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// Copyright (c) 2008-2025 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  

#include "GuBV4.h"
using namespace physx;
using namespace Gu;
using namespace aos;

#include "GuInternal.h"
#include "GuDistancePointSegment.h"
#include "GuIntersectionCapsuleTriangle.h"
#include "GuBV4_BoxOverlap_Internal.h"
#include "GuBV4_BoxBoxOverlapTest.h"

// Box overlap any

struct OBBParams : OBBTestParams
{
	const IndTri32*	PX_RESTRICT	mTris32;
	const IndTri16*	PX_RESTRICT	mTris16;
	const PxVec3*	PX_RESTRICT	mVerts;

	PxMat33			mRModelToBox_Padded;	//!< Rotation from model space to obb space
	PxVec3p			mTModelToBox_Padded;	//!< Translation from model space to obb space
};

struct OBBTetParams : OBBTestParams
{
	const IndTetrahedron32*	PX_RESTRICT	mTets32;
	const IndTetrahedron16*	PX_RESTRICT	mTets16;
	const PxVec3*			PX_RESTRICT	mVerts;

	PxMat33					mRModelToBox_Padded;	//!< Rotation from model space to obb space
	PxVec3p					mTModelToBox_Padded;	//!< Translation from model space to obb space
};

// PT: TODO: this used to be inlined so we lost some perf by moving to PhysX's version. Revisit. (TA34704)
PxIntBool intersectTriangleBoxBV4(const PxVec3& p0, const PxVec3& p1, const PxVec3& p2,
									const PxMat33& rotModelToBox, const PxVec3& transModelToBox, const PxVec3& extents);
namespace
{
class LeafFunction_BoxOverlapAny
{
public:
	static PX_FORCE_INLINE PxIntBool doLeafTest(const OBBParams* PX_RESTRICT params, PxU32 primIndex)
	{
		PxU32 nbToGo = getNbPrimitives(primIndex);
		do
		{
			PxU32 VRef0, VRef1, VRef2;
			getVertexReferences(VRef0, VRef1, VRef2, primIndex, params->mTris32, params->mTris16);

			if(intersectTriangleBoxBV4(params->mVerts[VRef0], params->mVerts[VRef1], params->mVerts[VRef2], params->mRModelToBox_Padded, params->mTModelToBox_Padded, params->mBoxExtents_PaddedAligned))
				return 1;
			primIndex++;
		}while(nbToGo--);

		return 0;
	}
};
}

template<class ParamsT, class SourceMeshT>
static PX_FORCE_INLINE void setupBoxParams(ParamsT* PX_RESTRICT params, const Box& localBox, const BV4Tree* PX_RESTRICT tree, const SourceMeshT* PX_RESTRICT mesh)
{
	invertBoxMatrix(params->mRModelToBox_Padded, params->mTModelToBox_Padded, localBox);

	setupMeshPointersAndQuantizedCoeffs(params, mesh, tree);

	params->setupFullBoxBoxData(localBox.center, localBox.extents, &localBox.rot);
}

///////////////////////////////////////////////////////////////////////////////

#ifdef GU_BV4_USE_SLABS
	#include "GuBV4_Slabs.h"
#endif
#include "GuBV4_ProcessStreamNoOrder_OBBOBB.h"
#ifdef GU_BV4_USE_SLABS
	#include "GuBV4_Slabs_SwizzledNoOrder.h"
#endif

#define GU_BV4_PROCESS_STREAM_NO_ORDER
#include "GuBV4_Internal.h"

PxIntBool BV4_OverlapBoxAny(const Box& box, const BV4Tree& tree, const PxMat44* PX_RESTRICT worldm_Aligned)
{
	const SourceMesh* PX_RESTRICT mesh = static_cast<const SourceMesh*>(tree.mMeshInterface);

	Box localBox;
	computeLocalBox(localBox, box, worldm_Aligned);

	OBBParams Params;
	setupBoxParams(&Params, localBox, &tree, mesh);

	if(tree.mNodes)
		return processStreamNoOrder<LeafFunction_BoxOverlapAny>(tree, &Params);
	else
	{
		const PxU32 nbTris = mesh->getNbPrimitives();
		PX_ASSERT(nbTris<16);
		return LeafFunction_BoxOverlapAny::doLeafTest(&Params, nbTris);
	}
}


