Method ShapeData

physx/source/geomutils/src/GuBounds.cpp:497–607

}

ShapeData::ShapeData(const PxGeometry& g, const PxTransform& t, PxReal inflation)
{
	using namespace physx::shdfnd::aos;

	// PT: this cast to matrix is already done in GeometryUnion::computeBounds (e.g. for boxes). So we do it first,
	// then we'll pass the matrix directly to computeBoundsShapeData, to avoid the double conversion.
	const bool isOBB = PxAbs(t.q.w) < 0.999999f;
	if(isOBB)
	{
		// PT: writes 4 bytes after 'rot' but it's safe since we then write 'center' just afterwards
		buildFrom(mGuBox, t.q);
	}
	else
	{
		mGuBox.rot = PxMat33(PxIdentity);
	}

	// PT: can't use V4Load here since there's no guarantee on 't.p'
	// PT: must store 'center'  after 'rot' now
	mGuBox.center = t.p;

	// Compute AABB, used by the BucketPruner as cullBox
	switch(g.getType())
	{
		case PxGeometryType::eSPHERE:
		{
			const PxSphereGeometry& shape = static_cast<const PxSphereGeometry&>(g);
			computeMinMaxBounds(&mPrunerInflatedAABB, mGuBox.center, PxVec3(0.0f), SQ_PRUNER_INFLATION, shape.radius+inflation);

			//

			reinterpret_cast<Sphere&>(mGuSphere) = Sphere(t.p, shape.radius);
		}
		break;

		case PxGeometryType::eCAPSULE:
		{
			const PxCapsuleGeometry& shape = static_cast<const PxCapsuleGeometry&>(g);
			const Vec3p extents = mGuBox.rot.column0.abs() * shape.halfHeight;
			computeMinMaxBounds(&mPrunerInflatedAABB, mGuBox.center, extents, SQ_PRUNER_INFLATION, shape.radius+inflation);

			//

			Capsule& dstWorldCapsule = reinterpret_cast<Capsule&>(mGuCapsule); // store a narrow phase version copy
			getCapsule(dstWorldCapsule, shape, t);

			mGuBox.extents.x = shape.halfHeight;

			// compute PxBoxGeometry pruner geom around input capsule geom; transform remains unchanged

			computeBoxExtentsAroundCapsule(mPrunerBoxGeomExtents, shape, SQ_PRUNER_INFLATION);
		}
		break;

		case PxGeometryType::eBOX:
		{
			const PxBoxGeometry& shape = static_cast<const PxBoxGeometry&>(g);
			// PT: cast is safe because 'rot' followed by other members