Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 733 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/ccd/GuCCDSweepConvexMesh.cpp b/PhysX_3.4/Source/GeomUtils/src/ccd/GuCCDSweepConvexMesh.cpp
new file mode 100644
index 00000000..3d3d9e36
--- /dev/null
+++ b/PhysX_3.4/Source/GeomUtils/src/ccd/GuCCDSweepConvexMesh.cpp
@@ -0,0 +1,733 @@
+// 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 "Ps.h"
+#include "GuVecCapsule.h"
+#include "GuVecBox.h"
+#include "GuVecConvexHull.h"
+#include "GuVecTriangle.h"
+#include "GuVecShrunkConvexHull.h"
+#include "GuVecShrunkBox.h"
+#include "GuGJKRaycast.h"
+#include "GuCCDSweepConvexMesh.h"
+#include "GuHeightFieldUtil.h"
+#include "PsInlineArray.h"
+#include "GuEntityReport.h"
+#include "PxContact.h"
+#include "GuDistancePointTriangle.h"
+#include "GuBox.h"
+#include "GuInternal.h"
+#include "GuBoxConversion.h"
+#include "GuConvexUtilsInternal.h"
+#include "GuMidphaseInterface.h"
+#include "GuTriangleVertexPointers.h"
+
+
+
+namespace physx
+{
+namespace Gu
+{
+
+PxReal SweepShapeTriangle(GU_TRIANGLE_SWEEP_METHOD_ARGS);
+
+using namespace Ps::aos;
+
+namespace 
+{
+struct AccumCallback: public MeshHitCallback<PxRaycastHit>
+{
+	PX_NOCOPY(AccumCallback)
+	public:
+
+	Ps::InlineArray<PxU32, 64>& mResult;
+	AccumCallback(Ps::InlineArray<PxU32, 64>& result)
+		:	MeshHitCallback<PxRaycastHit>(CallbackMode::eMULTIPLE),
+			mResult(result)
+	{
+	}
+
+	virtual PxAgain processHit( // all reported coords are in mesh local space including hit.position
+		const PxRaycastHit& hit, const PxVec3&, const PxVec3&, const PxVec3&, PxReal&, const PxU32*)
+	{
+		mResult.pushBack(hit.faceIndex);
+		return true;
+	}
+};
+
+// PT: TODO: refactor with MidPhaseQueryLocalReport
+struct EntityReportContainerCallback : public EntityReport<PxU32>
+{
+	Ps::InlineArray<PxU32, 64>& container;
+	EntityReportContainerCallback(Ps::InlineArray<PxU32,64>& container_) : container(container_)
+	{
+		container.forceSize_Unsafe(0);
+	}
+	virtual ~EntityReportContainerCallback() {}
+
+	virtual bool onEvent(PxU32 nb, PxU32* indices)
+	{
+		for(PxU32 i=0; i<nb; i++)
+			container.pushBack(indices[i]);
+		return true;
+	}
+private:
+	EntityReportContainerCallback& operator=(const EntityReportContainerCallback&);
+};
+
+class ConvexTriangles
+{
+public:
+										ConvexTriangles(const PxTriangleMeshGeometryLL& shapeMesh, 
+														   const Cm::FastVertex2ShapeScaling& skew, // object is not copied, beware!
+														   const PxU32* trigsInGroup, 
+														   PxU32 numTrigsInGroup, 
+														   PxU32* trigIndexDestBuffer);//trigIndexDestBuffer should be at least  numTrigsInGroup long.