// Box overlap all

struct OBBParamsAll : OBBParams
{
	PxU32	mNbHits;
	PxU32	mMaxNbHits;
	PxU32*	mHits;
};

namespace
{
class LeafFunction_BoxOverlapAll
{
public:
	static PX_FORCE_INLINE PxIntBool doLeafTest(OBBParams* PX_RESTRICT params, PxU32 primIndex)
	{
		PxU32 nbToGo = getNbPrimitives(primIndex);
		do
		{
			PxU32 VRef0, VRef1, VRef2;
			getVertexReferences(VRef0, VRef1, VRef2, primIndex, params->mTris32, params->mTris16);

			if(intersectTriangleBoxBV4(params->mVerts[VRef0], params->mVerts[VRef1], params->mVerts[VRef2], params->mRModelToBox_Padded, params->mTModelToBox_Padded, params->mBoxExtents_PaddedAligned))
			{
				OBBParamsAll* ParamsAll = static_cast<OBBParamsAll*>(params);
				if(ParamsAll->mNbHits==ParamsAll->mMaxNbHits)
					return 1;
				ParamsAll->mHits[ParamsAll->mNbHits] = primIndex;
				ParamsAll->mNbHits++;
			}
			primIndex++;
		}while(nbToGo--);

		return 0;
	}
};

}

PxU32 BV4_OverlapBoxAll(const Box& box, const BV4Tree& tree, const PxMat44* PX_RESTRICT worldm_Aligned, PxU32* results, PxU32 size, bool& overflow)
{
	const SourceMesh* PX_RESTRICT mesh = static_cast<const SourceMesh*>(tree.mMeshInterface);

	Box localBox;
	computeLocalBox(localBox, box, worldm_Aligned);

	OBBParamsAll Params;
	Params.mNbHits		= 0;
	Params.mMaxNbHits	= size;
	Params.mHits		= results;
	setupBoxParams(&Params, localBox, &tree, mesh);

	if(tree.mNodes)
		overflow = processStreamNoOrder<LeafFunction_BoxOverlapAll>(tree, &Params)!=0;
	else
	{
		const PxU32 nbTris = mesh->getNbPrimitives();
		PX_ASSERT(nbTris<16);
		overflow = LeafFunction_BoxOverlapAll::doLeafTest(&Params, nbTris)!=0;
	}
	return Params.mNbHits;
}

// Box overlap - callback version

struct OBBParamsCB : OBBParams
{
	MeshOverlapCallback			mCallback;
	void*						mUserData;
};

struct OBBTetParamsCB : OBBTetParams
{
	TetMeshOverlapCallback	mCallback;
	void*					mUserData;
};

namespace
{
class LeafFunction_BoxOverlapCB
{
public:
	static PX_FORCE_INLINE PxIntBool doLeafTest(const OBBParamsCB* PX_RESTRICT params, PxU32 primIndex)
	{
		PxU32 nbToGo = getNbPrimitives(primIndex);

		do
		{
			
			PxU32 VRef0, VRef1, VRef2;
			getVertexReferences(VRef0, VRef1, VRef2, primIndex, params->mTris32, params->mTris16);

			if (intersectTriangleBoxBV4(params->mVerts[VRef0], params->mVerts[VRef1], params->mVerts[VRef2], params->mRModelToBox_Padded, params->mTModelToBox_Padded, params->mBoxExtents_PaddedAligned))
			{
				const PxU32 vrefs[3] = { VRef0, VRef1, VRef2 };
				if ((params->mCallback)(params->mUserData, params->mVerts[VRef0], params->mVerts[VRef1], params->mVerts[VRef2], primIndex, vrefs))
					return 1;
			}
			
			primIndex++;
		}while(nbToGo--);

		return 0;
	}

	static PX_FORCE_INLINE PxIntBool doLeafTest(const OBBTetParamsCB* PX_RESTRICT params, PxU32 primIndex)
	{
		PxU32 nbToGo = getNbPrimitives(primIndex);
		do
		{
			PxU32 VRef0, VRef1, VRef2, VRef3;
			getVertexReferences(VRef0, VRef1, VRef2, VRef3, primIndex, params->mTets32, params->mTets16);

