4 files changed, 318 insertions, 3 deletions

diff --git a/sdk/extensions/physx/source/physics/NvBlastExtPxCollisionBuilderImpl.cpp b/sdk/extensions/physx/source/physics/NvBlastExtPxCollisionBuilderImpl.cpp
new file mode 100644
index 0000000..4f653a7
--- /dev/null
+++ b/sdk/extensions/physx/source/physics/NvBlastExtPxCollisionBuilderImpl.cpp
@@ -0,0 +1,232 @@
+// This code contains NVIDIA Confidential Information and is disclosed to you
+// under a form of NVIDIA software license agreement provided separately to you.
+//
+// Notice
+// NVIDIA Corporation and its licensors retain all intellectual property and
+// proprietary rights in and to this software and related documentation and
+// any modifications thereto. Any use, reproduction, disclosure, or
+// distribution of this software and related documentation without an express
+// license agreement from NVIDIA Corporation is strictly prohibited.
+//
+// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
+// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
+// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
+// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+//
+// Information and code furnished is believed to be accurate and reliable.
+// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
+// information or for any infringement of patents or other rights of third parties that may
+// result from its use. No license is granted by implication or otherwise under any patent
+// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
+// This code supersedes and replaces all information previously supplied.
+// NVIDIA Corporation products are not authorized for use as critical
+// components in life support devices or systems without express written approval of
+// NVIDIA Corporation.
+//
+// Copyright (c) 2016-2018 NVIDIA Corporation. All rights reserved.
+
+#include <NvBlastGlobals.h>
+#include "NvBlastExtPxCollisionBuilderImpl.h"
+#include "NvBlastExtAuthoringTypes.h"
+#include "NvBlastExtPxAsset.h"
+#include <PxConvexMesh.h>
+#include "PxPhysics.h"
+#include "cooking/PxCooking.h"
+#include <NvBlastPxSharedHelpers.h>
+#include <vector>
+#include <set>
+
+using namespace physx;
+
+#define SAFE_ARRAY_NEW(T, x) ((x) > 0) ? reinterpret_cast<T*>(NVBLAST_ALLOC(sizeof(T) * (x))) : nullptr;
+#define SAFE_ARRAY_DELETE(x)                                                                                           \
+	if (x != nullptr)                                                                                                  \
+	{                                                                                                                  \
+		NVBLAST_FREE(x);                                                                                               \
+		x = nullptr;                                                                                                   \
+	}
+
+namespace Nv
+{
+namespace Blast
+{
+
+CollisionHullImpl::~CollisionHullImpl()
+{
+	SAFE_ARRAY_DELETE(points);
+	SAFE_ARRAY_DELETE(indices);
+	SAFE_ARRAY_DELETE(polygonData);
+}
+
+CollisionHullImpl::CollisionHullImpl(const CollisionHull& hullToCopy)
+{
+	pointsCount      = hullToCopy.pointsCount;
+	indicesCount     = hullToCopy.indicesCount;
+	polygonDataCount = hullToCopy.polygonDataCount;
+
+	points      = SAFE_ARRAY_NEW(NvcVec3, pointsCount);
+	indices     = SAFE_ARRAY_NEW(uint32_t, indicesCount);
+	polygonData = SAFE_ARRAY_NEW(HullPolygon, polygonDataCount);
+	memcpy(points, hullToCopy.points, sizeof(points[0]) * pointsCount);