+
+	void						getBounds(PxBounds3& bounds, const physx::PxTransform& transform)							const;
+
+	//non-virtuals:
+	PX_FORCE_INLINE	const TriangleMesh*					getMeshData() const			{ return shapeMesh.meshData; }
+
+	PxVec3 getPolygonNormal(PxU32 index) const;
+	
+
+private:
+	ConvexTriangles& operator=(const ConvexTriangles&);
+	void calcCenterAndBounds(const physx::PxTransform& transform) const;
+
+	const PxTriangleMeshGeometryLL&		shapeMesh;
+	const Cm::FastVertex2ShapeScaling&	mVertex2ShapeSkew;
+	const PxU32*						trigsInGroup;
+	PxU32								numTrigsInGroup;
+	PxU32*								trigIndexDestBuffer;
+	mutable HullPolygonData				selectedPolygon;
+
+	mutable PxBounds3					bounds;
+	mutable PxVec3						mCenter;			//average of vertices rather than center of bounds!
+	mutable bool						haveCenterAndBounds;
+};
+
+ConvexTriangles::ConvexTriangles(const PxTriangleMeshGeometryLL& md, 
+									   const Cm::FastVertex2ShapeScaling& skew,
+									   const PxU32* tg, PxU32 ntg, PxU32 * tb) 
+: shapeMesh(md), mVertex2ShapeSkew(skew), trigsInGroup(tg), numTrigsInGroup(ntg), trigIndexDestBuffer(tb), bounds(PxBounds3::empty()), mCenter(0.0f), haveCenterAndBounds(false)
+{
+}
+
+
+void ConvexTriangles::getBounds(PxBounds3& b, const physx::PxTransform& transform) const
+{
+	calcCenterAndBounds(transform);
+	b = bounds;
+}
+
+void ConvexTriangles::calcCenterAndBounds(const physx::PxTransform& transform) const	//computes bounds in shape space
+{
+	//NOTE: we have code that does this in a loop inside PxcContactHullMeshPenetrationFallback --  a relatively expensive weighted average of the faces.
+	//see if we really need to be that expensive!
+
+	//shound be done in ctor:
+	PX_ASSERT(bounds.isEmpty());
+	PX_ASSERT(mCenter.isZero());
+
+	for (PxU32 i = 0; i < numTrigsInGroup; i++)
+	{
+		const PxU32 triangleIndex = trigsInGroup[i];
+		PxVec3 v0l, v1l, v2l;
+		TriangleVertexPointers::getTriangleVerts(getMeshData(), triangleIndex, v0l, v1l, v2l);
+
+		//TODO: this does a lot of redundant work because shared vertices get tested multiple times.
+		//Still, its not a lot of work so any overhead of optimized data access may not be worth it.
+
+		//gotta take bounds in shape space because building it in vertex space and transforming it out would skew it.
+		
+		//unrolled loop of 3
+		const PxVec3 v0 = transform.transform(mVertex2ShapeSkew * v0l);
+		mCenter += v0;
+		bounds.include(v0);
+
+		const PxVec3 v1 = transform.transform(mVertex2ShapeSkew * v1l);
+		mCenter += v1;
+		bounds.include(v1);
+
+		const PxVec3 v2 = transform.transform(mVertex2ShapeSkew * v2l);
+		mCenter += v2;
+		bounds.include(v2);
+	}
+
+	mCenter *= 1.0f / (numTrigsInGroup * 3);
+	haveCenterAndBounds = true;
+}
+
+PxVec3 ConvexTriangles::getPolygonNormal(PxU32 index) const
+{
+	PX_ASSERT(index < numTrigsInGroup);
+	const PxU32 triangleIndex = trigsInGroup[index];