			if (intersectTriangleBoxBV4(params->mVerts[VRef0], params->mVerts[VRef1], params->mVerts[VRef2], params->mRModelToBox_Padded, params->mTModelToBox_Padded, params->mBoxExtents_PaddedAligned))
			{
				const PxU32 vrefs[4] = { VRef0, VRef1, VRef2, VRef3};
				if ((params->mCallback)(params->mUserData, params->mVerts[VRef0], params->mVerts[VRef1], params->mVerts[VRef2], params->mVerts[VRef3], primIndex, vrefs))
					return 1;
			}

			if (intersectTriangleBoxBV4(params->mVerts[VRef0], params->mVerts[VRef3], params->mVerts[VRef1], params->mRModelToBox_Padded, params->mTModelToBox_Padded, params->mBoxExtents_PaddedAligned))
			{
				const PxU32 vrefs[4] = { VRef0, VRef1, VRef2, VRef3 };
				if ((params->mCallback)(params->mUserData, params->mVerts[VRef0], params->mVerts[VRef1], params->mVerts[VRef2], params->mVerts[VRef3], primIndex, vrefs))
					return 1;
			}

			if (intersectTriangleBoxBV4(params->mVerts[VRef1], params->mVerts[VRef3], params->mVerts[VRef2], params->mRModelToBox_Padded, params->mTModelToBox_Padded, params->mBoxExtents_PaddedAligned))
			{
				const PxU32 vrefs[4] = { VRef0, VRef1, VRef2, VRef3 };
				if ((params->mCallback)(params->mUserData, params->mVerts[VRef0], params->mVerts[VRef1], params->mVerts[VRef2], params->mVerts[VRef3], primIndex, vrefs))
					return 1;
			}

			if (intersectTriangleBoxBV4(params->mVerts[VRef0], params->mVerts[VRef3], params->mVerts[VRef2], params->mRModelToBox_Padded, params->mTModelToBox_Padded, params->mBoxExtents_PaddedAligned))
			{
				const PxU32 vrefs[4] = { VRef0, VRef1, VRef2, VRef3 };
				if ((params->mCallback)(params->mUserData, params->mVerts[VRef0], params->mVerts[VRef1], params->mVerts[VRef2], params->mVerts[VRef3], primIndex, vrefs))
					return 1;
			}
			primIndex++;
		} while (nbToGo--);

		return 0;
	}
};
}

void BV4_OverlapBoxCB(const Box& localBox, const BV4Tree& tree, MeshOverlapCallback callback, void* userData)
{
	const SourceMesh* PX_RESTRICT mesh = static_cast<const SourceMesh*>(tree.mMeshInterface);

	OBBParamsCB Params;
	Params.mCallback	= callback;
	Params.mUserData	= userData;
	setupBoxParams(&Params, localBox, &tree, mesh);

	if(tree.mNodes)
		processStreamNoOrder<LeafFunction_BoxOverlapCB>(tree, &Params);
	else
	{
		const PxU32 nbTris = mesh->getNbPrimitives();
		PX_ASSERT(nbTris<16);
		LeafFunction_BoxOverlapCB::doLeafTest(&Params, nbTris);
	}
}

void BV4_OverlapBoxCB(const Box& localBox, const BV4Tree& tree, TetMeshOverlapCallback callback, void* userData)
{
	const TetrahedronSourceMesh* PX_RESTRICT mesh = static_cast<TetrahedronSourceMesh*>(tree.mMeshInterface);

	OBBTetParamsCB Params;
	Params.mCallback = callback;
	Params.mUserData = userData;
	setupBoxParams(&Params, localBox, &tree, mesh);

	if (tree.mNodes)
		processStreamNoOrder<LeafFunction_BoxOverlapCB>(tree, &Params);
	else
	{
		const PxU32 nbTetrahedrons = mesh->getNbTetrahedrons();
		PX_ASSERT(nbTetrahedrons<16);
		LeafFunction_BoxOverlapCB::doLeafTest(&Params, nbTetrahedrons);
	}
}

