Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 252 insertions, 0 deletions

diff --git a/PhysX_3.4/Samples/SampleBase/RaycastCCD.cpp b/PhysX_3.4/Samples/SampleBase/RaycastCCD.cpp
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+++ b/PhysX_3.4/Samples/SampleBase/RaycastCCD.cpp
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+// 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) 2008-2016 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 "RaycastCCD.h"
+
+#include "geometry/PxBoxGeometry.h"
+#include "geometry/PxSphereGeometry.h"
+#include "geometry/PxCapsuleGeometry.h"
+#include "geometry/PxConvexMeshGeometry.h"
+#include "geometry/PxConvexMesh.h"
+#include "PxQueryReport.h"
+#include "PxScene.h"
+#include "PxRigidDynamic.h"
+#include "extensions/PxShapeExt.h"
+#include <stdio.h>
+
+//#define RAYCAST_CCD_PRINT_DEBUG
+
+PxVec3 getShapeCenter(PxRigidActor* actor, PxShape* shape, const PxVec3& localOffset)
+{
+	PxVec3 offset = localOffset;
+
+	switch(shape->getGeometryType())
+	{
+		case PxGeometryType::eCONVEXMESH:
+		{
+			PxConvexMeshGeometry geometry;
+			bool status = shape->getConvexMeshGeometry(geometry);
+			PX_UNUSED(status);
+			PX_ASSERT(status);
+
+			PxReal mass;
+			PxMat33 localInertia;
+			PxVec3 localCenterOfMass;
+			geometry.convexMesh->getMassInformation(mass, localInertia, localCenterOfMass);
+
+			offset += localCenterOfMass;
+		}
+		break;
+		default:
+		break;
+	}
+	const PxTransform pose = PxShapeExt::getGlobalPose(*shape, *actor);
+	return pose.transform(offset);
+}
+
+static PxReal computeInternalRadius(PxRigidActor* actor, PxShape* shape, const PxVec3& dir, /*PxVec3& offset,*/ const PxVec3& centerOffset)
+{
+	const PxBounds3 bounds = PxShapeExt::getWorldBounds(*shape, *actor);
+	const PxReal diagonal = (bounds.maximum - bounds.minimum).magnitude();
+	const PxReal offsetFromOrigin = diagonal * 2.0f;
+
+	PxTransform pose = PxShapeExt::getGlobalPose(*shape, *actor);
+
+	PxReal internalRadius = 0.0f;
+	const PxReal length = offsetFromOrigin*2.0f;
+
+	// PT: we do a switch here anyway since the code is not *exactly* the same all the time
+	{
+		switch(shape->getGeometryType())
+		{
+			case PxGeometryType::eBOX:
+			case PxGeometryType::eCAPSULE:
+			{
+				pose.p = PxVec3(0);
+				const PxVec3 virtualOrigin = pose.p + dir * offsetFromOrigin;
+
+				PxRaycastHit hit;
+
+				const PxHitFlags sceneQueryFlags = PxHitFlag::ePOSITION|PxHitFlag::eNORMAL|PxHitFlag::eDISTANCE;
+				PxU32 nbHits = PxGeometryQuery::raycast(virtualOrigin, -dir, shape->getGeometry().any(), pose, length, sceneQueryFlags, 1, &hit);
+				PX_UNUSED(nbHits);
+				PX_ASSERT(nbHits);
+
+				internalRadius = offsetFromOrigin - hit.distance;
+	//			offset = PxVec3(0.0f);
+			}
+			break;
+
+			case PxGeometryType::eSPHERE:
+			{
+				PxSphereGeometry geometry;
+				bool status = shape->getSphereGeometry(geometry);
+				PX_UNUSED(status);
+				PX_ASSERT(status);
+
+				internalRadius = geometry.radius;
+	//			offset = PxVec3(0.0f);
+			}
+			break;
+
+			case PxGeometryType::eCONVEXMESH:
+			{
+	/*PxVec3 saved = pose.p;
+				pose.p = PxVec3(0);
+
+	//			pose.p = geometry.convexMesh->getCenterOfMass();
+	//			const PxVec3 virtualOrigin = pose.p + dir * offsetFromOrigin;
+
+	//			const PxVec3 localCenter = computeCenter(geometry.convexMesh);
+	//			const PxVec3 localCenter = geometry.convexMesh->getCenterOfMass();
+	//			const PxVec3 virtualOrigin = pose.rotate(localCenter) + dir * offsetFromOrigin;
+				const PxVec3 localCenter = pose.rotate(geometry.convexMesh->getCenterOfMass());
+				const PxVec3 virtualOrigin = localCenter + dir * offsetFromOrigin;
+
+				PxRaycastHit hit;
