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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
++
++ #include "foundation/PxUnionCast.h"
++ #include "geomutils/PxContactBuffer.h"
++ #include "GuContactMethodImpl.h"
++ #include "CmMatrix34.h"
++ #include "foundation/PxUtilities.h"
++
++ using namespace physx;
++ using namespace Cm;
++
++ bool Gu::contactPlaneBox(GU_CONTACT_METHOD_ARGS)
++ {
++ PX_UNUSED(renderOutput);
++ PX_UNUSED(cache);
++ PX_UNUSED(shape0);
++
++ // Get actual shape data
++ //const PxPlaneGeometry& shapePlane = checkedCast<PxPlaneGeometry>(shape0);
++ const PxBoxGeometry& shapeBox = checkedCast<PxBoxGeometry>(shape1);
++
++ const PxVec3 negPlaneNormal = -transform0.q.getBasisVector0();
++
++ const Matrix34FromTransform boxMatrix(transform1);
++ const Matrix34FromTransform boxToPlane(transform0.transformInv(transform1));
++
++ PX_ASSERT(contactBuffer.count==0);
++
++ const PxReal contactDistance = params.mContactDistance;
++ const PxReal limit = contactDistance - boxToPlane.p.x;
++ const PxReal dx = shapeBox.halfExtents.x;
++ const PxReal dy = shapeBox.halfExtents.y;
++ const PxReal dz = shapeBox.halfExtents.z;
++ const PxReal bxdx = boxToPlane.m.column0.x * dx;
++ const PxReal bxdy = boxToPlane.m.column1.x * dy;
++ const PxReal bxdz = boxToPlane.m.column2.x * dz;
++
++ PxReal depths[8];
++ depths[0] = bxdx + bxdy + bxdz - limit;
++ depths[1] = bxdx + bxdy - bxdz - limit;
++ depths[2] = bxdx - bxdy + bxdz - limit;
++ depths[3] = bxdx - bxdy - bxdz - limit;
++ depths[4] = - bxdx + bxdy + bxdz - limit;
++ depths[5] = - bxdx + bxdy - bxdz - limit;
++ depths[6] = - bxdx - bxdy + bxdz - limit;
++ depths[7] = - bxdx - bxdy - bxdz - limit;
++
++ const PxVec3& column0 = boxMatrix.m.column0;
++ const PxVec3& column1 = boxMatrix.m.column1;
++ const PxVec3& column2 = boxMatrix.m.column2;
++ const PxVec3& p = boxMatrix.p;
++
++ const PxVec3 x = column0 * dx;
++ const PxVec3 y = column1 * dy;
++ const PxVec3 z = column2 * dz;
++
++ if(depths[0] < 0.0f)
++ contactBuffer.contact(x + y + z + p, negPlaneNormal, depths[0] + contactDistance);
++ if(depths[1] < 0.0f)
++ contactBuffer.contact(x + y - z + p, negPlaneNormal, depths[1] + contactDistance);
++ if(depths[2] < 0.0f)
++ contactBuffer.contact(x - y + z + p, negPlaneNormal, depths[2] + contactDistance);
++ if(depths[3] < 0.0f)
++ contactBuffer.contact(x - y - z + p, negPlaneNormal, depths[3] + contactDistance);
++ if(depths[4] < 0.0f)
++ contactBuffer.contact(- x + y + z + p, negPlaneNormal, depths[4] + contactDistance);
++ if(depths[5] < 0.0f)
++ contactBuffer.contact(- x + y - z + p, negPlaneNormal, depths[5] + contactDistance);
++ if(depths[6] < 0.0f)
++ contactBuffer.contact(- x - y + z + p, negPlaneNormal, depths[6] + contactDistance);
++ if(depths[7] < 0.0f)
++ contactBuffer.contact(- x - y - z + p, negPlaneNormal, depths[7] + contactDistance);
++
++ return contactBuffer.count > 0;
++ }