| 1 | // |
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| 2 | // Redistribution and use in source and binary forms, with or without |
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| 3 | // modification, are permitted provided that the following conditions |
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| 4 | // are met: |
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| 5 | // * Redistributions of source code must retain the above copyright |
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| 6 | // notice, this list of conditions and the following disclaimer. |
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| 7 | // * Redistributions in binary form must reproduce the above copyright |
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| 8 | // notice, this list of conditions and the following disclaimer in the |
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| 9 | // documentation and/or other materials provided with the distribution. |
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| 10 | // * Neither the name of NVIDIA CORPORATION nor the names of its |
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| 11 | // contributors may be used to endorse or promote products derived |
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| 12 | // from this software without specific prior written permission. |
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| 13 | // |
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| 14 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY |
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| 15 | // EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 16 | // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR |
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| 17 | // PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR |
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| 18 | // CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, |
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| 19 | // EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, |
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| 20 | // PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR |
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| 21 | // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY |
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| 22 | // OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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| 23 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
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| 24 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
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| 25 | // |
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| 26 | // Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved. |
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| 27 | // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved. |
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| 28 | // Copyright (c) 2001-2004 NovodeX AG. All rights reserved. |
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| 29 | |
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| 30 | #ifndef GU_DISTANCE_SEGMENT_SEGMENT_H |
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| 31 | #define GU_DISTANCE_SEGMENT_SEGMENT_H |
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| 32 | |
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| 33 | #include "common/PxPhysXCommonConfig.h" |
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| 34 | #include "GuSegment.h" |
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| 35 | |
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| 36 | namespace physx |
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| 37 | { |
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| 38 | namespace Gu |
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| 39 | { |
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| 40 | // This version fixes accuracy issues (e.g. TTP 4617), but needs to do 2 square roots in order |
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| 41 | // to find the normalized direction and length of the segments, and then |
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| 42 | // a division in order to renormalize the output |
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| 43 | |
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| 44 | PX_PHYSX_COMMON_API PxReal distanceSegmentSegmentSquared( const PxVec3& origin0, const PxVec3& dir0, PxReal extent0, |
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| 45 | const PxVec3& origin1, const PxVec3& dir1, PxReal extent1, |
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| 46 | PxReal* s=NULL, PxReal* t=NULL); |
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| 47 | |
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| 48 | PX_PHYSX_COMMON_API PxReal distanceSegmentSegmentSquared( const PxVec3& origin0, const PxVec3& extent0, |
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| 49 | const PxVec3& origin1, const PxVec3& extent1, |
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| 50 | PxReal* s=NULL, PxReal* t=NULL); |
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| 51 | |
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| 52 | PX_FORCE_INLINE PxReal distanceSegmentSegmentSquared( const Gu::Segment& segment0, |
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| 53 | const Gu::Segment& segment1, |
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| 54 | PxReal* s=NULL, PxReal* t=NULL) |
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| 55 | { |
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| 56 | return distanceSegmentSegmentSquared( origin0: segment0.p0, extent0: segment0.computeDirection(), |
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| 57 | origin1: segment1.p0, extent1: segment1.computeDirection(), |
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| 58 | s, t); |
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| 59 | } |
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| 60 | |
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| 61 | } // namespace Gu |
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| 62 | |
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| 63 | } |
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| 64 | |
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| 65 | #endif |
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| 66 | |
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