 : Yes
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| 226 | \li XB360: Yes
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| 227 |
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| 228 | @see NxBox
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| 229 | */
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| 230 | virtual bool NxIsBoxAInsideBoxB(const NxBox& a, const NxBox& b)=0;
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| 231 |
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| 232 | /**
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| 233 | \brief Get a list of indices representing the box as quads.
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| 234 |
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| 235 | \return List of quad indices.
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| 236 |
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| 237 | <b>Platform:</b>
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| 238 | \li PC SW: Yes
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| 239 | \li PPU : Yes
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| 240 | \li PS3 : Yes
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| 241 | \li XB360: Yes
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| 242 |
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| 243 | @see NxComputeBoxPoints()
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| 244 | */
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| 245 | virtual const NxU32* NxGetBoxQuads()=0;
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| 246 |
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| 247 | /**
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| 248 | \brief Returns a list of quad indices sharing the vertex index.
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| 249 |
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| 250 | \param vertexIndex Vertex Index.
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| 251 | \return List of quad indices sharing the vertex index.
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| 252 |
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| 253 | <b>Platform:</b>
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| 254 | \li PC SW: Yes
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| 255 | \li PPU : Yes
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| 256 | \li PS3 : Yes
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| 257 | \li XB360: Yes
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| 258 |
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| 259 | @see NxComputeBoxPoints() NxGetBoxQuads()
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| 260 | */
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| 261 | virtual const NxU32* NxBoxVertexToQuad(NxU32 vertexIndex)=0;
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| 262 |
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| 263 | /**
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| 264 | \brief Compute a box which encloses a capsule.
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| 265 |
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| 266 | \param capsule Capsule to generate an enclosing box for.
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| 267 | \param box Generated box.
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| 268 |
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| 269 | <b>Platform:</b>
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| 270 | \li PC SW: Yes
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| 271 | \li PPU : Yes
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| 272 | \li PS3 : Yes
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| 273 | \li XB360: Yes
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| 274 |
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| 275 | @see NxComputeCapsuleAroundBox
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| 276 | */
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| 277 | virtual void NxComputeBoxAroundCapsule(const NxCapsule& capsule, NxBox& box)=0;
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| 278 |
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| 279 | /**
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| 280 | \brief Set FPU precision.
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| 281 |
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| 282 | <b>Platform:</b>
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| 283 | \li PC SW: Yes
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| 284 | \li PPU : Yes
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| 285 | \li PS3 : Yes
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| 286 | \li XB360: Yes
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| 287 | */
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| 288 | virtual void NxSetFPUPrecision24()=0;
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| 289 |
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| 290 | /**
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| 291 | \brief Set FPU precision.
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| 292 |
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| 293 | <b>Platform:</b>
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| 294 | \li PC SW: Yes
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| 295 | \li PPU : Yes
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| 296 | \li PS3 : Yes
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| 297 | \li XB360: Yes
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| 298 | */
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| 299 | virtual void NxSetFPUPrecision53()=0;
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| 300 |
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| 301 | /**
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| 302 | \brief Set FPU precision
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| 303 |
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| 304 | <b>Platform:</b>
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| 305 | \li PC SW: Yes
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| 306 | \li PPU : Yes
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| 307 | \li PS3 : Yes
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| 308 | \li XB360: Yes
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| 309 | */
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| 310 | virtual void NxSetFPUPrecision64()=0;
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| 311 |
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| 312 | /**
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| 313 | \brief Set FPU precision.
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| 314 |
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| 315 | <b>Platform:</b>
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| 316 | \li PC SW: Yes
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| 317 | \li PPU : Yes
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| 318 | \li PS3 : Yes
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| 319 | \li XB360: Yes
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| 320 | */
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| 321 | virtual void NxSetFPURoundingChop()=0;
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| 322 |
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| 323 | /**
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| 324 | \brief Set FPU rounding mode.
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| 325 |
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| 326 | <b>Platform:</b>
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| 327 | \li PC SW: Yes
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| 328 | \li PPU : Yes
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| 329 | \li PS3 : Yes
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| 330 | \li XB360: Yes
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| 331 | */
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| 332 | virtual void NxSetFPURoundingUp()=0;
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| 333 |
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| 334 | /**
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| 335 | \brief Set FPU rounding mode.
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| 336 |
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| 337 | <b>Platform:</b>
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| 338 | \li PC SW: Yes
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| 339 | \li PPU : Yes
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| 340 | \li PS3 : Yes
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| 341 | \li XB360: Yes
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| 342 | */
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| 343 | virtual void NxSetFPURoundingDown()=0;
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| 344 |
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| 345 | /**
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| 346 | \brief Set FPU rounding mode.
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| 347 |
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| 348 | <b>Platform:</b>
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| 349 | \li PC SW: Yes
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| 350 | \li PPU : Yes
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| 351 | \li PS3 : Yes
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| 352 | \li XB360: Yes
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| 353 | */
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| 354 | virtual void NxSetFPURoundingNear()=0;
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| 355 |
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| 356 | /**
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| 357 | \brief Enable/Disable FPU exception.
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| 358 |
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| 359 | \param b True to enable exception.
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| 360 |
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| 361 | <b>Platform:</b>
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| 362 | \li PC SW: Yes
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| 363 | \li PPU : Yes
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| 364 | \li PS3 : Yes
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| 365 | \li XB360: Yes
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| 366 | */
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| 367 | virtual void NxSetFPUExceptions(bool b)=0;
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| 368 |
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| 369 | /**
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| 370 | \brief Convert a floating point number to an integer.
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| 371 |
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| 372 | \param f Floating point number.
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| 373 |
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| 374 | \return The result.
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| 375 |
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| 376 | <b>Platform:</b>
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| 377 | \li PC SW: Yes
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| 378 | \li PPU : Yes
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| 379 | \li PS3 : Yes
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| 380 | \li XB360: Yes
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| 381 | */
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| 382 | virtual int NxIntChop(const NxF32& f)=0;
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| 383 |
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| 384 | /**
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| 385 | \brief Convert a floating point number to an integer.
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| 386 |
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| 387 | \param f Floating point number.
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| 388 |
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| 389 | \return The result.
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| 390 |
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| 391 | <b>Platform:</b>
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| 392 | \li PC SW: Yes
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| 393 | \li PPU : Yes
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| 394 | \li PS3 : Yes
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| 395 | \li XB360: Yes
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| 396 | */
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| 397 | virtual int NxIntFloor(const NxF32& f)=0;
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| 398 |
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| 399 | /**
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| 400 | \brief Convert a floating point number to an integer.
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| 401 |
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| 402 | \param f Floating point number.
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| 403 |
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| 404 | \return The result.
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| 405 |
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| 406 | <b>Platform:</b>
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| 407 | \li PC SW: Yes
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| 408 | \li PPU : Yes
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| 409 | \li PS3 : Yes
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| 410 | \li XB360: Yes
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| 411 | */
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| 412 | virtual int NxIntCeil(const NxF32& f)=0;
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| 413 |
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| 414 | /**
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| 415 | \brief Compute the distance squared from a point to a ray.
