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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 GU_VEC_BOX_H
++ #define GU_VEC_BOX_H
++
++ #include "foundation/PxTransform.h"
++ #include "common/PxPhysXCommonConfig.h"
++ #include "geometry/PxBoxGeometry.h"
++ #include "foundation/PxVecTransform.h"
++ #include "GuVecConvex.h"
++ #include "GuConvexSupportTable.h"
++
++ namespace physx
++ {
++ PX_PHYSX_COMMON_API extern const aos::BoolV boxVertexTable[8];
++
++ namespace Gu
++ {
++
++ #define BOX_MARGIN_RATIO 0.15f
++ #define BOX_MIN_MARGIN_RATIO 0.05f
++ #define BOX_SWEEP_MARGIN_RATIO 0.05f
++
++ #define BOX_MARGIN_CCD_RATIO 0.01f
++ #define BOX_MIN_MARGIN_CCD_RATIO 0.005f
++
++
++ class CapsuleV;
++
++
++ PX_FORCE_INLINE void CalculateBoxMargin(const aos::Vec3VArg extent, PxReal& margin, PxReal& minMargin, PxReal& sweepMargin,
++ const PxReal marginR = BOX_MARGIN_RATIO, const PxReal minMarginR = BOX_MIN_MARGIN_RATIO)
++ {
++ using namespace aos;
++
++ PxReal minExtent;
++ const FloatV min = V3ExtractMin(extent);
++ FStore(min, &minExtent);
++
++ margin = minExtent * marginR;
++ minMargin = minExtent * minMarginR;
++ sweepMargin = minExtent * BOX_SWEEP_MARGIN_RATIO;
++ }
++
++ PX_FORCE_INLINE aos::FloatV CalculateBoxTolerance(const aos::Vec3VArg extent)
++ {
++ using namespace aos;
++
++ const FloatV r0 = FLoad(0.01f);
++ const FloatV min = V3ExtractMin(extent);//FMin(V3GetX(extent), FMin(V3GetY(extent), V3GetZ(extent)));
++ return FMul(min, r0);
++ }
++
++ //This method is called in the PCM contact gen for the refreshing contacts
++ PX_FORCE_INLINE aos::FloatV CalculatePCMBoxMargin(const aos::Vec3VArg extent, const PxReal toleranceLength, const PxReal toleranceMarginRatio = BOX_MARGIN_RATIO)
++ {
++ using namespace aos;
++
++ const FloatV min = V3ExtractMin(extent);//FMin(V3GetX(extent), FMin(V3GetY(extent), V3GetZ(extent)));
++ const FloatV toleranceMargin = FLoad(toleranceLength * toleranceMarginRatio);
++ return FMin(FMul(min, FLoad(BOX_MARGIN_RATIO)), toleranceMargin);
++ }
++
++ PX_FORCE_INLINE aos::FloatV CalculateMTDBoxMargin(const aos::Vec3VArg extent)
++ {
++ using namespace aos;
++
++ const FloatV min = V3ExtractMin(extent);//FMin(V3GetX(extent), FMin(V3GetY(extent), V3GetZ(extent)));
++ return FMul(min, FLoad(BOX_MARGIN_RATIO));
++ }
++
++ class BoxV : public ConvexV
++ {
++ public:
++
++ /**
++ \brief Constructor
++ */
++ PX_INLINE BoxV() : ConvexV(ConvexType::eBOX)
++ {
++ }
++
++ PX_FORCE_INLINE BoxV(const aos::Vec3VArg origin, const aos::Vec3VArg extent) :
++ ConvexV(ConvexType::eBOX, origin), extents(extent)
++ {
++ CalculateBoxMargin(extent, margin, minMargin, sweepMargin);
++ }
++
++ //this constructor is used by the CCD system
++ PX_FORCE_INLINE BoxV(const PxGeometry& geom) : ConvexV(ConvexType::eBOX, aos::V3Zero())
++ {
++ using namespace aos;
++ const PxBoxGeometry& boxGeom = static_cast<const PxBoxGeometry&>(geom);
++ const Vec3V extent = aos::V3LoadU(boxGeom.halfExtents);
++ extents = extent;
++ CalculateBoxMargin(extent, margin, minMargin, sweepMargin, BOX_MARGIN_CCD_RATIO, BOX_MIN_MARGIN_CCD_RATIO);
++ }
++
++ /**
++ \brief Destructor
++ */
++ PX_INLINE ~BoxV()
++ {
