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++ // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
++ // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
++ // SPDX-FileCopyrightText: Copyright (c) 2008-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
++ // SPDX-License-Identifier: Apache-2.0
++
++ #ifndef PX_BOUNDS3_H
++ #define PX_BOUNDS3_H
++
++ #include "foundation/PxTransform.h"
++ #include "foundation/PxMat33.h"
++
++ #if !PX_DOXYGEN
++ namespace physx
++ {
++ #endif
++
++ // maximum extents defined such that floating point exceptions are avoided for standard use cases
++ #define PX_MAX_BOUNDS_EXTENTS (PX_MAX_REAL * 0.25f)
++
++ /**
++ \brief Class representing 3D range or axis aligned bounding box.
++
++ Stored as minimum and maximum extent corners. Alternate representation
++ would be center and dimensions.
++ May be empty or nonempty. For nonempty bounds, minimum <= maximum has to hold for all axes.
++ Empty bounds have to be represented as minimum = PX_MAX_BOUNDS_EXTENTS and maximum = -PX_MAX_BOUNDS_EXTENTS for all
++ axes.
++ All other representations are invalid and the behavior is undefined.
++ */
++ class PxBounds3
++ {
++ public:
++ /**
++ \brief Default constructor, not performing any initialization for performance reason.
++ \remark Use empty() function below to construct empty bounds.
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxBounds3()
++ {
++ }
++
++ /**
++ \brief Construct from two bounding points
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxBounds3(const PxVec3& minimum, const PxVec3& maximum);
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE void operator=(const PxBounds3& other)
++ {
++ minimum = other.minimum;
++ maximum = other.maximum;
++ }
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxBounds3(const PxBounds3& other)
++ {
++ minimum = other.minimum;
++ maximum = other.maximum;
++ }
++
++ /**
++ \brief Return empty bounds.
++ */
++ static PX_CUDA_CALLABLE PX_FORCE_INLINE PxBounds3 empty();
++
++ /**
++ \brief returns the AABB containing v0 and v1.
++ \param v0 first point included in the AABB.
++ \param v1 second point included in the AABB.
++ */
++ static PX_CUDA_CALLABLE PX_FORCE_INLINE PxBounds3 boundsOfPoints(const PxVec3& v0, const PxVec3& v1);
++
++ /**
++ \brief returns the AABB from center and extents vectors.
++ \param center Center vector
++ \param extent Extents vector
++ */
++ static PX_CUDA_CALLABLE PX_FORCE_INLINE PxBounds3 centerExtents(const PxVec3& center, const PxVec3& extent);
++
++ /**
++ \brief Construct from center, extent, and (not necessarily orthogonal) basis
++ */
++ static PX_CUDA_CALLABLE PX_INLINE PxBounds3 basisExtent(const PxVec3& center, const PxMat33& basis, const PxVec3& extent);
++
++ /**
++ \brief Construct from pose and extent
++ */
++ static PX_CUDA_CALLABLE PX_INLINE PxBounds3 poseExtent(const PxTransform& pose, const PxVec3& extent);
++
++ /**
++ \brief gets the transformed bounds of the passed AABB (resulting in a bigger AABB).
++
++ This version is safe to call for empty bounds.
++
++ \param[in] matrix Transform to apply, can contain scaling as well
++ \param[in] bounds The bounds to transform.
++ */
++ static PX_CUDA_CALLABLE PX_INLINE PxBounds3 transformSafe(const PxMat33& matrix, const PxBounds3& bounds);
++
++ /**
++ \brief gets the transformed bounds of the passed AABB (resulting in a bigger AABB).
++
++ Calling this method for empty bounds leads to undefined behavior. Use #transformSafe() instead.
++
++ \param[in] matrix Transform to apply, can contain scaling as well
++ \param[in] bounds The bounds to transform.
++ */
++ static PX_CUDA_CALLABLE PX_INLINE PxBounds3 transformFast(const PxMat33& matrix, const PxBounds3& bounds);
++
++ /**
++ \brief gets the transformed bounds of the passed AABB (resulting in a bigger AABB).
++
++ This version is safe to call for empty bounds.