+	PxVec3 v0l, v1l, v2l;
+	TriangleVertexPointers::getTriangleVerts(getMeshData(), triangleIndex, v0l, v1l, v2l);
+	const bool flipNormal = mVertex2ShapeSkew.flipsNormal();
+	const PxVec3 t0 = mVertex2ShapeSkew * v0l;
+	const PxVec3 t1 = mVertex2ShapeSkew * (flipNormal ?  v2l : v1l);
+	const PxVec3 t2 = mVertex2ShapeSkew * (flipNormal ?  v1l : v2l);
+	const PxVec3 v0 = t0 - t1;
+	const PxVec3 v1 = t0 - t2;
+	const PxVec3 nor = v0.cross(v1);
+	return nor.getNormalized();
+}
+
+}
+
+
+
+PxReal SweepAnyShapeHeightfield(GU_SWEEP_METHOD_ARGS)
+{
+	PX_UNUSED(toiEstimate);
+	HeightFieldUtil hfUtil(shape1.mGeometry->get<const physx::PxHeightFieldGeometryLL>());
+
+	Ps::InlineArray<PxU32,64> tempContainer;
+
+	EntityReportContainerCallback callback(tempContainer);
+
+	PxVec3 trA = transform0.p - lastTm0.p;
+	PxVec3 trB = transform1.p - lastTm1.p;
+
+	PxVec3 relTr = trA - trB;
+	PxVec3 halfRelTr = relTr * 0.5f;
+
+	const PxVec3 ext = shape0.mExtents + halfRelTr.abs() + PxVec3(restDistance);
+	const PxVec3 cent = shape0.mCenter + halfRelTr;
+
+	PxBounds3 bounds0(cent - ext, cent + ext);
+
+	hfUtil.overlapAABBTriangles(transform1, bounds0, GuHfQueryFlags::eWORLD_SPACE, &callback);
+
+	Ps::Array<PxU32> orderedContainer(tempContainer.size());
+	
+	Ps::Array<PxU32> distanceEntries(tempContainer.size());
+
+	PxU32* orderedList = orderedContainer.begin();
+	PxF32* distances = reinterpret_cast<PxF32*>(distanceEntries.begin());
+	
+	PxVec3 origin = shape0.mCenter;
+	PxVec3 extent = shape0.mExtents + PxVec3(restDistance);
+
+	PxReal minTOI = PX_MAX_REAL;
+
+	PxU32 numTrigs = tempContainer.size();
+	PxU32* trianglesIndices = tempContainer.begin();
+
+	PxU32 count = 0;
+	for(PxU32 a = 0; a < numTrigs; ++a)
+	{
+		PxTriangle tri;
+		hfUtil.getTriangle(shape1.mPrevTransform, tri, 0, 0, trianglesIndices[a], true, true);
+
+		PxVec3 resultNormal = -(tri.verts[1]-tri.verts[0]).cross(tri.verts[2]-tri.verts[0]);
+		resultNormal.normalize();
+
+		if(relTr.dot(resultNormal) >= fastMovingThreshold)
+		{
+
+			PxBounds3 bounds;
+			bounds.setEmpty();
+			bounds.include(tri.verts[0]);
+			bounds.include(tri.verts[1]);
+			bounds.include(tri.verts[2]);
+
+			PxF32 toi = sweepAABBAABB(origin, extent * 1.1f, bounds.getCenter(), (bounds.getExtents() + PxVec3(0.01f, 0.01f, 0.01f)) * 1.1f, trA, trB);
+
+			PxU32 index = 0;
+			if(toi <= 1.f)
+			{
+				for(PxU32 b = count; b > 0; --b)
+				{
+					if(distances[b-1] <= toi)
+					{
+						//shuffle down and swap
+						index = b;
+						break;
+					}
+					PX_ASSERT(b > 0);
+					PX_ASSERT(b < numTrigs);
+					distances[b] = distances[b-1];
+					orderedList[b] = orderedList[b-1];
+				}
+				PX_ASSERT(index < numTrigs);
+				orderedList[index] = trianglesIndices[a];
+				distances[index] = toi;
+				count++;
+			}
+		}
+	}
+
+
+
+	worldNormal = PxVec3(PxReal(0));