+	memcpy(indices, hullToCopy.indices, sizeof(indices[0]) * indicesCount);
+	memcpy(polygonData, hullToCopy.polygonData, sizeof(polygonData[0]) * polygonDataCount);
+}
+
+CollisionHull* ExtPxCollisionBuilderImpl::buildCollisionGeometry(uint32_t verticesCount, const NvcVec3* vData)
+{
+	CollisionHull* output = new CollisionHullImpl();
+	std::vector<physx::PxVec3> vertexData(verticesCount);
+	memcpy(vertexData.data(), vData, sizeof(physx::PxVec3) * verticesCount);
+
+	PxConvexMeshDesc convexMeshDescr;
+	PxConvexMesh* resultConvexMesh;
+	PxBounds3 bounds;
+	// Scale chunk to unit cube size, to avoid numerical errors
+	bounds.setEmpty();
+	for (uint32_t i = 0; i < vertexData.size(); ++i)
+	{
+		bounds.include(vertexData[i]);
+	}
+	PxVec3 bbCenter = bounds.getCenter();
+	float scale = PxMax(PxAbs(bounds.getExtents(0)), PxMax(PxAbs(bounds.getExtents(1)), PxAbs(bounds.getExtents(2))));
+	for (uint32_t i = 0; i < vertexData.size(); ++i)
+	{
+		vertexData[i] = vertexData[i] - bbCenter;
+		vertexData[i] *= (1.0f / scale);
+	}
+	bounds.setEmpty();
+	for (uint32_t i = 0; i < vertexData.size(); ++i)
+	{
+		bounds.include(vertexData[i]);
+	}
+	convexMeshDescr.points.data   = vertexData.data();
+	convexMeshDescr.points.stride = sizeof(PxVec3);
+	convexMeshDescr.points.count  = (uint32_t)vertexData.size();
+	convexMeshDescr.flags         = PxConvexFlag::eCOMPUTE_CONVEX;
+	resultConvexMesh              = mCooking->createConvexMesh(convexMeshDescr, *mInsertionCallback);
+	if (!resultConvexMesh)
+	{
+		vertexData.clear();
+		vertexData.push_back(bounds.minimum);
+		vertexData.push_back(PxVec3(bounds.minimum.x, bounds.maximum.y, bounds.minimum.z));
+		vertexData.push_back(PxVec3(bounds.maximum.x, bounds.maximum.y, bounds.minimum.z));
+		vertexData.push_back(PxVec3(bounds.maximum.x, bounds.minimum.y, bounds.minimum.z));
+		vertexData.push_back(PxVec3(bounds.minimum.x, bounds.minimum.y, bounds.maximum.z));
+		vertexData.push_back(PxVec3(bounds.minimum.x, bounds.maximum.y, bounds.maximum.z));
+		vertexData.push_back(PxVec3(bounds.maximum.x, bounds.maximum.y, bounds.maximum.z));
+		vertexData.push_back(PxVec3(bounds.maximum.x, bounds.minimum.y, bounds.maximum.z));
+		convexMeshDescr.points.data  = vertexData.data();
+		convexMeshDescr.points.count = (uint32_t)vertexData.size();
+		resultConvexMesh             = mCooking->createConvexMesh(convexMeshDescr, *mInsertionCallback);
+	}
+	output->polygonDataCount = resultConvexMesh->getNbPolygons();
+	if (output->polygonDataCount)
+		output->polygonData = SAFE_ARRAY_NEW(HullPolygon, output->polygonDataCount);
+	output->pointsCount  = resultConvexMesh->getNbVertices();
+	output->points       = SAFE_ARRAY_NEW(NvcVec3, output->pointsCount);
+	int32_t indicesCount = 0;
+	PxHullPolygon hPoly;
+	for (uint32_t i = 0; i < resultConvexMesh->getNbPolygons(); ++i)
+	{
+		HullPolygon& pd = output->polygonData[i];
+		resultConvexMesh->getPolygonData(i, hPoly);
+		pd.indexBase = hPoly.mIndexBase;
+		pd.vertexCount   = hPoly.mNbVerts;
+		pd.plane[0]  = hPoly.mPlane[0];
+		pd.plane[1]  = hPoly.mPlane[1];
+		pd.plane[2]  = hPoly.mPlane[2];
+		pd.plane[3]  = hPoly.mPlane[3];
+
+		pd.plane[0] /= scale;
+		pd.plane[1] /= scale;
+		pd.plane[2] /= scale;
+		pd.plane[3] -= (pd.plane[0] * bbCenter.x + pd.plane[1] * bbCenter.y + pd.plane[2] * bbCenter.z);
+		float length = sqrt(pd.plane[0] * pd.plane[0] + pd.plane[1] * pd.plane[1] + pd.plane[2] * pd.plane[2]);
+		pd.plane[0] /= length;
+		pd.plane[1] /= length;