++
++ \param[in] transform Transform to apply, can contain scaling as well
++ \param[in] bounds The bounds to transform.
++ */
++ static PX_CUDA_CALLABLE PX_INLINE PxBounds3 transformSafe(const PxTransform& transform, const PxBounds3& bounds);
++
++ /**
++ \brief gets the transformed bounds of the passed AABB (resulting in a bigger AABB).
++
++ Calling this method for empty bounds leads to undefined behavior. Use #transformSafe() instead.
++
++ \param[in] transform Transform to apply, can contain scaling as well
++ \param[in] bounds The bounds to transform.
++ */
++ static PX_CUDA_CALLABLE PX_INLINE PxBounds3 transformFast(const PxTransform& transform, const PxBounds3& bounds);
++
++ /**
++ \brief Sets empty to true
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE void setEmpty();
++
++ /**
++ \brief Sets the bounds to maximum size [-PX_MAX_BOUNDS_EXTENTS, PX_MAX_BOUNDS_EXTENTS].
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE void setMaximal();
++
++ /**
++ \brief expands the volume to include v
++ \param v Point to expand to.
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE void include(const PxVec3& v);
++
++ /**
++ \brief expands the volume to include b.
++ \param b Bounds to perform union with.
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE void include(const PxBounds3& b);
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE bool isEmpty() const;
++
++ /**
++ \brief indicates whether the intersection of this and b is empty or not.
++ \param b Bounds to test for intersection.
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE bool intersects(const PxBounds3& b) const;
++
++ /**
++ \brief computes the 1D-intersection between two AABBs, on a given axis.
++ \param a the other AABB
++ \param axis the axis (0, 1, 2)
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE bool intersects1D(const PxBounds3& a, uint32_t axis) const;
++
++ /**
++ \brief indicates if these bounds contain v.
++ \param v Point to test against bounds.
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE bool contains(const PxVec3& v) const;
++
++ /**
++ \brief checks a box is inside another box.
++ \param box the other AABB
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE bool isInside(const PxBounds3& box) const;
++
++ /**
++ \brief returns the center of this axis aligned box.
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 getCenter() const;
++
++ /**
++ \brief get component of the box's center along a given axis
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE float getCenter(uint32_t axis) const;
++
++ /**
++ \brief get component of the box's extents along a given axis
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE float getExtents(uint32_t axis) const;
++
++ /**
++ \brief returns the dimensions (width/height/depth) of this axis aligned box.
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 getDimensions() const;
++
++ /**
++ \brief returns the extents, which are half of the width/height/depth.
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 getExtents() const;
++
++ /**
++ \brief scales the AABB.
++
++ This version is safe to call for empty bounds.
++
++ \param scale Factor to scale AABB by.
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE void scaleSafe(float scale);
++
++ /**
++ \brief scales the AABB.
++
++ Calling this method for empty bounds leads to undefined behavior. Use #scaleSafe() instead.
++
++ \param scale Factor to scale AABB by.
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE void scaleFast(float scale);
++
++ /**
++ fattens the AABB in all 3 dimensions by the given distance.
++
++ This version is safe to call for empty bounds.
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE void fattenSafe(float distance);
++
++ /**
++ fattens the AABB in all 3 dimensions by the given distance.
++
++ Calling this method for empty bounds leads to undefined behavior. Use #fattenSafe() instead.
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE void fattenFast(float distance);
++
++ /**
++ checks that the AABB values are not NaN
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE bool isFinite() const;
++
++ /**
++ checks that the AABB values describe a valid configuration.
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE bool isValid() const;
++
++ /**
++ Finds the closest point in the box to the point p. If p is contained, this will be p, otherwise it
++ will be the closest point on the surface of the box.
