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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 BP_BROADPHASE_MBP_COMMON_H
#define BP_BROADPHASE_MBP_COMMON_H
#include "PxPhysXConfig.h"
#include "BpBroadPhaseIntegerAABB.h"
#include "foundation/PxUserAllocated.h"
namespace physx
{
namespace Bp
{
#define MBP_USE_WORDS
#define MBP_USE_NO_CMP_OVERLAP
#if PX_INTEL_FAMILY && PX_SSE2 && !defined(PX_SIMD_DISABLED)
#define MBP_SIMD_OVERLAP
#endif
#ifdef MBP_USE_WORDS
typedef PxU16 MBP_Index;
#else
typedef PxU32 MBP_Index;
#endif
typedef PxU32 MBP_ObjectIndex; // PT: index in mMBP_Objects
typedef PxU32 MBP_Handle; // PT: returned to MBP users, combination of index/flip-flop/static-bit
struct IAABB : public PxUserAllocated
{
PX_FORCE_INLINE bool isInside(const IAABB& box) const
{
if(box.mMinX>mMinX) return false;
if(box.mMinY>mMinY) return false;
if(box.mMinZ>mMinZ) return false;
if(box.mMaxX<mMaxX) return false;
if(box.mMaxY<mMaxY) return false;
if(box.mMaxZ<mMaxZ) return false;
return true;
}
PX_FORCE_INLINE PxIntBool intersects(const IAABB& a) const
{
if(mMaxX < a.mMinX || a.mMaxX < mMinX
|| mMaxY < a.mMinY || a.mMaxY < mMinY
|| mMaxZ < a.mMinZ || a.mMaxZ < mMinZ
)
return PxIntFalse;
return PxIntTrue;
}
PX_FORCE_INLINE PxIntBool intersectNoTouch(const IAABB& a) const
{
if(mMaxX <= a.mMinX || a.mMaxX <= mMinX
|| mMaxY <= a.mMinY || a.mMaxY <= mMinY
|| mMaxZ <= a.mMinZ || a.mMaxZ <= mMinZ
)
return PxIntFalse;
return PxIntTrue;
}
PX_FORCE_INLINE void initFrom2(const PxBounds3& box)
{
const PxU32* PX_RESTRICT binary = reinterpret_cast<const PxU32*>(&box.minimum.x);
mMinX = encodeFloat(binary[0])>>1;
mMinY = encodeFloat(binary[1])>>1;
mMinZ = encodeFloat(binary[2])>>1;
mMaxX = encodeFloat(binary[3])>>1;
mMaxY = encodeFloat(binary[4])>>1;
mMaxZ = encodeFloat(binary[5])>>1;
}
PX_FORCE_INLINE void decode(PxBounds3& box) const
{
PxU32* PX_RESTRICT binary = reinterpret_cast<PxU32*>(&box.minimum.x);
binary[0] = decodeFloat(mMinX<<1);
binary[1] = decodeFloat(mMinY<<1);
binary[2] = decodeFloat(mMinZ<<1);
binary[3] = decodeFloat(mMaxX<<1);
binary[4] = decodeFloat(mMaxY<<1);
binary[5] = decodeFloat(mMaxZ<<1);
}
PX_FORCE_INLINE PxU32 getMin(PxU32 i) const { return (&mMinX)[i]; }
PX_FORCE_INLINE PxU32 getMax(PxU32 i) const { return (&mMaxX)[i]; }
PxU32 mMinX;
PxU32 mMinY;
PxU32 mMinZ;
PxU32 mMaxX;
PxU32 mMaxY;
PxU32 mMaxZ;
};
struct SIMD_AABB : public PxUserAllocated
{
PX_FORCE_INLINE void initFrom(const PxBounds3& box)
{
const PxU32* PX_RESTRICT binary = reinterpret_cast<const PxU32*>(&box.minimum.x);
mMinX = encodeFloat(binary[0]);
mMinY = encodeFloat(binary[1]);
mMinZ = encodeFloat(binary[2]);
mMaxX = encodeFloat(binary[3]);
mMaxY = encodeFloat(binary[4]);
mMaxZ = encodeFloat(binary[5]);
}
PX_FORCE_INLINE void initFrom2(const PxBounds3& box)
{
const PxU32* PX_RESTRICT binary = reinterpret_cast<const PxU32*>(&box.minimum.x);
mMinX = encodeFloat(binary[0])>>1;
mMinY = encodeFloat(binary[1])>>1;
mMinZ = encodeFloat(binary[2])>>1;
mMaxX = encodeFloat(binary[3])>>1;
mMaxY = encodeFloat(binary[4])>>1;
mMaxZ = encodeFloat(binary[5])>>1;
}
PX_FORCE_INLINE void decode(PxBounds3& box) const
{
PxU32* PX_RESTRICT binary = reinterpret_cast<PxU32*>(&box.minimum.x);
binary[0] = decodeFloat(mMinX<<1);
binary[1] = decodeFloat(mMinY<<1);
binary[2] = decodeFloat(mMinZ<<1);
binary[3] = decodeFloat(mMaxX<<1);
binary[4] = decodeFloat(mMaxY<<1);
binary[5] = decodeFloat(mMaxZ<<1);
}
PX_FORCE_INLINE bool isInside(const SIMD_AABB& box) const
{
if(box.mMinX>mMinX) return false;
if(box.mMinY>mMinY) return false;
if(box.mMinZ>mMinZ) return false;
if(box.mMaxX<mMaxX) return false;
if(box.mMaxY<mMaxY) return false;
if(box.mMaxZ<mMaxZ) return false;
return true;
}
PX_FORCE_INLINE PxIntBool intersects(const SIMD_AABB& a) const
{
if(mMaxX < a.mMinX || a.mMaxX < mMinX
|| mMaxY < a.mMinY || a.mMaxY < mMinY
|| mMaxZ < a.mMinZ || a.mMaxZ < mMinZ
)
return PxIntFalse;
return PxIntTrue;
}
PX_FORCE_INLINE PxIntBool intersectNoTouch(const SIMD_AABB& a) const
{
if(mMaxX <= a.mMinX || a.mMaxX <= mMinX
|| mMaxY <= a.mMinY || a.mMaxY <= mMinY
|| mMaxZ <= a.mMinZ || a.mMaxZ <= mMinZ
)
return PxIntFalse;
return PxIntTrue;
}
PxU32 mMinX;
PxU32 mMaxX;
PxU32 mMinY;
PxU32 mMinZ;
PxU32 mMaxY;
PxU32 mMaxZ;
};
}
} // namespace physx
#endif // BP_BROADPHASE_MBP_COMMON_H