+		pd.plane[2] /= length;
+		pd.plane[3] /= length;
+		indicesCount = PxMax(indicesCount, pd.indexBase + pd.vertexCount);
+	}
+	output->indicesCount = indicesCount;
+	output->indices      = SAFE_ARRAY_NEW(uint32_t, indicesCount);
+	for (uint32_t i = 0; i < resultConvexMesh->getNbVertices(); ++i)
+	{
+		PxVec3 p          = resultConvexMesh->getVertices()[i] * scale + bbCenter;
+		output->points[i] = fromPxShared(p);
+	}
+	for (int32_t i = 0; i < indicesCount; ++i)
+	{
+		output->indices[i] = resultConvexMesh->getIndexBuffer()[i];
+	}
+	resultConvexMesh->release();
+	return output;
+}
+
+void ExtPxCollisionBuilderImpl::releaseCollisionHull(Nv::Blast::CollisionHull* ch) const
+{
+	if (ch)
+	{
+		SAFE_ARRAY_DELETE(ch->indices);
+		SAFE_ARRAY_DELETE(ch->points);
+		SAFE_ARRAY_DELETE(ch->polygonData);
+		delete ch;
+	}
+}
+
+physx::PxConvexMesh* ExtPxCollisionBuilderImpl::buildConvexMesh(const CollisionHull& hull)
+{
+	/* PxCooking::createConvexMesh expects PxHullPolygon input, which matches HullPolygon */
+	static_assert(sizeof(PxHullPolygon) == sizeof(HullPolygon), "HullPolygon size mismatch");
+	static_assert(offsetof(PxHullPolygon, mPlane) == offsetof(HullPolygon, plane), "HullPolygon layout mismatch");
+	static_assert(offsetof(PxHullPolygon, mNbVerts) == offsetof(HullPolygon, vertexCount), "HullPolygon layout mismatch");
+	static_assert(offsetof(PxHullPolygon, mIndexBase) == offsetof(HullPolygon, indexBase),
+	              "HullPolygon layout mismatch");
+
+	PxConvexMeshDesc convexMeshDescr;
+	convexMeshDescr.indices.data   = hull.indices;
+	convexMeshDescr.indices.count  = (uint32_t)hull.indicesCount;
+	convexMeshDescr.indices.stride = sizeof(uint32_t);
+
+	convexMeshDescr.points.data   = hull.points;
+	convexMeshDescr.points.count  = (uint32_t)hull.pointsCount;
+	convexMeshDescr.points.stride = sizeof(PxVec3);
+
+	convexMeshDescr.polygons.data   = hull.polygonData;
+	convexMeshDescr.polygons.count  = (uint32_t)hull.polygonDataCount;
+	convexMeshDescr.polygons.stride = sizeof(PxHullPolygon);
+
+	return mCooking->createConvexMesh(convexMeshDescr, *mInsertionCallback);
+}
+
+void ExtPxCollisionBuilderImpl::buildPhysicsChunks(uint32_t chunkCount, uint32_t* hullOffsets,
+                                              CollisionHull** hulls, ExtPxChunk* physicsChunks,
+                                              ExtPxSubchunk* physicsSubchunks)
+{
+	//Nv::Blast::AuthoringResult& result = *ar;
+	//uint32_t chunkCount                = (uint32_t)result.chunkCount;
+	//uint32_t* hullOffsets              = result.collisionHullOffset;
+	//CollisionHull** hulls               = result.collisionHull;
+	for (uint32_t i = 0; i < chunkCount; ++i)
+	{
+		int32_t beg = hullOffsets[i];
+		int32_t end = hullOffsets[i + 1];
+		for (int32_t subhull = beg; subhull < end; ++subhull)
+		{
+			physicsSubchunks[subhull].transform = physx::PxTransform(physx::PxIdentity);
+			physicsSubchunks[subhull].geometry  = physx::PxConvexMeshGeometry(
+                reinterpret_cast<physx::PxConvexMesh*>(buildConvexMesh(*hulls[subhull])));
+		}
+		physicsChunks[i].isStatic           = false;
+		physicsChunks[i].subchunkCount      = static_cast<uint32_t>(end - beg);
+		physicsChunks[i].firstSubchunkIndex = beg;
+	}
+}
+
+void ExtPxCollisionBuilderImpl::release()
+{
+	NVBLAST_DELETE(this, ExtPxCollisionBuilderImpl);
+}
+
+}  // namespace Blast
+}  // namespace Nv
diff --git a/sdk/extensions/physx/source/physics/NvBlastExtPxCollisionBuilderImpl.h b/sdk/extensions/physx/source/physics/NvBlastExtPxCollisionBuilderImpl.h