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| 416 |
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| 417 | \param ray The ray.
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| 418 | \param point The point.
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| 419 | \param t Used to retrieve the closest parameter value on the ray.
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| 420 |
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| 421 | \return The squared distance.
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| 422 |
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| 423 | <b>Platform:</b>
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| 424 | \li PC SW: Yes
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| 425 | \li PPU : Yes
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| 426 | \li PS3 : Yes
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| 427 | \li XB360: Yes
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| 428 |
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| 429 | @see NxRay
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| 430 | */
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| 431 | virtual NxF32 NxComputeDistanceSquared(const NxRay& ray, const NxVec3& point, NxF32* t)=0;
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| 432 |
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| 433 | /**
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| 434 | \brief Compute the distance squared from a point to a line segment.
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| 435 |
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| 436 | \param seg The line segment.
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| 437 | \param point The point.
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| 438 | \param t Used to retrieve the closest parameter value on the line segment.
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| 439 |
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| 440 | \return The squared distance.
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| 441 |
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| 442 | <b>Platform:</b>
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| 443 | \li PC SW: Yes
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| 444 | \li PPU : Yes
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| 445 | \li PS3 : Yes
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| 446 | \li XB360: Yes
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| 447 |
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| 448 | @see NxSegment
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| 449 | */
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| 450 | virtual NxF32 NxComputeSquareDistance(const NxSegment& seg, const NxVec3& point, NxF32* t)=0;
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| 451 |
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| 452 | /**
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| 453 | \brief Compute a bounding sphere for a point cloud.
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| 454 |
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| 455 | \param sphere The computed sphere.
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| 456 | \param nb_verts Number of points.
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| 457 | \param verts Array of points.
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| 458 |
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| 459 | \return The method used to compute the sphere, see #NxBSphereMethod.
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| 460 |
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| 461 | <b>Platform:</b>
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| 462 | \li PC SW: Yes
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| 463 | \li PPU : Yes
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| 464 | \li PS3 : Yes
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| 465 | \li XB360: Yes
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| 466 |
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| 467 | @see NxSphere NxFastComputeSphere
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| 468 | */
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| 469 | virtual NxBSphereMethod NxComputeSphere(NxSphere& sphere, unsigned nb_verts, const NxVec3* verts)=0;
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| 470 | /**
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| 471 | \brief Compute a bounding sphere for a point cloud.
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| 472 |
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| 473 | The sphere may not be as tight as #NxComputeSphere
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| 474 |
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| 475 | \param sphere The computed sphere.
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| 476 | \param nb_verts Number of points.
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| 477 | \param verts Array of points.
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| 478 |
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| 479 | \return True on success.
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| 480 |
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| 481 | <b>Platform:</b>
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| 482 | \li PC SW: Yes
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| 483 | \li PPU : Yes
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| 484 | \li PS3 : Yes
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| 485 | \li XB360: Yes
|
---|
| 486 |
|
---|
| 487 | @see NxSphere NxComputeSphere
|
---|
| 488 | */
|
---|
| 489 | virtual bool NxFastComputeSphere(NxSphere& sphere, unsigned nb_verts, const NxVec3* verts)=0;
|
---|
| 490 |
|
---|
| 491 | /**
|
---|
| 492 | \brief Compute an overall bounding sphere for a pair of spheres.
|
---|
| 493 |
|
---|
| 494 | \param merged The computed sphere.
|
---|
| 495 | \param sphere0 First sphere.
|
---|
| 496 | \param sphere1 Second sphere.
|
---|
| 497 |
|
---|
| 498 | <b>Platform:</b>
|
---|
| 499 | \li PC SW: Yes
|
---|
| 500 | \li PPU : Yes
|
---|
| 501 | \li PS3 : Yes
|
---|
| 502 | \li XB360: Yes
|
---|
| 503 |
|
---|
| 504 | @see NxSphere NxComputeSphere
|
---|
| 505 | */
|
---|
| 506 | virtual void NxMergeSpheres(NxSphere& merged, const NxSphere& sphere0, const NxSphere& sphere1)=0;
|
---|
| 507 |
|
---|
| 508 | /**
|
---|
| 509 | \brief Get the tangent vectors associated with a normal.
|
---|
| 510 |
|
---|
| 511 | \param n Normal vector
|
---|
| 512 | \param t1 First tangent
|
---|
| 513 | \param t2 Second tangent
|
---|
| 514 |
|
---|
| 515 | <b>Platform:</b>
|
---|
| 516 | \li PC SW: Yes
|
---|
| 517 | \li PPU : Yes
|
---|
| 518 | \li PS3 : Yes
|
---|
| 519 | \li XB360: Yes
|
---|
| 520 | */
|
---|
| 521 | virtual void NxNormalToTangents(const NxVec3 & n, NxVec3 & t1, NxVec3 & t2)=0;
|
---|
| 522 |
|
---|
| 523 | /**
|
---|
| 524 | \brief Rotates a 3x3 symmetric inertia tensor I into a space R where it can be represented with the diagonal matrix D.
|
---|
| 525 |
|
---|
| 526 | I = R * D * R'
|
---|
| 527 |
|
---|
| 528 | Returns false on failure.
|
---|
| 529 |
|
---|
| 530 | \param denseInertia The dense inertia tensor.
|
---|
| 531 | \param diagonalInertia The diagnalised inertia tensor.
|
---|
| 532 | \param rotation Rotation for the frame of the diagonalized inertia tensor.
|
---|
| 533 |
|
---|
| 534 | \return True if the inertia tensor can be diagonalized.
|
---|
| 535 |
|
---|
| 536 | <b>Platform:</b>
|
---|
| 537 | \li PC SW: Yes
|
---|
| 538 | \li PPU : Yes
|
---|
| 539 | \li PS3 : Yes
|
---|
| 540 | \li XB360: Yes
|
---|
| 541 | */
|
---|
| 542 |
|
---|
| 543 | virtual bool NxDiagonalizeInertiaTensor(const NxMat33 & denseInertia, NxVec3 & diagonalInertia, NxMat33 & rotation)=0;
|
---|
| 544 |
|
---|
| 545 | /**
|
---|
| 546 | \brief Computes a rotation matrix.
|
---|
| 547 |
|
---|
| 548 | computes rotation matrix M so that:
|
---|
| 549 |
|
---|
| 550 | M * x = b
|
---|
| 551 |
|
---|
| 552 | x and b are unit vectors.
|
---|
| 553 |
|
---|
| 554 | \param x Vector.
|
---|
| 555 | \param b Vector.
|
---|
| 556 | \param M Computed rotation matrix.
|
---|
| 557 |
|
---|
| 558 | <b>Platform:</b>
|
---|
| 559 | \li PC SW: Yes
|
---|
| 560 | \li PPU : Yes
|
---|
| 561 | \li PS3 : Yes
|
---|
| 562 | \li XB360: Yes
|
---|
| 563 | */
|
---|
| 564 | virtual void NxFindRotationMatrix(const NxVec3 & x, const NxVec3 & b, NxMat33 & M)=0;
|
---|
| 565 |
|
---|
| 566 | /**
|
---|
| 567 | \brief Computes bounds of an array of vertices
|
---|
| 568 |
|
---|
| 569 | \param min Computed minimum of the bounds.