++ */
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 closestPoint(const PxVec3& p) const;
++
++ PxVec3 minimum, maximum;
++ };
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxBounds3::PxBounds3(const PxVec3& minimum_, const PxVec3& maximum_)
++ : minimum(minimum_), maximum(maximum_)
++ {
++ }
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxBounds3 PxBounds3::empty()
++ {
++ return PxBounds3(PxVec3(PX_MAX_BOUNDS_EXTENTS), PxVec3(-PX_MAX_BOUNDS_EXTENTS));
++ }
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE bool PxBounds3::isFinite() const
++ {
++ return minimum.isFinite() && maximum.isFinite();
++ }
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxBounds3 PxBounds3::boundsOfPoints(const PxVec3& v0, const PxVec3& v1)
++ {
++ return PxBounds3(v0.minimum(v1), v0.maximum(v1));
++ }
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxBounds3 PxBounds3::centerExtents(const PxVec3& center, const PxVec3& extent)
++ {
++ return PxBounds3(center - extent, center + extent);
++ }
++
++ PX_CUDA_CALLABLE PX_INLINE PxBounds3
++ PxBounds3::basisExtent(const PxVec3& center, const PxMat33& basis, const PxVec3& extent)
++ {
++ // extended basis vectors
++ const PxVec3 c0 = basis.column0 * extent.x;
++ const PxVec3 c1 = basis.column1 * extent.y;
++ const PxVec3 c2 = basis.column2 * extent.z;
++
++ // find combination of base vectors that produces max. distance for each component = sum of abs()
++ const PxVec3 w( PxAbs(c0.x) + PxAbs(c1.x) + PxAbs(c2.x),
++ PxAbs(c0.y) + PxAbs(c1.y) + PxAbs(c2.y),
++ PxAbs(c0.z) + PxAbs(c1.z) + PxAbs(c2.z));
++
++ return PxBounds3(center - w, center + w);
++ }
++
++ PX_CUDA_CALLABLE PX_INLINE PxBounds3 PxBounds3::poseExtent(const PxTransform& pose, const PxVec3& extent)
++ {
++ return basisExtent(pose.p, PxMat33(pose.q), extent);
++ }
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE void PxBounds3::setEmpty()
++ {
++ minimum = PxVec3(PX_MAX_BOUNDS_EXTENTS);
++ maximum = PxVec3(-PX_MAX_BOUNDS_EXTENTS);
++ }
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE void PxBounds3::setMaximal()
++ {
++ minimum = PxVec3(-PX_MAX_BOUNDS_EXTENTS);
++ maximum = PxVec3(PX_MAX_BOUNDS_EXTENTS);
++ }
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE void PxBounds3::include(const PxVec3& v)
++ {
++ PX_ASSERT(isValid());
++ minimum = minimum.minimum(v);
++ maximum = maximum.maximum(v);
++ }
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE void PxBounds3::include(const PxBounds3& b)
++ {
++ PX_ASSERT(isValid());
++ minimum = minimum.minimum(b.minimum);
++ maximum = maximum.maximum(b.maximum);
++ }
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE bool PxBounds3::isEmpty() const
++ {
++ PX_ASSERT(isValid());
++ return minimum.x > maximum.x;
++ }
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE bool PxBounds3::intersects(const PxBounds3& b) const
++ {
++ PX_ASSERT(isValid() && b.isValid());
++ return !(b.minimum.x > maximum.x || minimum.x > b.maximum.x || b.minimum.y > maximum.y || minimum.y > b.maximum.y ||
++ b.minimum.z > maximum.z || minimum.z > b.maximum.z);
++ }
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE bool PxBounds3::intersects1D(const PxBounds3& a, uint32_t axis) const
++ {
++ PX_ASSERT(isValid() && a.isValid());
++ return maximum[axis] >= a.minimum[axis] && a.maximum[axis] >= minimum[axis];
++ }
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE bool PxBounds3::contains(const PxVec3& v) const
++ {
++ PX_ASSERT(isValid());
++
++ return !(v.x < minimum.x || v.x > maximum.x || v.y < minimum.y || v.y > maximum.y || v.z < minimum.z ||
++ v.z > maximum.z);
++ }
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE bool PxBounds3::isInside(const PxBounds3& box) const
++ {