new file mode 100644
index 0000000..9fb5c5e
--- /dev/null
+++ b/sdk/extensions/physx/source/physics/NvBlastExtPxCollisionBuilderImpl.h
@@ -0,0 +1,74 @@
+// This code contains NVIDIA Confidential Information and is disclosed to you
+// under a form of NVIDIA software license agreement provided separately to you.
+//
+// Notice
+// NVIDIA Corporation and its licensors retain all intellectual property and
+// proprietary rights in and to this software and related documentation and
+// any modifications thereto. Any use, reproduction, disclosure, or
+// distribution of this software and related documentation without an express
+// license agreement from NVIDIA Corporation is strictly prohibited.
+//
+// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
+// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
+// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
+// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+//
+// Information and code furnished is believed to be accurate and reliable.
+// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
+// information or for any infringement of patents or other rights of third parties that may
+// result from its use. No license is granted by implication or otherwise under any patent
+// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
+// This code supersedes and replaces all information previously supplied.
+// NVIDIA Corporation products are not authorized for use as critical
+// components in life support devices or systems without express written approval of
+// NVIDIA Corporation.
+//
+// Copyright (c) 2016-2018 NVIDIA Corporation. All rights reserved.
+
+
+#ifndef NVBLASTEXTPXCOLLISIONBUILDERIMPL_H
+#define NVBLASTEXTPXCOLLISIONBUILDERIMPL_H
+
+#include "NvBlastExtPxCollisionBuilder.h"
+#include "NvBlastExtAuthoringTypes.h"
+
+namespace physx
+{
+	class PxCooking;
+	class PxPhysicsInsertionCallback;
+}
+namespace Nv
+{
+	namespace Blast
+	{
+
+		struct CollisionHullImpl : public CollisionHull
+		{
+			CollisionHullImpl() {};
+			CollisionHullImpl(const CollisionHull& hullToCopy);
+			~CollisionHullImpl();
+		};
+
+		class ExtPxCollisionBuilderImpl : public ExtPxCollisionBuilder
+		{
+		public:
+			ExtPxCollisionBuilderImpl(physx::PxCooking* cooking,
+				physx::PxPhysicsInsertionCallback* insertionCallback) : mCooking(cooking), mInsertionCallback(insertionCallback) {}
+	        virtual ~ExtPxCollisionBuilderImpl() {};
+			void release() override;
+			CollisionHull* buildCollisionGeometry(uint32_t verticesCount, const NvcVec3* vertexData) override;
+			void releaseCollisionHull(CollisionHull* hull) const override;
+
+			physx::PxConvexMesh* buildConvexMesh(const CollisionHull& hull) override;
+			void buildPhysicsChunks(uint32_t chunkCount, uint32_t* hullOffsets, CollisionHull** hulls,
+				ExtPxChunk* physicsChunks, ExtPxSubchunk* physicsSubchunks) override;
+		private:
+			physx::PxCooking* mCooking;
+			physx::PxPhysicsInsertionCallback* mInsertionCallback;
+		};
+
+	}  // namespace Blast
+}  // namespace Nv
+
+
+#endif  // ifndef NVBLASTEXTPXCOLLISIONBUILDERIMPL_H
diff --git a/sdk/extensions/physx/source/physics/NvBlastExtPxManagerImpl.cpp b/sdk/extensions/physx/source/physics/NvBlastExtPxManagerImpl.cpp
index 018ff74..223d5f3 100755
--- a/sdk/extensions/physx/source/physics/NvBlastExtPxManagerImpl.cpp
+++ b/sdk/extensions/physx/source/physics/NvBlastExtPxManagerImpl.cpp
@@ -29,6 +29,7 @@
 #include "NvBlastExtPxManagerImpl.h"