|
---|
| 570 | \param max Maximum
|
---|
| 571 | \param nbVerts Number of input vertices.
|
---|
| 572 | \param verts Array of vertices.
|
---|
| 573 |
|
---|
| 574 | <b>Platform:</b>
|
---|
| 575 | \li PC SW: Yes
|
---|
| 576 | \li PPU : Yes
|
---|
| 577 | \li PS3 : Yes
|
---|
| 578 | \li XB360: Yes
|
---|
| 579 |
|
---|
| 580 | @see NxBounds3
|
---|
| 581 | */
|
---|
| 582 | virtual void NxComputeBounds(NxVec3& min, NxVec3& max, NxU32 nbVerts, const NxVec3* verts)=0;
|
---|
| 583 |
|
---|
| 584 |
|
---|
| 585 | /**
|
---|
| 586 | \brief Computes CRC of input buffer
|
---|
| 587 |
|
---|
| 588 | \param buffer Input buffer.
|
---|
| 589 | \param nbBytes Number of bytes in in the input buffer.
|
---|
| 590 | \return The computed CRC.
|
---|
| 591 |
|
---|
| 592 | <b>Platform:</b>
|
---|
| 593 | \li PC SW: Yes
|
---|
| 594 | \li PPU : Yes
|
---|
| 595 | \li PS3 : Yes
|
---|
| 596 | \li XB360: Yes
|
---|
| 597 | */
|
---|
| 598 | virtual NxU32 NxCrc32(const void* buffer, NxU32 nbBytes)=0;
|
---|
| 599 | /*
|
---|
| 600 | ** From NxInertiaTensor.h
|
---|
| 601 | */
|
---|
| 602 | /***************************************************************************/
|
---|
| 603 | /**
|
---|
| 604 | \brief Computes mass of a homogeneous sphere according to sphere density.
|
---|
| 605 |
|
---|
| 606 | \param[in] radius Radius of the sphere. <b>Range:</b> (0,inf)
|
---|
| 607 | \param[in] density Density of the sphere. <b>Range:</b> (0,inf)
|
---|
| 608 |
|
---|
| 609 | \return The mass of the sphere.
|
---|
| 610 |
|
---|
| 611 | <b>Platform:</b>
|
---|
| 612 | \li PC SW: Yes
|
---|
| 613 | \li PPU : Yes
|
---|
| 614 | \li PS3 : Yes
|
---|
| 615 | \li XB360: Yes
|
---|
| 616 | */
|
---|
| 617 | virtual NxReal NxComputeSphereMass (NxReal radius, NxReal density)=0;
|
---|
| 618 |
|
---|
| 619 | /**
|
---|
| 620 | \brief Computes density of a homogeneous sphere according to sphere mass.
|
---|
| 621 |
|
---|
| 622 | \param[in] radius Radius of the sphere. <b>Range:</b> (0,inf)
|
---|
| 623 | \param[in] mass Mass of the sphere. <b>Range:</b> (0,inf)
|
---|
| 624 |
|
---|
| 625 | \return The density of the sphere.
|
---|
| 626 |
|
---|
| 627 | <b>Platform:</b>
|
---|
| 628 | \li PC SW: Yes
|
---|
| 629 | \li PPU : Yes
|
---|
| 630 | \li PS3 : Yes
|
---|
| 631 | \li XB360: Yes
|
---|
| 632 | */
|
---|
| 633 | virtual NxReal NxComputeSphereDensity (NxReal radius, NxReal mass)=0;
|
---|
| 634 |
|
---|
| 635 | ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
---|
| 636 |
|
---|
| 637 | /**
|
---|
| 638 | \brief Computes mass of a homogeneous box according to box density.
|
---|
| 639 |
|
---|
| 640 | \param[in] extents The extents/radii of the box. <b>Range:</b> direction vector
|
---|
| 641 | \param[in] density The density of the box. <b>Range:</b> (0,inf)
|
---|
| 642 |
|
---|
| 643 | \return The mass of the box.
|
---|
| 644 |
|
---|
| 645 | <b>Platform:</b>
|
---|
| 646 | \li PC SW: Yes
|
---|
| 647 | \li PPU : Yes
|
---|
| 648 | \li PS3 : Yes
|
---|
| 649 | \li XB360: Yes
|
---|
| 650 | */
|
---|
| 651 | virtual NxReal NxComputeBoxMass (const NxVec3& extents, NxReal density)=0;
|
---|
| 652 |
|
---|
| 653 | /**
|
---|
| 654 | \brief Computes density of a homogeneous box according to box mass.
|
---|
| 655 |
|
---|
| 656 | \param[in] extents The extents/radii of the box. <b>Range:</b> direction vector
|
---|
| 657 | \param[in] mass The mass of the box. <b>Range:</b> (0,inf)
|
---|
| 658 |
|
---|
| 659 | \return The density of the box.
|
---|
| 660 |
|
---|
| 661 | <b>Platform:</b>
|
---|
| 662 | \li PC SW: Yes
|
---|
| 663 | \li PPU : Yes
|
---|
| 664 | \li PS3 : Yes
|
---|
| 665 | \li XB360: Yes
|
---|
| 666 | */
|
---|
| 667 | virtual NxReal NxComputeBoxDensity (const NxVec3& extents, NxReal mass)=0;
|
---|
| 668 |
|
---|
| 669 | ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
---|
| 670 |
|
---|
| 671 | /**
|
---|
| 672 | \brief Computes mass of a homogeneous ellipsoid according to ellipsoid density.
|
---|
| 673 |
|
---|
| 674 | \param[in] extents The extents/radii of the ellopsoid. <b>Range:</b> direction vector
|
---|
| 675 | \param[in] density The density of the ellipsoid. <b>Range:</b> (0,inf)
|
---|
| 676 |
|
---|
| 677 | \return The mass of the ellipsoid.
|
---|
| 678 |
|
---|
| 679 | <b>Platform:</b>
|
---|
| 680 | \li PC SW: Yes
|
---|
| 681 | \li PPU : Yes
|
---|
| 682 | \li PS3 : Yes
|
---|
| 683 | \li XB360: Yes
|
---|
| 684 | */
|
---|
| 685 | virtual NxReal NxComputeEllipsoidMass (const NxVec3& extents, NxReal density)=0;
|
---|
| 686 |
|
---|
| 687 | /**
|
---|
| 688 | \brief Computes density of a homogeneous ellipsoid according to ellipsoid mass.
|
---|
| 689 |
|
---|
| 690 | \param[in] extents The extents/radii of the ellopsoid. <b>Range:</b> direction vector
|
---|
| 691 | \param[in] mass The mass of the ellipsoid. <b>Range:</b> (0,inf)
|
---|
| 692 |
|
---|
| 693 | \return The density of the ellipsoid.