++ PX_ASSERT(isValid() && box.isValid());
++ if(box.minimum.x > minimum.x)
++ return false;
++ if(box.minimum.y > minimum.y)
++ return false;
++ if(box.minimum.z > minimum.z)
++ return false;
++ if(box.maximum.x < maximum.x)
++ return false;
++ if(box.maximum.y < maximum.y)
++ return false;
++ if(box.maximum.z < maximum.z)
++ return false;
++ return true;
++ }
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 PxBounds3::getCenter() const
++ {
++ PX_ASSERT(isValid());
++ return (minimum + maximum) * 0.5f;
++ }
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE float PxBounds3::getCenter(uint32_t axis) const
++ {
++ PX_ASSERT(isValid());
++ return (minimum[axis] + maximum[axis]) * 0.5f;
++ }
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE float PxBounds3::getExtents(uint32_t axis) const
++ {
++ PX_ASSERT(isValid());
++ return (maximum[axis] - minimum[axis]) * 0.5f;
++ }
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 PxBounds3::getDimensions() const
++ {
++ PX_ASSERT(isValid());
++ return maximum - minimum;
++ }
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 PxBounds3::getExtents() const
++ {
++ PX_ASSERT(isValid());
++ return getDimensions() * 0.5f;
++ }
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE void PxBounds3::scaleSafe(float scale)
++ {
++ PX_ASSERT(isValid());
++ if(!isEmpty())
++ scaleFast(scale);
++ }
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE void PxBounds3::scaleFast(float scale)
++ {
++ PX_ASSERT(isValid());
++ *this = centerExtents(getCenter(), getExtents() * scale);
++ }
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE void PxBounds3::fattenSafe(float distance)
++ {
++ PX_ASSERT(isValid());
++ if(!isEmpty())
++ fattenFast(distance);
++ }
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE void PxBounds3::fattenFast(float distance)
++ {
++ PX_ASSERT(isValid());
++ minimum.x -= distance;
++ minimum.y -= distance;
++ minimum.z -= distance;
++
++ maximum.x += distance;
++ maximum.y += distance;
++ maximum.z += distance;
++ }
++
++ PX_CUDA_CALLABLE PX_INLINE PxBounds3 PxBounds3::transformSafe(const PxMat33& matrix, const PxBounds3& bounds)
++ {
++ PX_ASSERT(bounds.isValid());
++ return !bounds.isEmpty() ? transformFast(matrix, bounds) : bounds;
++ }
++
++ PX_CUDA_CALLABLE PX_INLINE PxBounds3 PxBounds3::transformFast(const PxMat33& matrix, const PxBounds3& bounds)
++ {
++ PX_ASSERT(bounds.isValid());
++ return PxBounds3::basisExtent(matrix * bounds.getCenter(), matrix, bounds.getExtents());
++ }
++
++ PX_CUDA_CALLABLE PX_INLINE PxBounds3 PxBounds3::transformSafe(const PxTransform& transform, const PxBounds3& bounds)
++ {
++ PX_ASSERT(bounds.isValid());
++ return !bounds.isEmpty() ? transformFast(transform, bounds) : bounds;
++ }
++
++ PX_CUDA_CALLABLE PX_INLINE PxBounds3 PxBounds3::transformFast(const PxTransform& transform, const PxBounds3& bounds)
++ {
++ PX_ASSERT(bounds.isValid());
++ return PxBounds3::basisExtent(transform.transform(bounds.getCenter()), PxMat33(transform.q), bounds.getExtents());
++ }
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE bool PxBounds3::isValid() const
++ {
++ return (isFinite() && (((minimum.x <= maximum.x) && (minimum.y <= maximum.y) && (minimum.z <= maximum.z)) ||
++ ((minimum.x == PX_MAX_BOUNDS_EXTENTS) && (minimum.y == PX_MAX_BOUNDS_EXTENTS) &&
++ (minimum.z == PX_MAX_BOUNDS_EXTENTS) && (maximum.x == -PX_MAX_BOUNDS_EXTENTS) &&
++ (maximum.y == -PX_MAX_BOUNDS_EXTENTS) && (maximum.z == -PX_MAX_BOUNDS_EXTENTS))));
++ }
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxVec3 PxBounds3::closestPoint(const PxVec3& p) const
++ {
++ return minimum.maximum(maximum.minimum(p));
++ }
++
++ #if !PX_DOXYGEN
++ } // namespace physx
++ #endif
++
++ #endif
++