Method computeBounds

physx/source/geomutils/src/GuBounds.cpp:210–367

}

void Gu::computeBounds(PxBounds3& bounds, const PxGeometry& geometry, const PxTransform& pose, float contactOffset, const CenterExtentsPadded* PX_RESTRICT localSpaceBounds, float inflation)
{
	PX_ASSERT(contactOffset==0.0f || inflation==1.0f);

	// Box, Convex, Mesh and HeightField will compute local bounds and pose to world space.
	// Sphere, Capsule & Plane will compute world space bounds directly.

	switch(geometry.getType())
	{
		case PxGeometryType::eSPHERE:
		{
			PX_ASSERT(!localSpaceBounds);

			const PxSphereGeometry& shape = static_cast<const PxSphereGeometry&>(geometry);
			const PxVec3 extents((shape.radius+contactOffset)*inflation);
			bounds.minimum = pose.p - extents;
			bounds.maximum = pose.p + extents;
		}
		break;

		case PxGeometryType::ePLANE:
		{
			PX_ASSERT(!localSpaceBounds);

			computePlaneBounds(bounds, pose, contactOffset, inflation);
		}
		break;

		case PxGeometryType::eCAPSULE:
		{
			PX_ASSERT(!localSpaceBounds);

			const PxCapsuleGeometry& shape = static_cast<const PxCapsuleGeometry& >(geometry);
			const PxVec3 d = pose.q.getBasisVector0();
			PxVec3 extents;
			for(PxU32 ax = 0; ax<3; ax++)
				extents[ax] = (PxAbs(d[ax]) * shape.halfHeight + shape.radius + contactOffset)*inflation;
			bounds.minimum = pose.p - extents;
			bounds.maximum = pose.p + extents;
		}
		break;

		case PxGeometryType::eBOX:
		{
			PX_ASSERT(!localSpaceBounds);

			const PxBoxGeometry& shape = static_cast<const PxBoxGeometry& >(geometry);

			const Vec3p origin(pose.p);

			const PxMat33Padded basis(pose.q);

			const Vec4V extentsV = basisExtentV(basis, shape.halfExtents, contactOffset, inflation);

			const Vec4V originV = V4LoadU(&origin.x);
			const Vec4V minV = V4Sub(originV, extentsV);
			const Vec4V maxV = V4Add(originV, extentsV);