|
---|
| 694 |
|
---|
| 695 | <b>Platform:</b>
|
---|
| 696 | \li PC SW: Yes
|
---|
| 697 | \li PPU : Yes
|
---|
| 698 | \li PS3 : Yes
|
---|
| 699 | \li XB360: Yes
|
---|
| 700 | */
|
---|
| 701 | virtual NxReal NxComputeEllipsoidDensity (const NxVec3& extents, NxReal mass)=0;
|
---|
| 702 |
|
---|
| 703 | ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
---|
| 704 |
|
---|
| 705 | /**
|
---|
| 706 | \brief Computes mass of a homogeneous cylinder according to cylinder density.
|
---|
| 707 |
|
---|
| 708 | \param[in] radius The radius of the cylinder. <b>Range:</b> (0,inf)
|
---|
| 709 | \param[in] length The length. <b>Range:</b> (0,inf)
|
---|
| 710 | \param[in] density The density. <b>Range:</b> (0,inf)
|
---|
| 711 |
|
---|
| 712 | \return The mass.
|
---|
| 713 |
|
---|
| 714 | <b>Platform:</b>
|
---|
| 715 | \li PC SW: Yes
|
---|
| 716 | \li PPU : Yes
|
---|
| 717 | \li PS3 : Yes
|
---|
| 718 | \li XB360: Yes
|
---|
| 719 | */
|
---|
| 720 | virtual NxReal NxComputeCylinderMass (NxReal radius, NxReal length, NxReal density)=0;
|
---|
| 721 |
|
---|
| 722 | /**
|
---|
| 723 | \brief Computes density of a homogeneous cylinder according to cylinder mass.
|
---|
| 724 |
|
---|
| 725 | \param[in] radius The radius of the cylinder. <b>Range:</b> (0,inf)
|
---|
| 726 | \param[in] length The length. <b>Range:</b> (0,inf)
|
---|
| 727 | \param[in] mass The mass. <b>Range:</b> (0,inf)
|
---|
| 728 |
|
---|
| 729 | \return The density.
|
---|
| 730 |
|
---|
| 731 | <b>Platform:</b>
|
---|
| 732 | \li PC SW: Yes
|
---|
| 733 | \li PPU : Yes
|
---|
| 734 | \li PS3 : Yes
|
---|
| 735 | \li XB360: Yes
|
---|
| 736 | */
|
---|
| 737 | virtual NxReal NxComputeCylinderDensity (NxReal radius, NxReal length, NxReal mass)=0;
|
---|
| 738 |
|
---|
| 739 | ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
---|
| 740 |
|
---|
| 741 | /**
|
---|
| 742 | \brief Computes mass of a homogeneous cone according to cone density.
|
---|
| 743 |
|
---|
| 744 | \param[in] radius The radius of the cone. <b>Range:</b> (0,inf)
|
---|
| 745 | \param[in] length The length. <b>Range:</b> (0,inf)
|
---|
| 746 | \param[in] density The density. <b>Range:</b> (0,inf)
|
---|
| 747 |
|
---|
| 748 | \return The mass.
|
---|
| 749 |
|
---|
| 750 | <b>Platform:</b>
|
---|
| 751 | \li PC SW: Yes
|
---|
| 752 | \li PPU : Yes
|
---|
| 753 | \li PS3 : Yes
|
---|
| 754 | \li XB360: Yes
|
---|
| 755 | */
|
---|
| 756 | virtual NxReal NxComputeConeMass (NxReal radius, NxReal length, NxReal density)=0;
|
---|
| 757 |
|
---|
| 758 | /**
|
---|
| 759 | \brief Computes density of a homogeneous cone according to cone mass.
|
---|
| 760 |
|
---|
| 761 | \param[in] radius The radius of the cone. <b>Range:</b> (0,inf)
|
---|
| 762 | \param[in] length The length. <b>Range:</b> (0,inf)
|
---|
| 763 | \param[in] mass The mass. <b>Range:</b> (0,inf)
|
---|
| 764 |
|
---|
| 765 | \return The density.
|
---|
| 766 |
|
---|
| 767 | <b>Platform:</b>
|
---|
| 768 | \li PC SW: Yes
|
---|
| 769 | \li PPU : Yes
|
---|
| 770 | \li PS3 : Yes
|
---|
| 771 | \li XB360: Yes
|
---|
| 772 | */
|
---|
| 773 | virtual NxReal NxComputeConeDensity (NxReal radius, NxReal length, NxReal mass)=0;
|
---|
| 774 |
|
---|
| 775 | ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
|
---|
| 776 |
|
---|
| 777 | /**
|
---|
| 778 | \brief Computes diagonalized inertia tensor for a box.
|
---|
| 779 |
|
---|
| 780 | \param[out] diagInertia The diagonalised inertia tensor.
|
---|
| 781 | \param[in] mass The mass of the box. <b>Range:</b> (0,inf)
|
---|
| 782 | \param[in] xlength The width of the box. <b>Range:</b> (-inf,inf)
|
---|
| 783 | \param[in] ylength The height. <b>Range:</b> (-inf,inf)
|
---|
| 784 | \param[in] zlength The depth. <b>Range:</b> (-inf,inf)
|
---|
| 785 |
|
---|
| 786 | <b>Platform:</b>
|
---|
| 787 | \li PC SW: Yes
|
---|
| 788 | \li PPU : Yes
|
---|
| 789 | \li PS3 : Yes
|
---|
| 790 | \li XB360: Yes
|
---|
| 791 | */
|
---|
| 792 | virtual void NxComputeBoxInertiaTensor (NxVec3& diagInertia, NxReal mass, NxReal xlength, NxReal ylength, NxReal zlength)=0;
|
---|
| 793 |
|
---|
| 794 | /**
|
---|
| 795 | \brief Computes diagonalized inertia tensor for a sphere.
|
---|
| 796 |
|
---|
| 797 | \param[out] diagInertia The diagonalised inertia tensor.
|
---|
| 798 | \param[in] mass The mass. <b>Range:</b> (0,inf)
|
---|
| 799 | \param[in] radius The radius. <b>Range:</b> (-inf,inf)
|
---|
| 800 | \param[in] hollow True to treat the sphere as a hollow shell.
|
---|
| 801 |
|
---|
| 802 | <b>Platform:</b>
|
---|
| 803 | \li PC SW: Yes
|
---|
| 804 | \li PPU : Yes
|
---|
| 805 | \li PS3 : Yes
|
---|
| 806 | \li XB360: Yes
|
---|
| 807 | */
|
---|
| 808 | virtual void NxComputeSphereInertiaTensor(NxVec3& diagInertia, NxReal mass, NxReal radius, bool hollow)=0;
|
---|
| 809 |
|
---|
| 810 | /*
|
---|
| 811 | ** From NxJointDesc.h
|
---|
| 812 | */
|
---|
| 813 | /*************************************************************/
|
---|
| 814 | /**
|
---|
| 815 | \brief Set the local anchor stored in a #NxJointDesc from a global anchor point.
