Function computeMTD_BoxConvex

deps/physx/physx/source/geomutils/src/GuMTD.cpp:669–708

}

static bool computeMTD_BoxConvex(PxVec3& mtd, PxF32& depth, const Box& box, const PxConvexMeshGeometry& convexGeom, const PxTransform& convexPose)
{
	const Vec3V zeroV = V3Zero();
	const PxTransform boxPose = box.getTransform();
	const Vec3V boxExtents = V3LoadU(box.extents);
	BoxV boxV(zeroV, boxExtents);

	// Convex mesh
		const ConvexMesh* convexMesh = static_cast<const ConvexMesh*>(convexGeom.convexMesh);
		const ConvexHullData* hull = &convexMesh->getHull();
		const Vec3V vScale	= V3LoadU_SafeReadW(convexGeom.scale.scale);	// PT: safe because 'rotation' follows 'scale' in PxMeshScale
		const QuatV vQuat	= QuatVLoadU(&convexGeom.scale.rotation.x);
		ConvexHullV convexHullV(hull, zeroV, vScale, vQuat, convexGeom.scale.isIdentity()); 
	//~Convex mesh


	const QuatV q0 = QuatVLoadU(&boxPose.q.x);
	const Vec3V p0 = V3LoadU(&boxPose.p.x);

	const QuatV q1 = QuatVLoadU(&convexPose.q.x);
	const Vec3V p1 = V3LoadU(&convexPose.p.x);

	const PsTransformV transf0(p0, q0);
	const PsTransformV transf1(p1, q1);

	Vec3V normal=zeroV;
	FloatV penetrationDepth=FZero();

	const bool idtScale = convexGeom.scale.isIdentity();
	bool hasContacts = internalComputeMTD_BoxConvex(box.extents, boxV, idtScale, convexHullV, transf0, transf1, penetrationDepth, normal);
	if(hasContacts)
	{
		FStore(penetrationDepth, &depth);
		depth = validateDepth(depth);
		V3StoreU(normal, mtd);
	}

	return hasContacts;

}


static bool internalComputeMTD_ConvexConvex(const bool idtScale0, const bool idtScale1, ConvexHullV& convexHullV0, ConvexHullV& convexHullV1, const Ps::aos::PsTransformV& transf0, const Ps::aos::PsTransformV& transf1,