// Capsule overlap any

struct CapsuleParamsAny : OBBParams
{
	Capsule						mLocalCapsule;	// Capsule in mesh space
	CapsuleTriangleOverlapData	mData;
};

// PT: TODO: try to refactor this one with the PhysX version (TA34704)
static bool CapsuleVsTriangle_SAT(const PxVec3& p0, const PxVec3& p1, const PxVec3& p2, const CapsuleParamsAny* PX_RESTRICT params)
{
//	PX_ASSERT(capsule.p0!=capsule.p1);

	{
		const PxReal d2 = distancePointSegmentSquaredInternal(params->mLocalCapsule.p0, params->mData.mCapsuleDir, p0);
		if(d2<=params->mLocalCapsule.radius*params->mLocalCapsule.radius)
			return 1;
	}

	const PxVec3 N = (p0 - p1).cross(p0 - p2);

	if(!testAxis(p0, p1, p2, params->mLocalCapsule, N))
		return 0;

	const float BDotB = params->mData.mBDotB;
	const float oneOverBDotB = params->mData.mOneOverBDotB;
	const PxVec3& capP0 = params->mLocalCapsule.p0;
	const PxVec3& capDir = params->mData.mCapsuleDir;

	if(!testAxis(p0, p1, p2, params->mLocalCapsule, computeEdgeAxis(p0, p1 - p0, capP0, capDir, BDotB, oneOverBDotB)))
		return 0;

	if(!testAxis(p0, p1, p2, params->mLocalCapsule, computeEdgeAxis(p1, p2 - p1, capP0, capDir, BDotB, oneOverBDotB)))
		return 0;

	if(!testAxis(p0, p1, p2, params->mLocalCapsule, computeEdgeAxis(p2, p0 - p2, capP0, capDir, BDotB, oneOverBDotB)))
		return 0;

	return 1;
}

static PxIntBool PX_FORCE_INLINE capsuleTriangle(const CapsuleParamsAny* PX_RESTRICT params, PxU32 primIndex)
{
	PxU32 VRef0, VRef1, VRef2;
	getVertexReferences(VRef0, VRef1, VRef2, primIndex, params->mTris32, params->mTris16);
	return CapsuleVsTriangle_SAT(params->mVerts[VRef0], params->mVerts[VRef1], params->mVerts[VRef2], params);
}

namespace
{
class LeafFunction_CapsuleOverlapAny
{
public:
	static PX_FORCE_INLINE PxIntBool doLeafTest(const OBBParams* PX_RESTRICT params, PxU32 primIndex)
	{
		PxU32 nbToGo = getNbPrimitives(primIndex);
		do
		{
			if(capsuleTriangle(static_cast<const CapsuleParamsAny*>(params), primIndex))
				return 1;
			primIndex++;
		}while(nbToGo--);

		return 0;
	}
};
}

template<class ParamsT>
static PX_FORCE_INLINE void setupCapsuleParams(ParamsT* PX_RESTRICT params, const Capsule& capsule, const BV4Tree* PX_RESTRICT tree, const PxMat44* PX_RESTRICT worldm_Aligned, const SourceMesh* PX_RESTRICT mesh)
{
	computeLocalCapsule(params->mLocalCapsule, capsule, worldm_Aligned);

	params->mData.init(params->mLocalCapsule);

	Box localBox;
	computeBoxAroundCapsule(params->mLocalCapsule, localBox);

	setupBoxParams(params, localBox, tree, mesh);
}

PxIntBool BV4_OverlapCapsuleAny(const Capsule& capsule, const BV4Tree& tree, const PxMat44* PX_RESTRICT worldm_Aligned)
{
	const SourceMesh* PX_RESTRICT mesh = static_cast<SourceMesh*>(tree.mMeshInterface);

	CapsuleParamsAny Params;
	setupCapsuleParams(&Params, capsule, &tree, worldm_Aligned, mesh);

	if(tree.mNodes)
		return processStreamNoOrder<LeafFunction_CapsuleOverlapAny>(tree, &Params);
	else
	{
		const PxU32 nbTris = mesh->getNbTriangles();
		PX_ASSERT(nbTris<16);
		return LeafFunction_CapsuleOverlapAny::doLeafTest(&Params, nbTris);
	}
}