|
---|
| 816 |
|
---|
| 817 | \param dis Joint desc to update.
|
---|
| 818 | \param wsAnchor Anchor point in the global frame. <b>Range:</b> position vector
|
---|
| 819 |
|
---|
| 820 | <b>Platform:</b>
|
---|
| 821 | \li PC SW: Yes
|
---|
| 822 | \li PPU : Yes
|
---|
| 823 | \li PS3 : Yes
|
---|
| 824 | \li XB360: Yes
|
---|
| 825 |
|
---|
| 826 | @see NxJointDesc.setGlobalAnchor()
|
---|
| 827 | */
|
---|
| 828 | virtual void NxJointDesc_SetGlobalAnchor(NxJointDesc & dis, const NxVec3 & wsAnchor)=0;
|
---|
| 829 |
|
---|
| 830 | /**
|
---|
| 831 | \brief Set the local axis stored in a #NxJointDesc from a global axis.
|
---|
| 832 |
|
---|
| 833 | \param dis Joint desc to update.
|
---|
| 834 | \param wsAxis Axis in the global frame. <b>Range:</b> direction vector
|
---|
| 835 |
|
---|
| 836 | <b>Platform:</b>
|
---|
| 837 | \li PC SW: Yes
|
---|
| 838 | \li PPU : Yes
|
---|
| 839 | \li PS3 : Yes
|
---|
| 840 | \li XB360: Yes
|
---|
| 841 |
|
---|
| 842 | @see NxJointDesc.setGlobalAxis()
|
---|
| 843 | */
|
---|
| 844 | virtual void NxJointDesc_SetGlobalAxis(NxJointDesc & dis, const NxVec3 & wsAxis)=0;
|
---|
| 845 |
|
---|
| 846 |
|
---|
| 847 | /*
|
---|
| 848 | ** From NxIntersectionBoxBox.h
|
---|
| 849 | */
|
---|
| 850 | /******************************************************************/
|
---|
| 851 |
|
---|
| 852 | /**
|
---|
| 853 | \brief Boolean intersection test between two OBBs.
|
---|
| 854 |
|
---|
| 855 | Uses the separating axis theorem. Disabling 'full_test' only performs 6 axis tests out of 15.
|
---|
| 856 |
|
---|
| 857 | \param[in] extents0 Extents/radii of first box before transformation. <b>Range:</b> direction vector
|
---|
| 858 | \param[in] center0 Centre of first box. <b>Range:</b> position vector
|
---|
| 859 | \param[in] rotation0 Rotatation to apply to first box (before translation). <b>Range:</b> rotation matrix
|
---|
| 860 | \param[in] extents1 Extents/radii of second box before transformation <b>Range:</b> direction vector
|
---|
| 861 | \param[in] center1 Centre of second box. <b>Range:</b> position vector
|
---|
| 862 | \param[in] rotation1 Rotatation to apply to second box(before translation). <b>Range:</b> rotation matrix
|
---|
| 863 | \param[in] fullTest If false test only the first 6 axis.
|
---|
| 864 |
|
---|
| 865 | \return true on intersection
|
---|
| 866 |
|
---|
| 867 | <b>Platform:</b>
|
---|
| 868 | \li PC SW: Yes
|
---|
| 869 | \li PPU : Yes
|
---|
| 870 | \li PS3 : Yes
|
---|
| 871 | \li XB360: Yes
|
---|
| 872 | */
|
---|
| 873 | virtual bool NxBoxBoxIntersect( const NxVec3& extents0, const NxVec3& center0, const NxMat33& rotation0,
|
---|
| 874 | const NxVec3& extents1, const NxVec3& center1, const NxMat33& rotation1,
|
---|
| 875 | bool fullTest)=0;
|
---|
| 876 |
|
---|
| 877 |
|
---|
| 878 |
|
---|
| 879 | /*
|
---|
| 880 | \brief Boolean intersection test between a triangle and an AABB.
|
---|
| 881 |
|
---|
| 882 | \param[in] vertex0 First vertex of triangle. <b>Range:</b> position vector
|
---|
| 883 | \param[in] vertex1 Second Vertex of triangle. <b>Range:</b> position vector
|
---|
| 884 | \param[in] vertex2 Third Vertex of triangle. <b>Range:</b> position vector
|
---|
| 885 | \param[in] center Centre of Axis Aligned bounding box. <b>Range:</b> position vector
|
---|
| 886 | \param[in] extents Extents/radii of AABB. <b>Range:</b> direction vector
|
---|
| 887 |
|
---|
| 888 | \return true on intersection.
|
---|
| 889 |
|
---|
| 890 | <b>Platform:</b>
|
---|
| 891 | \li PC SW: Yes
|
---|
| 892 | \li PPU : Yes
|
---|
| 893 | \li PS3 : Yes
|
---|
| 894 | \li XB360: Yes
|
---|
| 895 | */
|
---|
| 896 | virtual bool NxTriBoxIntersect(const NxVec3 & vertex0, const NxVec3 & vertex1, const NxVec3 & vertex2, const NxVec3 & center, const NxVec3& extents)=0;
|
---|
| 897 |
|
---|
| 898 | /**
|
---|
| 899 | \brief Computes the separating axis between two OBBs.
|
---|
| 900 |
|
---|
| 901 | \param[in] extents0 Extents/radii of first box before transformation. <b>Range:</b> direction vector
|
---|
| 902 | \param[in] center0 Centre of box first box. <b>Range:</b> position vector
|
---|
| 903 | \param[in] rotation0 Rotatation to apply to first box (before translation). <b>Range:</b> rotation matrix
|
---|
| 904 | \param[in] extents1 Extents/radii of second box before transformation. <b>Range:</b> direction vector
|
---|
| 905 | \param[in] center1 Centre of second box. <b>Range:</b> position vector
|
---|
| 906 | \param[in] rotation1 Rotatation to apply to second box (before translation). <b>Range:</b> rotation matrix
|
---|
| 907 | \param[in] fullTest If false test only the first 6 axis.
|
---|
| 908 |
|
---|
| 909 | \return The separating axis or NX_SEP_AXIS_OVERLAP for an overlap.
|
---|
| 910 |
|
---|
| 911 | <b>Platform:</b>
|
---|
| 912 | \li PC SW: Yes
|
---|
| 913 | \li PPU : Yes
|
---|
| 914 | \li PS3 : Yes
|
---|
| 915 | \li XB360: Yes
|
---|
| 916 |
|
---|
| 917 | @see NxSepAxis
|
---|
| 918 | */
|
---|
| 919 | virtual NxSepAxis NxSeparatingAxis( const NxVec3& extents0, const NxVec3& center0, const NxMat33& rotation0,
|
---|
| 920 | const NxVec3& extents1, const NxVec3& center1, const NxMat33& rotation1,
|
---|
| 921 | bool fullTest=true)=0;
|
---|
| 922 |
|
---|
| 923 | /*
|
---|
| 924 | ** From NxIntersectionRayPlane.h
|
---|
| 925 | */
|
---|
| 926 | /*************************************************************************/
|
---|
| 927 |
|
---|
| 928 | /**
|
---|
| 929 | \brief Segment-plane intersection test.
