TriangleOverlap.h

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// Copyright Epic Games, Inc. All Rights Reserved.
#pragma once
 
#include "Chaos/Core.h"
 
namespace Chaos
{
    template<class T, int d>
    class TBox;
 
    template<typename TConcrete, bool bInstanced>
    class TImplicitObjectScaled;
 
 
    bool ComputeCapsuleTriangleOverlapSimd(const VectorRegister4Float& A, const VectorRegister4Float& B, const VectorRegister4Float& C, const VectorRegister4Float& X1, const VectorRegister4Float& X2, FRealSingle Radius);
    bool ComputeSphereTriangleOverlapSimd(const VectorRegister4Float& A, const VectorRegister4Float& B, const VectorRegister4Float& C, const VectorRegister4Float& X, FRealSingle Radius);
 
    class FBoxSimd
    {
    public:
        FBoxSimd();
        FBoxSimd(const FRigidTransform3& WorldScaleQueryTM, const TBox<FReal, 3>& InQueryGeom);
        FBoxSimd(const FRigidTransform3& QueryTM, const TImplicitObjectScaled< TBox<FReal, 3>, true >& QueryGeom);
 
        bool OverlapTriangle(const VectorRegister4Float& A, const VectorRegister4Float& B, const VectorRegister4Float& C) const;
 
    private:
        void Initialize(const FRigidTransform3& Transform, const FVec3f& HalfExtentsIn);
        bool ComputeEdge(const VectorRegister4Float& PlaneNormal, const VectorRegister4Float& PlaneVertex, const VectorRegister4Float& Edge, const VectorRegister4Float& Centroid) const;
        bool ComputeBoxPlane(const VectorRegister4Float& DistCenter, const VectorRegister4Float& AxisHalfExtent) const;
 
        VectorRegister4Float Position;
        VectorRegister4Float XAxis;
        VectorRegister4Float YAxis;
        VectorRegister4Float ZAxis;
        VectorRegister4Float XHalfExtent;
        VectorRegister4Float YHalfExtent;
        VectorRegister4Float ZHalfExtent;
        VectorRegister4Float XAxisHalfExtent;
        VectorRegister4Float YAxisHalfExtent;
        VectorRegister4Float ZAxisHalfExtent;
        static constexpr int32 EdgeNum = 3;
        VectorRegister4Float Edges[EdgeNum];
    };
 
    class FAABBSimd
    {
    public:
        FAABBSimd();
        FAABBSimd(const TBox<FReal, 3>& InQueryGeom);
        FAABBSimd(const TImplicitObjectScaled< TBox<FReal, 3>, true >& QueryGeom);
        FAABBSimd(const FVec3& Translation, const TBox<FReal, 3>& InQueryGeom);
        FAABBSimd(const FVec3& Translation, const TImplicitObjectScaled< TBox<FReal, 3>, true >& QueryGeom);
        bool OverlapTriangle(const VectorRegister4Float& A, const VectorRegister4Float& B, const VectorRegister4Float& C) const;
 
    private:
        void Initialize(const FVec3& Translation, const FVec3f& HalfExtentsf);
        bool ComputeEdgeOverlap(const VectorRegister4Float& TriangleEdge, const VectorRegister4Float& TriangleVertex, const VectorRegister4Float& Centroid) const;
 
        VectorRegister4Float Position;
        VectorRegister4Float HalfExtents;
        const static VectorRegister4Float SignBit;
        const static VectorRegister4Float SignX;
        const static VectorRegister4Float SignY;
        const static VectorRegister4Float SignZ;
        static constexpr int32 EdgeNum = 3;
        constexpr static VectorRegister4Float Edges[EdgeNum] = {
            MakeVectorRegisterFloatConstant(1.f, 0.f, 0.f, 0.f),
            MakeVectorRegisterFloatConstant(0.f, 1.f, 0.f, 0.f),
            MakeVectorRegisterFloatConstant(0.f, 0.f, 1.f, 0.f)
        };
    };
}