// Capsule overlap all

struct CapsuleParamsAll : CapsuleParamsAny
{
	PxU32	mNbHits;
	PxU32	mMaxNbHits;
	PxU32*	mHits;
};

namespace
{
class LeafFunction_CapsuleOverlapAll
{
public:
	static PX_FORCE_INLINE PxIntBool doLeafTest(OBBParams* PX_RESTRICT params, PxU32 primIndex)
	{
		CapsuleParamsAll* ParamsAll = static_cast<CapsuleParamsAll*>(params);

		PxU32 nbToGo = getNbPrimitives(primIndex);
		do
		{
			if(capsuleTriangle(ParamsAll, primIndex))
			{
				if(ParamsAll->mNbHits==ParamsAll->mMaxNbHits)
					return 1;
				ParamsAll->mHits[ParamsAll->mNbHits] = primIndex;
				ParamsAll->mNbHits++;
			}
			primIndex++;
		}while(nbToGo--);

		return 0;
	}
};
}

PxU32 BV4_OverlapCapsuleAll(const Capsule& capsule, const BV4Tree& tree, const PxMat44* PX_RESTRICT worldm_Aligned, PxU32* results, PxU32 size, bool& overflow)
{
	const SourceMesh* PX_RESTRICT mesh = static_cast<SourceMesh*>(tree.mMeshInterface);

	CapsuleParamsAll Params;
	Params.mNbHits		= 0;
	Params.mMaxNbHits	= size;
	Params.mHits		= results;
	setupCapsuleParams(&Params, capsule, &tree, worldm_Aligned, mesh);

	if(tree.mNodes)
		overflow = processStreamNoOrder<LeafFunction_CapsuleOverlapAll>(tree, &Params)!=0;
	else
	{
		const PxU32 nbTris = mesh->getNbTriangles();
		PX_ASSERT(nbTris<16);
		overflow = LeafFunction_CapsuleOverlapAll::doLeafTest(&Params, nbTris)!=0;
	}
	return Params.mNbHits;
}

// Capsule overlap - callback version

struct CapsuleParamsCB : CapsuleParamsAny
{
	MeshOverlapCallback	mCallback;
	void*				mUserData;
};

namespace
{
class LeafFunction_CapsuleOverlapCB
{
public:
	static PX_FORCE_INLINE PxIntBool doLeafTest(const CapsuleParamsCB* PX_RESTRICT params, PxU32 primIndex)
	{
		PxU32 nbToGo = getNbPrimitives(primIndex);
		do
		{
			PxU32 VRef0, VRef1, VRef2;
			getVertexReferences(VRef0, VRef1, VRef2, primIndex, params->mTris32, params->mTris16);

			const PxVec3& p0 = params->mVerts[VRef0];
			const PxVec3& p1 = params->mVerts[VRef1];
			const PxVec3& p2 = params->mVerts[VRef2];

			if(CapsuleVsTriangle_SAT(p0, p1, p2, params))
			{
				const PxU32 vrefs[3] = { VRef0, VRef1, VRef2 };
				if((params->mCallback)(params->mUserData, p0, p1, p2, primIndex, vrefs))
					return 1;
			}
			primIndex++;
		}while(nbToGo--);

		return 0;
	}
};
}

// PT: this one is currently not used
void BV4_OverlapCapsuleCB(const Capsule& capsule, const BV4Tree& tree, const PxMat44* PX_RESTRICT worldm_Aligned, MeshOverlapCallback callback, void* userData)
{
	const SourceMesh* PX_RESTRICT mesh = static_cast<const SourceMesh*>(tree.mMeshInterface);

	CapsuleParamsCB Params;
	Params.mCallback	= callback;
	Params.mUserData	= userData;
	setupCapsuleParams(&Params, capsule, &tree, worldm_Aligned, mesh);

	if(tree.mNodes)
		processStreamNoOrder<LeafFunction_CapsuleOverlapCB>(tree, &Params);
	else
	{
		const PxU32 nbTris = mesh->getNbTriangles();
		PX_ASSERT(nbTris<16);
		LeafFunction_CapsuleOverlapCB::doLeafTest(&Params, nbTris);
	}
}

