Revision control
++ // 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 GU_INTERSECTION_TETRAHEDRON_TETRAHEDRON_H
++ #define GU_INTERSECTION_TETRAHEDRON_TETRAHEDRON_H
++
++ #include "foundation/PxPlane.h"
++ #include "common/PxPhysXCommonConfig.h"
++
++ namespace physx
++ {
++ namespace Gu
++ {
++ struct Tetrahedron
++ {
++ PxVec3 verts[4];
++ PxPlane planes[4];
++ PxVec3 centroid;
++ };
++
++ PX_INLINE PX_CUDA_CALLABLE PxPlane createPlane(const PxVec3& pa, const PxVec3& pb, const PxVec3& pc, const PxVec3& pd)
++ {
++ PxPlane plane(pa, pb, pc);
++ PxReal distance = plane.distance(pd);
++ if (distance > 0.f)
++ {
++ plane.n = -plane.n;
++ plane.d = -plane.d;
++ }
++ return plane;
++ }
++
++ PX_INLINE PX_CUDA_CALLABLE void constructTetrahedron(const PxVec3& a, const PxVec3& b, const PxVec3& c, const PxVec3& d,
++ Tetrahedron& tet)
++ {
++ tet.verts[0] = a; tet.verts[1] = b; tet.verts[2] = c; tet.verts[3] = d;
++ tet.planes[0] = createPlane(a, b, c, d);
++ tet.planes[1] = createPlane(a, b, d, c);
++ tet.planes[2] = createPlane(a, c, d, b);
++ tet.planes[3] = createPlane(b, c, d, a);
++ tet.centroid = (a + b + c) * (1.f / 3.f);
++ }
++
++ PX_INLINE PX_CUDA_CALLABLE PxReal minProject(const PxPlane& plane, const Tetrahedron& tet)
++ {
++ /*return PxMin(plane.distance(tet.verts[0]), PxMin(plane.distance(tet.verts[1]),
++ PxMin(plane.distance(tet.verts[2]), plane.distance(tet.verts[3]))));*/
++
++ return PxMin(plane.n.dot(tet.verts[0]),PxMin(plane.n.dot(tet.verts[1]),
++ PxMin(plane.n.dot(tet.verts[2]), plane.n.dot(tet.verts[3])))) + plane.d;
++ }
++
++
++ PX_INLINE PX_CUDA_CALLABLE PxReal testSeparatingAxis(const PxVec3& axis, const Tetrahedron& tet0, const Tetrahedron& tet1)
++ {
++
++ PxReal min0, max0, min1, max1;
++ min0 = max0 = tet0.verts[0].dot(axis);
++ min1 = max1 = tet1.verts[0].dot(axis);
++ for (PxU32 i = 1; i < 4; ++i)
++ {
++ PxReal proj0 = tet0.verts[i].dot(axis);
++ PxReal proj1 = tet1.verts[i].dot(axis);
++
++ min0 = PxMin(proj0, min0);
++ max0 = PxMax(proj0, max0);
++ min1 = PxMin(proj1, min1);
++ max1 = PxMax(proj1, max1);
++ }
++
++ return PxMax(min1 - max0, min0 - max1);
++ }
++
++ template <bool TDoCross = true>
++ PX_INLINE PX_CUDA_CALLABLE PxReal satIntersect(const Tetrahedron& tet0, const Tetrahedron& tet1, const PxReal tolerance)
++ {
++ PxReal sep = minProject(tet0.planes[0], tet1);
++ if (sep > tolerance)
++ return sep;
++ sep = PxMax(sep, minProject(tet0.planes[1], tet1));
++ if (sep > tolerance)
++ return sep;
++ sep = PxMax(sep, minProject(tet0.planes[2], tet1));
++ if (sep > tolerance)
++ return sep;
++ sep = PxMax(sep, minProject(tet0.planes[3], tet1));
++ if (sep > tolerance)
++ return sep;
++
++ sep = PxMax(sep, minProject(tet1.planes[0], tet0));
++ if (sep > tolerance)
++ return sep;
++ sep = PxMax(sep, minProject(tet1.planes[1], tet0));
++ if (sep > tolerance)
++ return sep;
++ sep = PxMax(sep, minProject(tet1.planes[2], tet0));
++ if (sep > tolerance)
++ return sep;
++ sep = PxMax(sep, minProject(tet1.planes[3], tet0));
++ if (sep > tolerance)
++ return sep;
++
++ if (TDoCross)
++ {
++ PxVec3 axes0[6];
++ PxVec3 axes1[6];
++
++ axes0[0] = tet0.verts[1] - tet0.verts[0];
++ axes0[1] = tet0.verts[2] - tet0.verts[0];
++ axes0[2] = tet0.verts[3] - tet0.verts[0];
++ axes0[3] = tet0.verts[2] - tet0.verts[1];
++ axes0[4] = tet0.verts[3] - tet0.verts[1];
++ axes0[5] = tet0.verts[3] - tet0.verts[2];
++
++ axes1[0] = tet1.verts[1] - tet1.verts[0];
++ axes1[1] = tet1.verts[2] - tet1.verts[0];
++ axes1[2] = tet1.verts[3] - tet1.verts[0];
++ axes1[3] = tet1.verts[2] - tet1.verts[1];
++ axes1[4] = tet1.verts[3] - tet1.verts[1];
++ axes1[5] = tet1.verts[3] - tet1.verts[2];
++
++ for (PxU32 i = 0; i < 6; ++i)
++ {
++ const PxVec3 axis0 = axes0[i];
++ for (PxU32 j = 0; j < 6; ++j)
++ {
++ const PxVec3 axis1 = axes1[j];
++ PxVec3 sepAxis = axis0.cross(axis1);
++ const PxReal magSq = sepAxis.magnitudeSquared();
++ if (magSq > 1e-5f)
++ {
++ sepAxis = sepAxis * (1.f / PxSqrt(magSq));
++ const PxReal tSep = testSeparatingAxis(sepAxis, tet0, tet1);
++ sep = PxMax(sep, tSep);
++ if (sep > tolerance)
++ return sep;
++
++ }
++ }
++ }
++ }
++
++ return sep;
++ }
++ } // namespace Gu
++ }
++
++ #endif