|
---|
| 930 |
|
---|
| 931 | Returns distance between v1 and impact point, as well as impact point on plane.
|
---|
| 932 |
|
---|
| 933 | \param[in] v1 First vertex of segment. <b>Range:</b> position vector
|
---|
| 934 | \param[in] v2 Second vertex of segment. <b>Range:</b> position vector
|
---|
| 935 | \param[in] plane Plane to test against. <b>Range:</b> See #NxPlane
|
---|
| 936 | \param[out] dist Distance from v1 to impact point (so pointOnPlane=Normalize(v2-v1)*dist).
|
---|
| 937 | \param[out] pointOnPlane Imapct point on plane.
|
---|
| 938 |
|
---|
| 939 | <b>Platform:</b>
|
---|
| 940 | \li PC SW: Yes
|
---|
| 941 | \li PPU : Yes
|
---|
| 942 | \li PS3 : Yes
|
---|
| 943 | \li XB360: Yes
|
---|
| 944 | */
|
---|
| 945 | virtual void NX_CALL_CONV NxSegmentPlaneIntersect(const NxVec3& v1, const NxVec3& v2,
|
---|
| 946 | const NxPlane& plane, NxReal& dist, NxVec3& pointOnPlane)=0;
|
---|
| 947 |
|
---|
| 948 | /**
|
---|
| 949 | \brief Ray-plane intersection test.
|
---|
| 950 |
|
---|
| 951 | Returns distance between ray origin and impact point, as well as impact point on plane.
|
---|
| 952 |
|
---|
| 953 | \param[in] ray Ray to test against plane. <b>Range:</b> See #NxRay
|
---|
| 954 | \param[in] plane Plane to test. <b>Range:</b> See #NxPlane
|
---|
| 955 | \param[out] dist Distance along ray to impact point (so pointOnPlane=Normalize(v2-v1)*dist).
|
---|
| 956 | \param[out] pointOnPlane Impact point on the plane.
|
---|
| 957 |
|
---|
| 958 | \return True on intersection.
|
---|
| 959 |
|
---|
| 960 | <b>Platform:</b>
|
---|
| 961 | \li PC SW: Yes
|
---|
| 962 | \li PPU : Yes
|
---|
| 963 | \li PS3 : Yes
|
---|
| 964 | \li XB360: Yes
|
---|
| 965 | */
|
---|
| 966 | virtual bool NX_CALL_CONV NxRayPlaneIntersect(const NxRay& ray, const NxPlane& plane,
|
---|
| 967 | NxReal& dist, NxVec3& pointOnPlane)=0;
|
---|
| 968 |
|
---|
| 969 | /*
|
---|
| 970 | ** From NxIntersectionRaySphere.h
|
---|
| 971 | */
|
---|
| 972 | /**************************************************************************/
|
---|
| 973 |
|
---|
| 974 | /**
|
---|
| 975 | \brief Ray-sphere intersection test.
|
---|
| 976 |
|
---|
| 977 | Returns true if the ray intersects the sphere, and the impact point if needed.
|
---|
| 978 |
|
---|
| 979 | \param[in] origin Origin of the ray. <b>Range:</b> position vector
|
---|
| 980 | \param[in] dir Direction of the ray. <b>Range:</b> direction vector
|
---|
| 981 | \param[in] center Center of the sphere. <b>Range:</b> position vector
|
---|
| 982 | \param[in] radius Sphere radius. <b>Range:</b> (0,inf)
|
---|
| 983 | \param[out] coord Point of intersection between ray and sphere.
|
---|
| 984 |
|
---|
| 985 | \return True on intersection.
|
---|
| 986 |
|
---|
| 987 | <b>Platform:</b>
|
---|
| 988 | \li PC SW: Yes
|
---|
| 989 | \li PPU : Yes
|
---|
| 990 | \li PS3 : Yes
|
---|
| 991 | \li XB360: Yes
|
---|
| 992 | */
|
---|
| 993 | virtual bool NxRaySphereIntersect(const NxVec3& origin, const NxVec3& dir, const NxVec3& center, NxReal radius, NxVec3* coord=NULL)=0;
|
---|
| 994 |
|
---|
| 995 | /*
|
---|
| 996 | ** From NxIntersectionSegmentBox
|
---|
| 997 | */
|
---|
| 998 | /**************************************************************************/
|
---|
| 999 |
|
---|
| 1000 | /**
|
---|
| 1001 | \brief Segment-AABB intersection test.
|
---|
| 1002 |
|
---|
| 1003 | Also computes intersection point.
|
---|
| 1004 |
|
---|
| 1005 | \param[in] p1 First point of line segment. <b>Range:</b> position vector
|
---|
| 1006 | \param[in] p2 Second point of line segment. <b>Range:</b> position vector
|
---|
| 1007 | \param[in] bbox_min Minimum extent of AABB. <b>Range:</b> position vector
|
---|
| 1008 | \param[in] bbox_max Max extent of AABB. <b>Range:</b> position vector
|
---|
| 1009 | \param[out] intercept Intersection point between segment and box.
|
---|
| 1010 |
|
---|
| 1011 | \return True if the segment and AABB intersect.
|
---|
| 1012 |
|
---|
| 1013 | <b>Platform:</b>
|
---|
| 1014 | \li PC SW: Yes
|
---|
| 1015 | \li PPU : Yes
|
---|
| 1016 | \li PS3 : Yes
|
---|
| 1017 | \li XB360: Yes
|
---|
| 1018 | */
|
---|
| 1019 | virtual bool NxSegmentBoxIntersect(const NxVec3& p1, const NxVec3& p2,
|
---|
| 1020 | const NxVec3& bbox_min,const NxVec3& bbox_max, NxVec3& intercept)=0;
|
---|
| 1021 |
|
---|
| 1022 | /**
|
---|
| 1023 | \brief Ray-AABB intersection test.
|
---|
| 1024 |
|
---|
| 1025 | Also computes intersection point.
|
---|
| 1026 |
|
---|
| 1027 | \param[in] min Minimum extent of AABB. <b>Range:</b> position vector
|
---|
| 1028 | \param[in] max Maximum extent of AABB. <b>Range:</b> position vector
|
---|
| 1029 | \param[in] origin Origin of ray. <b>Range:</b> position vector
|
---|
| 1030 | \param[in] dir Direction of ray. <b>Range:</b> direction vector
|
---|
| 1031 | \param[out] coord Intersection point.
|
---|
| 1032 |
|
---|
| 1033 | \return True if the ray and AABB intersect.
|
---|
| 1034 |
|
---|
| 1035 | <b>Platform:</b>
|
---|
| 1036 | \li PC SW: Yes
|
---|
| 1037 | \li PPU : Yes
|
---|
| 1038 | \li PS3 : Yes
|
---|
| 1039 | \li XB360: Yes
|
---|
| 1040 | */
|
---|
| 1041 | virtual bool NxRayAABBIntersect(const NxVec3& min, const NxVec3& max,
|
---|
| 1042 | const NxVec3& origin, const NxVec3& dir, NxVec3& coord)=0;
|
---|
| 1043 |
|
---|
| 1044 | /**
|
---|
| 1045 | \brief Extended Ray-AABB intersection test.
