Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 151 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/GuInternal.h b/PhysX_3.4/Source/GeomUtils/src/GuInternal.h
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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.  
+
+#ifndef GU_GEOM_UTILS_INTERNAL_H
+#define GU_GEOM_UTILS_INTERNAL_H
+
+#include "CmPhysXCommon.h"
+#include "GuCapsule.h"
+#include "PxCapsuleGeometry.h"
+#include "PxBoxGeometry.h"
+#include "PsMathUtils.h"
+#include "PsUtilities.h"
+
+#define GU_EPSILON_SAME_DISTANCE 1e-3f
+
+namespace physx
+{
+namespace Gu
+{
+	class Box;
+
+	// PT: TODO: now that the Gu files are not exposed to users anymore, we should move back capsule-related functions
+	// to GuCapsule.h, etc
+
+	PX_PHYSX_COMMON_API const PxU8*	getBoxEdges();
+
+	PX_PHYSX_COMMON_API void		computeBoxPoints(const PxBounds3& bounds, PxVec3* PX_RESTRICT pts);
+	PX_PHYSX_COMMON_API void		computeBoundsAroundVertices(PxBounds3& bounds, PxU32 nbVerts, const PxVec3* PX_RESTRICT verts);
+
+						void		computeBoxAroundCapsule(const Capsule& capsule, Box& box);
+
+						PxPlane		getPlane(const PxTransform& pose);
+
+	PX_FORCE_INLINE		PxVec3		getCapsuleHalfHeightVector(const PxTransform& transform, const PxCapsuleGeometry& capsuleGeom)
+									{
+										return transform.q.getBasisVector0() * capsuleGeom.halfHeight;
+									}
+
+	PX_FORCE_INLINE		void		getCapsuleSegment(const PxTransform& transform, const PxCapsuleGeometry& capsuleGeom, Gu::Segment& segment)
+									{
+										const PxVec3 tmp = getCapsuleHalfHeightVector(transform, capsuleGeom);
+										segment.p0 = transform.p + tmp;
+										segment.p1 = transform.p - tmp;
+									}
+
+	PX_FORCE_INLINE		void		getCapsule(Gu::Capsule& capsule, const PxCapsuleGeometry& capsuleGeom, const PxTransform& pose)
+									{
+										getCapsuleSegment(pose, capsuleGeom, capsule);
+										capsule.radius = capsuleGeom.radius;
+									}
+
+						void		computeSweptBox(Gu::Box& box, const PxVec3& extents, const PxVec3& center, const PxMat33& rot, const PxVec3& unitDir, const PxReal distance);
+
+	/**
+	*	PT: computes "alignment value" used to select the "best" triangle in case of identical impact distances (for sweeps).
+	*	This simply computes how much a triangle is aligned with a given sweep direction.
+	*	Captured in a function to make sure it is always computed correctly, i.e. working for double-sided triangles.
+	*
+	*	\param		triNormal	[in] triangle's normal
+	*	\param		unitDir		[in] sweep direction (normalized)
+	*	\return		alignment value in [-1.0f, 0.0f]. -1.0f for fully aligned, 0.0f for fully orthogonal.
+	*/
+	PX_FORCE_INLINE		PxReal		computeAlignmentValue(const PxVec3& triNormal, const PxVec3& unitDir)
+	{
+		// PT: initial dot product gives the angle between the two, with "best" triangles getting a +1 or -1 score
+		// depending on their winding. We take the absolute value to ignore the impact of winding. We negate the result
+		// to make the function compatible with the initial code, which assumed single-sided triangles and expected -1
+		// for best triangles.
+		return -PxAbs(triNormal.dot(unitDir));
+	}
+
+	/**
+	*	PT: sweeps: determines if a newly touched triangle is "better" than best one so far.
+	*	In this context "better" means either clearly smaller impact distance, or a similar impact
+	*	distance but a normal more aligned with the sweep direction.
+	*
+	*	\param		triImpactDistance	[in] new triangle's impact distance
+	*	\param		triAlignmentValue	[in] new triangle's alignment value (as computed by computeAlignmentValue)
+	*	\param		bestImpactDistance	[in] current best triangle's impact distance
+	*	\param		bestAlignmentValue	[in] current best triangle's alignment value (as computed by computeAlignmentValue)
+	*   \param		maxDistance			[in] maximum distance of the query, hit cannot be longer than this maxDistance
+	*	\param		distEpsilon			[in] tris have "similar" impact distances if the difference is smaller than 2*distEpsilon
+	*	\return		true if new triangle is better
+	*/
+	PX_FORCE_INLINE		bool		keepTriangle(	float triImpactDistance, float triAlignmentValue,
+										float bestImpactDistance, float bestAlignmentValue, float maxDistance,
+										float distEpsilon)
+	{
+		// Reject triangle if further than the maxDistance
+		if(triImpactDistance > maxDistance)
+			return false;
+
+		// PT: make it a relative epsilon to make sure it still works with large distances
+		distEpsilon *= PxMax(1.0f, PxMax(triImpactDistance, bestImpactDistance));
+
+		// If new distance is more than epsilon closer than old distance
+		if(triImpactDistance < bestImpactDistance - distEpsilon)
+			return true;
+
+		// If new distance is no more than epsilon farther than oldDistance and "face is more opposing than previous"
+		if(triImpactDistance < bestImpactDistance+distEpsilon && triAlignmentValue < bestAlignmentValue)
+			return true;
+
+		// If alignment value is the same, but the new triangle is closer than the best distance
+		if(triAlignmentValue == bestAlignmentValue && triImpactDistance < bestImpactDistance)
+			return true;
+
+		// If initial overlap happens, keep the triangle
+		if(triImpactDistance == 0.0f)
+			return true;
+
+		return false;
+	}
+
+	#define StoreBounds(bounds, minV, maxV)	\
+		V4StoreU(minV, &bounds.minimum.x);	\
+		PX_ALIGN(16, PxVec4) max4;			\
+		V4StoreA(maxV, &max4.x);			\
+		bounds.maximum = PxVec3(max4.x, max4.y, max4.z);
+
+}  // namespace Gu
+
+}
+
+#endif