++ }
++
++ PX_FORCE_INLINE void resetMargin(const PxReal toleranceLength)
++ {
++ minMargin = PxMin(toleranceLength * BOX_MIN_MARGIN_RATIO, minMargin);
++ }
++
++ //! Assignment operator
++ PX_FORCE_INLINE const BoxV& operator=(const BoxV& other)
++ {
++ center = other.center;
++ extents = other.extents;
++ margin = other.margin;
++ minMargin = other.minMargin;
++ sweepMargin = other.sweepMargin;
++ return *this;
++ }
++
++ PX_FORCE_INLINE void populateVerts(const PxU8* inds, PxU32 numInds, const PxVec3* originalVerts, aos::Vec3V* verts) const
++ {
++ using namespace aos;
++
++ for(PxU32 i=0; i<numInds; ++i)
++ verts[i] = V3LoadU_SafeReadW(originalVerts[inds[i]]); // PT: safe because of the way vertex memory is allocated in ConvexHullData (and 'populateVerts' is always called with polyData.mVerts)
++ }
++
++ PX_FORCE_INLINE aos::Vec3V supportPoint(const PxI32 index) const
++ {
++ using namespace aos;
++ const BoolV con = boxVertexTable[index];
++ return V3Sel(con, extents, V3Neg(extents));
++ }
++
++ PX_FORCE_INLINE void getIndex(const aos::BoolV con, PxI32& index) const
++ {
++ using namespace aos;
++ index = PxI32(BGetBitMask(con) & 0x7);
++ }
++
++ PX_FORCE_INLINE aos::Vec3V supportLocal(const aos::Vec3VArg dir) const
++ {
++ using namespace aos;
++ return V3Sel(V3IsGrtr(dir, V3Zero()), extents, V3Neg(extents));
++ }
++
++ //this is used in the sat test for the full contact gen
++ PX_SUPPORT_INLINE void supportLocal(const aos::Vec3VArg dir, aos::FloatV& min, aos::FloatV& max) const
++ {
++ using namespace aos;
++ const Vec3V point = V3Sel(V3IsGrtr(dir, V3Zero()), extents, V3Neg(extents));
++ max = V3Dot(dir, point);
++ min = FNeg(max);
++ }
++
++ PX_SUPPORT_INLINE aos::Vec3V supportRelative(const aos::Vec3VArg dir, const aos::PxMatTransformV& aTob, const aos::PxMatTransformV& aTobT) const
++ {
++ //a is the current object, b is the other object, dir is in the local space of b
++ using namespace aos;
++ // const Vec3V _dir = aTob.rotateInv(dir);//relTra.rotateInv(dir);//from b to a
++ const Vec3V _dir = aTobT.rotate(dir);//relTra.rotateInv(dir);//from b to a
++ const Vec3V p = supportLocal(_dir);
++ //transfer p into the b space
++ return aTob.transform(p);//relTra.transform(p);
++ }
++
++ PX_SUPPORT_INLINE aos::Vec3V supportLocal(const aos::Vec3VArg dir, PxI32& index) const
++ {
++ using namespace aos;
++ const BoolV comp = V3IsGrtr(dir, V3Zero());
++ getIndex(comp, index);
++ return V3Sel(comp, extents, V3Neg(extents));
++ }
++
++ PX_SUPPORT_INLINE aos::Vec3V supportRelative( const aos::Vec3VArg dir, const aos::PxMatTransformV& aTob,
++ const aos::PxMatTransformV& aTobT, PxI32& index) const
++ {
++ //a is the current object, b is the other object, dir is in the local space of b
++ using namespace aos;
++ // const Vec3V _dir = aTob.rotateInv(dir);//relTra.rotateInv(dir);//from b to a
++ const Vec3V _dir = aTobT.rotate(dir);//relTra.rotateInv(dir);//from b to a
++ const Vec3V p = supportLocal(_dir, index);
++ //transfer p into the b space
++ return aTob.transform(p);//relTra.transform(p);
++ }
++
++ aos::Vec3V extents;
++ };
++ } //PX_COMPILE_TIME_ASSERT(sizeof(Gu::BoxV) == 96);
++
++ }
++
++ #endif