|
---|
| 1046 |
|
---|
| 1047 | Also computes intersection point, and parameter and returns contacted box axis index+1. Rays starting from inside the box are ignored.
|
---|
| 1048 |
|
---|
| 1049 |
|
---|
| 1050 | \param[in] min Minimum extent of AABB. <b>Range:</b> position vector
|
---|
| 1051 | \param[in] max Maximum extent of AABB. <b>Range:</b> position vector
|
---|
| 1052 | \param[in] origin Origin of ray. <b>Range:</b> position vector
|
---|
| 1053 | \param[in] dir Direction of ray. <b>Range:</b> direction vector
|
---|
| 1054 | \param[out] coord Intersection point.
|
---|
| 1055 | \param[out] t Ray paraemeter corresponding to contact point.
|
---|
| 1056 |
|
---|
| 1057 | \return Box axis index.
|
---|
| 1058 |
|
---|
| 1059 | <b>Platform:</b>
|
---|
| 1060 | \li PC SW: Yes
|
---|
| 1061 | \li PPU : Yes
|
---|
| 1062 | \li PS3 : Yes
|
---|
| 1063 | \li XB360: Yes
|
---|
| 1064 | */
|
---|
| 1065 | virtual NxU32 NxRayAABBIntersect2(const NxVec3& min, const NxVec3& max,
|
---|
| 1066 | const NxVec3& origin, const NxVec3& dir, NxVec3& coord, NxReal & t)=0;
|
---|
| 1067 |
|
---|
| 1068 | /**
|
---|
| 1069 | \brief Boolean segment-OBB intersection test.
|
---|
| 1070 |
|
---|
| 1071 | Based on separating axis theorem.
|
---|
| 1072 |
|
---|
| 1073 | \param[in] p0 First point of line segment. <b>Range:</b> position vector
|
---|
| 1074 | \param[in] p1 Second point of line segment. <b>Range:</b> position vector
|
---|
| 1075 | \param[in] center Centre point of OBB. <b>Range:</b> position vector
|
---|
| 1076 | \param[in] extents Extent/Radii of the OBB. <b>Range:</b> direction vector
|
---|
| 1077 | \param[in] rot Rotation of the OBB(applied before translation). <b>Range:</b> rotation matrix
|
---|
| 1078 |
|
---|
| 1079 | \return true if the segment and OBB intersect.
|
---|
| 1080 |
|
---|
| 1081 | <b>Platform:</b>
|
---|
| 1082 | \li PC SW: Yes
|
---|
| 1083 | \li PPU : Yes
|
---|
| 1084 | \li PS3 : Yes
|
---|
| 1085 | \li XB360: Yes
|
---|
| 1086 | */
|
---|
| 1087 | virtual bool NxSegmentOBBIntersect(const NxVec3& p0, const NxVec3& p1,
|
---|
| 1088 | const NxVec3& center, const NxVec3& extents, const NxMat33& rot)=0;
|
---|
| 1089 |
|
---|
| 1090 | /**
|
---|
| 1091 | \brief Boolean segment-AABB intersection test.
|
---|
| 1092 |
|
---|
| 1093 | Based on separating axis theorem.
|
---|
| 1094 |
|
---|
| 1095 | \param[in] p0 First point of line segment. <b>Range:</b> position vector
|
---|
| 1096 | \param[in] p1 Second point of line segment. <b>Range:</b> position vector
|
---|
| 1097 | \param[in] min Minimum extent of AABB. <b>Range:</b> position vector
|
---|
| 1098 | \param[in] max Maximum extent of AABB. <b>Range:</b> position vector
|
---|
| 1099 |
|
---|
| 1100 | \return True if the segment and AABB intersect.
|
---|
| 1101 |
|
---|
| 1102 | <b>Platform:</b>
|
---|
| 1103 | \li PC SW: Yes
|
---|
| 1104 | \li PPU : Yes
|
---|
| 1105 | \li PS3 : Yes
|
---|
| 1106 | \li XB360: Yes
|
---|
| 1107 | */
|
---|
| 1108 | virtual bool NxSegmentAABBIntersect(const NxVec3& p0, const NxVec3& p1,
|
---|
| 1109 | const NxVec3& min, const NxVec3& max)=0;
|
---|
| 1110 |
|
---|
| 1111 | /**
|
---|
| 1112 | \brief Boolean ray-OBB intersection test.
|
---|
| 1113 |
|
---|
| 1114 | Based on separating axis theorem.
|
---|
| 1115 |
|
---|
| 1116 | \param[in] ray Ray to test against OBB. <b>Range:</b> See #NxRay
|
---|
| 1117 | \param[in] center Centre pointy of OBB. <b>Range:</b> position vector
|
---|
| 1118 | \param[in] extents Extent/Radii of the OBB. <b>Range:</b> direction vector
|
---|
| 1119 | \param[in] rot Rotation of the OBB(applied before translation). <b>Range:</b> rotation matrix
|
---|
| 1120 |
|
---|
| 1121 | \return True on intersection.
|
---|
| 1122 |
|
---|
| 1123 | <b>Platform:</b>
|
---|
| 1124 | \li PC SW: Yes
|
---|
| 1125 | \li PPU : Yes
|
---|
| 1126 | \li PS3 : Yes
|
---|
| 1127 | \li XB360: Yes
|
---|
| 1128 | */
|
---|
| 1129 | virtual bool NxRayOBBIntersect(const NxRay& ray, const NxVec3& center,
|
---|
| 1130 | const NxVec3& extents, const NxMat33& rot)=0;
|
---|
| 1131 |
|
---|
| 1132 | /*
|
---|
| 1133 | ** From NxIntersectionSegmentCapsule.h
|
---|
| 1134 | */
|
---|
| 1135 | /*************************************************************************/
|
---|
| 1136 |
|
---|
| 1137 | /**
|
---|
| 1138 | \brief Ray-capsule intersection test.
|
---|
| 1139 |
|
---|
| 1140 | Returns number of intersection points (0,1 or 2) and corresponding parameters along the ray.
|
---|
| 1141 |
|
---|
| 1142 | \param[in] origin Origin of ray. <b>Range:</b> position vector
|
---|
| 1143 | \param[in] dir Direction of ray. <b>Range:</b> direction vector
|
---|
| 1144 | \param[in] capsule Capsule to test. <b>Range:</b> see #NxCapsule
|
---|
| 1145 | \param[out] t Parameter of intersection on the ray.
|
---|
| 1146 |
|
---|
| 1147 | \return Number of intersection points.
