void SweepTest::FindTouchedCCTs( NxU32 nb_boxes, const NxExtendedBounds3* boxes, const void** box_user_data,
NxU32 nb_capsules, const NxExtendedCapsule* capsules, const void** capsule_user_data,
const NxExtendedBounds3& world_box)
{
NxExtendedVec3 Origin; // Will be TouchedGeom::mOffset
world_box.getCenter(Origin);
// Find touched boxes, i.e. other box controllers
for(NxU32 i=0;i<nb_boxes;i++)
{
if(!world_box.intersect(boxes[i]))
continue;
TouchedUserBox* UserBox = (TouchedUserBox*)reserve(mGeomStream, sizeof(TouchedUserBox)/sizeof(NxU32));
UserBox->mType = TOUCHED_USER_BOX;
UserBox->mUserData = box_user_data[i];
UserBox->mOffset = Origin;
UserBox->mBox = boxes[i];
}
// Find touched capsules, i.e. other capsule controllers
NxExtendedVec3 Center;
NxVec3 Extents;
world_box.getCenter(Center);
world_box.getExtents(Extents);
NxMat33 Idt;
Idt.id();
for(NxU32 i=0;i<nb_capsules;i++)
{
// Do a quick AABB check first, to avoid calling the SDK too much
const NxF32 r = capsules[i].radius;
if((capsules[i].p0.x - r > world_box.max.x) || (world_box.min.x > capsules[i].p1.x + r)) continue;
if((capsules[i].p0.y - r > world_box.max.y) || (world_box.min.y > capsules[i].p1.y + r)) continue;
if((capsules[i].p0.z - r > world_box.max.z) || (world_box.min.z > capsules[i].p1.z + r)) continue;
// Do a box-capsule intersect, or skip it? => better to skip it, not really useful now
/* NxCapsule tmp;
tmp.radius = capsules[i].radius;
tmp.p0.x = float(capsules[i].p0.x);
tmp.p0.y = float(capsules[i].p0.y);
tmp.p0.z = float(capsules[i].p0.z);
tmp.p1.x = float(capsules[i].p1.x);
tmp.p1.y = float(capsules[i].p1.y);
tmp.p1.z = float(capsules[i].p1.z);
float d2 = gUtilLib->NxSegmentOBBSqrDist(tmp, NxVec3(float(Center.x), float(Center.y), float(Center.z)),
Extents,
Idt, NULL, NULL);
if(d2<capsules[i].radius*capsules[i].radius)*/
{
TouchedUserCapsule* UserCapsule = (TouchedUserCapsule*)reserve(mGeomStream, sizeof(TouchedUserCapsule)/sizeof(NxU32));
UserCapsule->mType = TOUCHED_USER_CAPSULE;
UserCapsule->mUserData = capsule_user_data[i];
UserCapsule->mOffset = Origin;
UserCapsule->mCapsule = capsules[i];
}
}
}
void CCTDebugData::addAABB(const NxExtendedBounds3& bounds, NxU32 color)
{
NxExtendedVec3 center;
NxVec3 extents;
bounds.getCenter(center);
bounds.getExtents(extents);
NxBounds3 tmp;
tmp.setCenterExtents(NxVec3((float)center.x, (float)center.y, (float)center.z), extents);
addAABB(tmp, color, false);
}