 #include "NvBlastExtPxAssetImpl.h"

 #include "NvBlastExtPxActorImpl.h"

+#include "NvBlastExtPxCollisionBuilderImpl.h"

 #include "NvBlastExtPxFamilyImpl.h"

 

 #include "NvBlastAssert.h"

@@ -38,6 +39,7 @@
 #include "NvBlastTkGroup.h"

 #include "NvBlastTkJoint.h"

 

+#include "PxPhysics.h"

 #include "PxRigidDynamic.h"

 #include "PxJoint.h"

 

@@ -53,6 +55,11 @@ ExtPxManager* ExtPxManager::create(PxPhysics& physics, TkFramework& framework, E
 	return NVBLAST_NEW(ExtPxManagerImpl)(physics, framework, createFn, useUserData);

 }

 

+ExtPxCollisionBuilder* ExtPxManager::createCollisionBuilder(PxPhysics& physics, PxCooking& cooking)

+{

+	return NVBLAST_NEW(ExtPxCollisionBuilderImpl(&cooking, &physics.getPhysicsInsertionCallback()));

+}

+

 void ExtPxManagerImpl::release()

 {

 	NVBLAST_DELETE(this, ExtPxManagerImpl);

diff --git a/sdk/extensions/physx/source/physics/NvBlastExtPxStressSolverImpl.cpp b/sdk/extensions/physx/source/physics/NvBlastExtPxStressSolverImpl.cpp
index b18df25..308c4ae 100755
--- a/sdk/extensions/physx/source/physics/NvBlastExtPxStressSolverImpl.cpp
+++ b/sdk/extensions/physx/source/physics/NvBlastExtPxStressSolverImpl.cpp
@@ -37,6 +37,8 @@
 #include "NvBlastTkActor.h"

 #include "NvBlastTkFamily.h"

 

+#include "NvBlastPxSharedHelpers.h"

+

 #include "PxScene.h"

 #include "PxRigidDynamic.h"

 

@@ -130,7 +132,7 @@ ExtPxStressSolverImpl::ExtPxStressSolverImpl(ExtPxFamily& family, ExtStressSolve
 			localPos = PxVec3(PxZero);

 			isChunkStatic = true;

 		}

-		m_solver->setNodeInfo(node0, mass, volume, localPos, isChunkStatic);

+		m_solver->setNodeInfo(node0, mass, volume, fromPxShared(localPos), isChunkStatic);

 	}

 #else

 	m_solver->setAllNodesInfoFromLL();

@@ -182,13 +184,13 @@ void ExtPxStressSolverImpl::update(bool doDamage)
 			PxVec3 gravity = rigidDynamic.getScene()->getGravity();

 			PxVec3 localGravity = rigidDynamic.getGlobalPose().rotateInv(gravity);

 

-			m_solver->addGravityForce(*actor->getTkActor().getActorLL(), localGravity);

+			m_solver->addGravityForce(*actor->getTkActor().getActorLL(), fromPxShared(localGravity));

 		}

 		else

 		{

 			PxVec3 localCenterMass = rigidDynamic.getCMassLocalPose().p;

 			PxVec3 localAngularVelocity = rigidDynamic.getGlobalPose().rotateInv(rigidDynamic.getAngularVelocity());

-			m_solver->addAngularVelocity(*actor->getTkActor().getActorLL(), localCenterMass, localAngularVelocity);

+			m_solver->addAngularVelocity(*actor->getTkActor().getActorLL(), fromPxShared(localCenterMass), fromPxShared(localAngularVelocity));

 		}

 	}