|
---|
| 1148 |
|
---|
| 1149 | <b>Platform:</b>
|
---|
| 1150 | \li PC SW: Yes
|
---|
| 1151 | \li PPU : Yes
|
---|
| 1152 | \li PS3 : Yes
|
---|
| 1153 | \li XB360: Yes
|
---|
| 1154 |
|
---|
| 1155 | @see NxRay NxCapsule
|
---|
| 1156 | */
|
---|
| 1157 | virtual NxU32 NxRayCapsuleIntersect(const NxVec3& origin, const NxVec3& dir,
|
---|
| 1158 | const NxCapsule& capsule, NxReal t[2])=0;
|
---|
| 1159 |
|
---|
| 1160 | /*
|
---|
| 1161 | ** From NxIntersectionSweptSpheres.h
|
---|
| 1162 | */
|
---|
| 1163 | /***************************************************************************/
|
---|
| 1164 |
|
---|
| 1165 | /**
|
---|
| 1166 | \brief Sphere-sphere sweep test.
|
---|
| 1167 |
|
---|
| 1168 | Returns true if spheres intersect during their linear motion along provided velocity vectors.
|
---|
| 1169 |
|
---|
| 1170 | \param[in] sphere0 First sphere to test. <b>Range:</b> See #NxSphere
|
---|
| 1171 | \param[in] velocity0 Velocity of the first sphere(ie the vector to sweep the sphere along). <b>Range:</b> velocity/direction vector
|
---|
| 1172 | \param[in] sphere1 Second sphere to test <b>Range:</b> See #NxSphere
|
---|
| 1173 | \param[in] velocity1 Velocity of the second sphere(ie the vector to sweep the sphere along). <b>Range:</b> velocity/direction vector
|
---|
| 1174 |
|
---|
| 1175 | \return True if spheres intersect.
|
---|
| 1176 |
|
---|
| 1177 | <b>Platform:</b>
|
---|
| 1178 | \li PC SW: Yes
|
---|
| 1179 | \li PPU : Yes
|
---|
| 1180 | \li PS3 : Yes
|
---|
| 1181 | \li XB360: Yes
|
---|
| 1182 |
|
---|
| 1183 | @see NxSphere
|
---|
| 1184 | */
|
---|
| 1185 | virtual bool NxSweptSpheresIntersect( const NxSphere& sphere0, const NxVec3& velocity0,
|
---|
| 1186 | const NxSphere& sphere1, const NxVec3& velocity1)=0;
|
---|
| 1187 |
|
---|
| 1188 | /*
|
---|
| 1189 | ** From NxRayTryIntersect.h
|
---|
| 1190 | */
|
---|
| 1191 |
|
---|
| 1192 | /**
|
---|
| 1193 | \brief Ray-triangle intersection test.
|
---|
| 1194 |
|
---|
| 1195 | Returns impact distance (t) as well as barycentric coordinates (u,v) of impact point.
|
---|
| 1196 | Use NxComputeBarycentricPoint() in Foundation to compute the impact point from the barycentric coordinates.
|
---|
| 1197 | The test performs back face culling or not according to 'cull'.
|
---|
| 1198 |
|
---|
| 1199 | \param[in] orig Origin of the ray. <b>Range:</b> position vector
|
---|
| 1200 | \param[in] dir Direction of the ray. <b>Range:</b> direction vector
|
---|
| 1201 | \param[in] vert0 First vertex of triangle. <b>Range:</b> position vector
|
---|
| 1202 | \param[in] vert1 Second vertex of triangle. <b>Range:</b> position vector
|
---|
| 1203 | \param[in] vert2 Third vertex of triangle. <b>Range:</b> position vector
|
---|
| 1204 | \param[out] t Distance along the ray from the origin to the impact point.
|
---|
| 1205 | \param[out] u Barycentric coordinate.
|
---|
| 1206 | \param[out] v Barycentric coordinate.
|
---|
| 1207 | \param[in] cull Cull backfaces.
|
---|
| 1208 |
|
---|
| 1209 | <b>Platform:</b>
|
---|
| 1210 | \li PC SW: Yes
|
---|
| 1211 | \li PPU : Yes
|
---|
| 1212 | \li PS3 : Yes
|
---|
| 1213 | \li XB360: Yes
|
---|
| 1214 | */
|
---|
| 1215 | virtual bool NxRayTriIntersect(const NxVec3& orig, const NxVec3& dir, const NxVec3& vert0, const NxVec3& vert1, const NxVec3& vert2, float& t, float& u, float& v, bool cull)=0;
|
---|
| 1216 |
|
---|
| 1217 | /***************************************************************/
|
---|
| 1218 | /*
|
---|
| 1219 | ** From NxBuildSmoothNormals.h
|
---|
| 1220 | /**
|
---|
| 1221 | \brief Builds smooth vertex normals over a mesh.
|
---|
| 1222 |
|
---|
| 1223 | - "smooth" because smoothing groups are not supported here
|
---|
| 1224 | - takes angles into account for correct cube normals computation
|
---|
| 1225 |
|
---|
| 1226 | To use 32bit indices pass a pointer in dFaces and set wFaces to zero. Alternativly pass a pointer to
|
---|
| 1227 | wFaces and set dFaces to zero.
|
---|
| 1228 |
|
---|
| 1229 | \param[in] nbTris Number of triangles
|
---|
| 1230 | \param[in] nbVerts Number of vertices
|
---|
| 1231 | \param[in] verts Array of vertices
|
---|
| 1232 | \param[in] dFaces Array of dword triangle indices, or null
|
---|
| 1233 | \param[in] wFaces Array of word triangle indices, or null
|
---|
| 1234 | \param[out] normals Array of computed normals (assumes nbVerts vectors)
|
---|
| 1235 | \param[in] flip Flips the normals or not
|
---|
| 1236 |
|
---|
| 1237 | \return True on success.
|
---|
| 1238 |
|
---|
| 1239 | <b>Platform:</b>
|
---|
| 1240 | \li PC SW: Yes
|
---|
| 1241 | \li PPU : Yes
|
---|
| 1242 | \li PS3 : Yes
|
---|
| 1243 | \li XB360: Yes
|
---|
| 1244 | */
|
---|
| 1245 | virtual bool NxBuildSmoothNormals(
|
---|
| 1246 | NxU32 nbTris,
|
---|
| 1247 | NxU32 nbVerts,
|
---|
| 1248 | const NxVec3* verts,
|
---|
| 1249 | const NxU32* dFaces,
|
---|
| 1250 | const NxU16* wFaces,
|
---|
| 1251 | NxVec3* normals,
|
---|
| 1252 | bool flip=false
|
---|
| 1253 | )=0;
|
---|
| 1254 |
|
---|
| 1255 | };
|
---|
| 1256 | #endif
|
---|
| 1257 |
|
---|
| 1258 | //AGCOPYRIGHTBEGIN
|
---|
| 1259 | ///////////////////////////////////////////////////////////////////////////
|
---|
| 1260 | // Copyright © 2005 AGEIA Technologies.
|
---|
| 1261 | // All rights reserved. www.ageia.com
|
---|
| 1262 | ///////////////////////////////////////////////////////////////////////////
|
---|
| 1263 | //AGCOPYRIGHTEND
|
---|
| 1264 |
|
---|