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+ // Redistribution and use in source and binary forms, with or without
+ // modification, are permitted provided that the following conditions
+ // are met:
+ // * Redistributions of source code must retain the above copyright
+ // notice, this list of conditions and the following disclaimer.
+ // * Redistributions in binary form must reproduce the above copyright
+ // notice, this list of conditions and the following disclaimer in the
+ // documentation and/or other materials provided with the distribution.
+ // * Neither the name of NVIDIA CORPORATION nor the names of its
+ // contributors may be used to endorse or promote products derived
+ // from this software without specific prior written permission.
+ //
+ // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
+ // EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ // PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ // CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ // EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ // PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+ // OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ //
+ // Copyright (c) 2008-2026 NVIDIA Corporation. All rights reserved.
+ // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
+ // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
+
+ #ifndef GU_AABBTREE_NODE_H
+ #define GU_AABBTREE_NODE_H
+
+ #include "common/PxPhysXCommonConfig.h"
+ #include "foundation/PxBounds3.h"
+ #include "foundation/PxVecMath.h"
+ #include "foundation/PxUserAllocated.h"
+
+ namespace physx
+ {
+ using namespace aos;
+
+ namespace Gu
+ {
+ struct BVHNode : public PxUserAllocated
+ {
+ public:
+ PX_FORCE_INLINE BVHNode() {}
+ PX_FORCE_INLINE ~BVHNode() {}
+
+ PX_FORCE_INLINE PxU32 isLeaf() const { return mData&1; }
+ PX_FORCE_INLINE const PxU32* getPrimitives(const PxU32* base) const { return base + (mData>>5); }
+ PX_FORCE_INLINE PxU32* getPrimitives(PxU32* base) { return base + (mData>>5); }
+ PX_FORCE_INLINE PxU32 getPrimitiveIndex() const { return mData>>5; }
+ PX_FORCE_INLINE PxU32 getNbPrimitives() const { return (mData>>1)&15; }
+ PX_FORCE_INLINE PxU32 getPosIndex() const { return mData>>1; }
+ PX_FORCE_INLINE PxU32 getNegIndex() const { return (mData>>1) + 1; }
+ PX_FORCE_INLINE const BVHNode* getPos(const BVHNode* base) const { return base + (mData>>1); }
+ PX_FORCE_INLINE const BVHNode* getNeg(const BVHNode* base) const { const BVHNode* P = getPos(base); return P ? P+1 : NULL; }
+ PX_FORCE_INLINE BVHNode* getPos(BVHNode* base) { return base + (mData >> 1); }
+ PX_FORCE_INLINE BVHNode* getNeg(BVHNode* base) { BVHNode* P = getPos(base); return P ? P + 1 : NULL; }
+
+ PX_FORCE_INLINE PxU32 getNbRuntimePrimitives() const { return (mData>>1)&15; }
+ PX_FORCE_INLINE void setNbRunTimePrimitives(PxU32 val)
+ {
+ PX_ASSERT(val<16);
+ PxU32 data = mData & ~(15<<1);
+ data |= val<<1;
+ mData = data;
+ }
+
+ PX_FORCE_INLINE void getAABBCenterExtentsV(Vec3V* center, Vec3V* extents) const
+ {
+ const Vec4V minV = V4LoadU(&mBV.minimum.x);
+ const Vec4V maxV = V4LoadU(&mBV.maximum.x);
+
+ const float half = 0.5f;
+ const FloatV halfV = FLoad(half);
+
+ *extents = Vec3V_From_Vec4V(V4Scale(V4Sub(maxV, minV), halfV));
+ *center = Vec3V_From_Vec4V(V4Scale(V4Add(maxV, minV), halfV));
+ }
+
+ PX_FORCE_INLINE void getAABBCenterExtentsV2(Vec3V* center, Vec3V* extents) const
+ {
+ const Vec4V minV = V4LoadU(&mBV.minimum.x);
+ const Vec4V maxV = V4LoadU(&mBV.maximum.x);
+
+ *extents = Vec3V_From_Vec4V(V4Sub(maxV, minV));
+ *center = Vec3V_From_Vec4V(V4Add(maxV, minV));
+ }
+
+ PxBounds3 mBV; // Global bounding-volume enclosing all the node-related primitives
+ PxU32 mData; // 27 bits node or prim index|4 bits #prims|1 bit leaf
+ };
+
+ } // namespace Gu
+ }
+
+ #endif // GU_AABBTREE_NODE_H