Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 159 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/GuInternal.cpp b/PhysX_3.4/Source/GeomUtils/src/GuInternal.cpp
new file mode 100644
index 00000000..4e5e25a3
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+++ b/PhysX_3.4/Source/GeomUtils/src/GuInternal.cpp
@@ -0,0 +1,159 @@
+// 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 "foundation/PxBounds3.h"
+#include "PsIntrinsics.h"
+#include "GuInternal.h"
+#include "GuBox.h"
+#include "GuVecPlane.h"
+#include "PsMathUtils.h"
+#include "PxCapsuleGeometry.h"
+#include "PsVecMath.h"
+using namespace physx::shdfnd::aos;
+
+using namespace physx;
+
+/**
+Computes the aabb points.
+\param		pts	[out] 8 box points
+*/
+void Gu::computeBoxPoints(const PxBounds3& bounds, PxVec3* PX_RESTRICT pts)
+{
+	PX_ASSERT(pts);
+
+	// Get box corners
+	const PxVec3& minimum = bounds.minimum;
+	const PxVec3& maximum = bounds.maximum;
+
+	//     7+------+6			0 = ---
+	//     /|     /|			1 = +--
+	//    / |    / |			2 = ++-
+	//   / 4+---/--+5			3 = -+-
+	// 3+------+2 /    y   z	4 = --+
+	//  | /    | /     |  /		5 = +-+
+	//  |/     |/      |/		6 = +++
+	// 0+------+1      *---x	7 = -++
+
+	// Generate 8 corners of the bbox
+	pts[0] = PxVec3(minimum.x, minimum.y, minimum.z);
+	pts[1] = PxVec3(maximum.x, minimum.y, minimum.z);
+	pts[2] = PxVec3(maximum.x, maximum.y, minimum.z);
+	pts[3] = PxVec3(minimum.x, maximum.y, minimum.z);
+	pts[4] = PxVec3(minimum.x, minimum.y, maximum.z);
+	pts[5] = PxVec3(maximum.x, minimum.y, maximum.z);
+	pts[6] = PxVec3(maximum.x, maximum.y, maximum.z);
+	pts[7] = PxVec3(minimum.x, maximum.y, maximum.z);
+}
+
+PxPlane Gu::getPlane(const PxTransform& pose)
+{ 
+	const PxVec3 n = pose.q.getBasisVector0();
+	return PxPlane(n, -pose.p.dot(n)); 
+}
+
+void Gu::computeBoundsAroundVertices(PxBounds3& bounds, PxU32 nbVerts, const PxVec3* PX_RESTRICT verts)
+{
+	// PT: we can safely V4LoadU the first N-1 vertices. We must V3LoadU the last vertex, to make sure we don't read
+	// invalid memory. Since we have to special-case that last vertex anyway, we reuse that code to also initialize
+	// the minV/maxV values (bypassing the need for a 'setEmpty()' initialization).
+
+	if(!nbVerts)
+	{
+		bounds.setEmpty();
+		return;
+	}
+
+	PxU32 nbSafe = nbVerts-1;
+
+	// PT: read last (unsafe) vertex using V3LoadU, initialize minV/maxV
+	const Vec4V lastVertexV = Vec4V_From_Vec3V(V3LoadU(&verts[nbSafe].x));
+	Vec4V minV = lastVertexV;
+	Vec4V maxV = lastVertexV;
+
+	// PT: read N-1 first (safe) vertices using V4LoadU
+	while(nbSafe--)
+	{
+		const Vec4V vertexV = V4LoadU(&verts->x);
+		verts++;
+
+		minV = V4Min(minV, vertexV);
+		maxV = V4Max(maxV, vertexV);
+	}
+
+	StoreBounds(bounds, minV, maxV);
+}
+
+void Gu::computeSweptBox(Gu::Box& dest, const PxVec3& extents, const PxVec3& center, const PxMat33& rot, const PxVec3& unitDir, const PxReal distance)
+{
+	PxVec3 R1, R2;
+	Ps::computeBasis(unitDir, R1, R2);
+
+	PxReal dd[3];
+	dd[0] = PxAbs(rot.column0.dot(unitDir));
+	dd[1] = PxAbs(rot.column1.dot(unitDir));
+	dd[2] = PxAbs(rot.column2.dot(unitDir));
+	PxReal dmax = dd[0];
+	PxU32 ax0=1;
+	PxU32 ax1=2;
+	if(dd[1]>dmax)
+	{
+		dmax=dd[1];
+		ax0=0;
+		ax1=2;
+	}
+	if(dd[2]>dmax)
+	{
+		dmax=dd[2];
+		ax0=0;
+		ax1=1;
+	}
+	if(dd[ax1]<dd[ax0])
+		Ps::swap(ax0, ax1);
+
+	R1 = rot[ax0];
+	R1 -= (R1.dot(unitDir))*unitDir;	// Project to plane whose normal is dir
+	R1.normalize();
+	R2 = unitDir.cross(R1);
+
+	dest.setAxes(unitDir, R1, R2);
+
+	PxReal offset[3];
+	offset[0] = distance;
+	offset[1] = distance*(unitDir.dot(R1));
+	offset[2] = distance*(unitDir.dot(R2));
+
+	for(PxU32 r=0; r<3; r++)
+	{
+		const PxVec3& R = dest.rot[r];
+		dest.extents[r] = offset[r]*0.5f + PxAbs(rot.column0.dot(R))*extents.x + PxAbs(rot.column1.dot(R))*extents.y + PxAbs(rot.column2.dot(R))*extents.z;
+	}
+
+	dest.center = center + unitDir*distance*0.5f;
+}