+				PxU32 nbHits = Gu::raycast_convexMesh(geometry, pose, virtualOrigin, -dir, length, 0xffffffff, 1, &hit);
+				PX_ASSERT(nbHits);
+				internalRadius = offsetFromOrigin - hit.distance;
+
+				pose.p = localCenter;
+
+	PxVec3 shapeCenter = getShapeCenter(shape);
+	offset = shapeCenter - saved;*/
+
+
+				PxVec3 shapeCenter = getShapeCenter(actor, shape, centerOffset);
+				shapeCenter -= pose.p;
+				pose.p = PxVec3(0);
+
+				const PxVec3 virtualOrigin = shapeCenter + dir * offsetFromOrigin;
+				PxRaycastHit hit;
+				const PxHitFlags sceneQueryFlags = PxHitFlag::ePOSITION|PxHitFlag::eNORMAL|PxHitFlag::eDISTANCE;
+				PxU32 nbHits = PxGeometryQuery::raycast(virtualOrigin, -dir, shape->getGeometry().any(), pose, length, sceneQueryFlags, 1, &hit);
+				PX_UNUSED(nbHits);
+				PX_ASSERT(nbHits);
+
+				internalRadius = offsetFromOrigin - hit.distance;
+	//			offset = shapeCenter;
+			}
+			break;
+			default:
+			break;
+		}
+	}
+	return internalRadius;
+}
+
+static bool CCDRaycast(PxScene* scene, const PxVec3& origin, const PxVec3& unitDir, const PxReal distance, PxRaycastHit& hit)
+{
+	const PxHitFlags outputFlags = PxHitFlag::ePOSITION|PxHitFlag::eNORMAL|PxHitFlag::eDISTANCE;
+
+	PxQueryFilterData filterData;
+	filterData.flags = PxQueryFlag::eSTATIC;
+
+	PxQueryFilterCallback* filterCall = NULL;
+
+	PxRaycastBuffer buf1;
+	scene->raycast(origin, unitDir, distance, buf1, outputFlags, filterData, filterCall, NULL);
+	hit = buf1.block;
+	return buf1.hasBlock;
+}
+
+static PxRigidDynamic* canDoCCD(PxRigidActor& actor, PxShape* shape)
+{
+	PxRigidDynamic* dyna = actor.is<PxRigidDynamic>();
+	if(!dyna)
+		return NULL;	// PT: no need to do it for statics
+
+	const PxU32 nbShapes = dyna->getNbShapes();
+	if(nbShapes!=1)
+		return NULL;	// PT: only works with simple actors for now
+
+	if(dyna->getRigidBodyFlags() & PxRigidBodyFlag::eKINEMATIC)
+		return NULL;	// PT: no need to do it for kinematics
+
+	return dyna;
+}
+
+bool doRaycastCCD(PxRigidActor* actor, PxShape* shape, PxTransform& newPose, PxVec3& newShapeCenter, const PxVec3& ccdWitness, const PxVec3& ccdWitnessOffset)
+{
+	PxRigidDynamic* dyna = canDoCCD(*actor, shape);
+	if(!dyna)
+		return true;
+
+	bool updateCCDWitness = true;
+
+	const PxVec3 offset = newPose.p - newShapeCenter;
+	const PxVec3& origin = ccdWitness;
+	const PxVec3& dest = newShapeCenter;
+
+	PxVec3 dir = dest - origin;
+	const PxReal length = dir.magnitude();
+	if(length!=0.0f)
+	{
+		dir /= length;
+
+		// Compute internal radius
+		const PxReal internalRadius = computeInternalRadius(actor, shape, dir, ccdWitnessOffset);
+
+		// Compute distance to impact
+		PxRaycastHit hit;
+		if(internalRadius!=0.0f && CCDRaycast(actor->getScene(), origin, dir, length, hit))
+		{
+#ifdef RAYCAST_CCD_PRINT_DEBUG
+			static int count=0;
+			shdfnd::printFormatted("CCD hit %d\n", count++);
+#endif
+			updateCCDWitness = false;
+			const PxReal radiusLimit = internalRadius * 0.75f;
+			if(hit.distance>radiusLimit)
+			{
+				newShapeCenter = origin + dir * (hit.distance - radiusLimit);
+#ifdef RAYCAST_CCD_PRINT_DEBUG
+				shdfnd::printFormatted("  Path0: %f | %f\n", hit.distance, radiusLimit);
+#endif
+			}
+			else
+			{
+				newShapeCenter = origin;
+#ifdef RAYCAST_CCD_PRINT_DEBUG
+				shdfnd::printFormatted("  Path1: %f\n", hit.distance);
+#endif
+			}
+
+			{
+				newPose.p = offset + newShapeCenter;
+				const PxTransform shapeLocalPose = shape->getLocalPose();
+				const PxTransform inverseShapeLocalPose = shapeLocalPose.getInverse();
+				PxTransform newGlobalPose = newPose * inverseShapeLocalPose;
+				dyna->setGlobalPose(newGlobalPose);
+			}
+		}
+	}
+	return updateCCDWitness;
+}