+	worldPoint = PxVec3(PxReal(0));
+	Cm::FastVertex2ShapeScaling idScale;
+	PxU32 ccdFaceIndex = PXC_CONTACT_NO_FACE_INDEX;
+
+	PxVec3 sphereCenter(shape0.mPrevTransform.p);
+	PxF32 inSphereRadius = shape0.mFastMovingThreshold;
+	PxF32 inRadSq = inSphereRadius * inSphereRadius;
+
+
+	PxVec3 sphereCenterInTr1 = transform1.transformInv(sphereCenter);
+	PxVec3 sphereCenterInTr1T0 = transform1.transformInv(lastTm0.p);
+
+	PxVec3 tempWorldNormal(0.f), tempWorldPoint(0.f);
+
+	for (PxU32 ti = 0; ti < count; ti++)
+	{
+		PxTriangle tri;
+		hfUtil.getTriangle(lastTm1, tri, 0, 0, orderedList[ti], false, false);
+
+		PxVec3 resultNormal, resultPoint;
+
+		TriangleV triangle(V3LoadU(tri.verts[0]), V3LoadU(tri.verts[1]), V3LoadU(tri.verts[2]));
+
+		//do sweep
+
+		PxReal res = SweepShapeTriangle(
+			*shape0.mGeometry, *shape1.mGeometry, transform0, transform1, lastTm0, lastTm1, restDistance,
+			resultNormal, resultPoint, Cm::FastVertex2ShapeScaling(), triangle,
+			0.f);
+
+		if(res <= 0.f)
+		{
+			res = 0.f;
+
+			const PxVec3 v0 = tri.verts[1] - tri.verts[0] ;
+			const PxVec3 v1 = tri.verts[2] - tri.verts[0];
+
+			//Now we have a 0 TOI, lets see if the in-sphere hit it!
+
+			PxF32 distanceSq = distancePointTriangleSquared( sphereCenterInTr1, tri.verts[0], v0, v1);
+
+			if(distanceSq < inRadSq)
+			{
+				const PxVec3 nor = v0.cross(v1);
+				const PxF32 distance = PxSqrt(distanceSq);
+				res = distance - inSphereRadius;
+				const PxF32 d = nor.dot(tri.verts[0]);
+				const PxF32 dd = nor.dot(sphereCenterInTr1T0);
+				if((dd - d) > 0.f)
+				{
+					//back side, penetration 
+					res = -(2.f * inSphereRadius - distance);
+				}
+			}			
+		}
+
+		if (res < minTOI)
+		{
+			const PxVec3 v0 = tri.verts[1] - tri.verts[0] ;
+			const PxVec3 v1 = tri.verts[2] - tri.verts[0];
+
+			PxVec3 resultNormal1 = v0.cross(v1);
+			resultNormal1.normalize();
+			//if(norDotRel > 1e-6f)
+			{
+				tempWorldNormal = resultNormal1;
+				tempWorldPoint = resultPoint;
+				minTOI = res;
+				ccdFaceIndex = orderedList[ti];
+			}
+		}
+		
+	}
+
+	worldNormal = transform1.rotate(tempWorldNormal);
+	worldPoint = tempWorldPoint;
+
+	outCCDFaceIndex = ccdFaceIndex;
+
+	return minTOI;
+}
+
+
+PxReal SweepEstimateAnyShapeHeightfield(GU_SWEEP_ESTIMATE_ARGS)
+{
+	HeightFieldUtil hfUtil(shape1.mGeometry->get<const physx::PxHeightFieldGeometryLL>());
+
+	Ps::InlineArray<PxU32,64> tempContainer;
+	
+	EntityReportContainerCallback callback(tempContainer);
+
+	PxVec3 trA = transform0.p - lastTr0.p;
+	PxVec3 trB = transform1.p - lastTr1.p;
+
+	PxVec3 relTr = trA - trB;
+	PxVec3 halfRelTr = relTr * 0.5f;
+
+	const PxVec3 extents = shape0.mExtents + halfRelTr.abs() + PxVec3(restDistance);
+	const PxVec3 center = shape0.mCenter + halfRelTr;
+
+
+	PxBounds3 bounds0(center - extents, center + extents);
+
+
+	hfUtil.overlapAABBTriangles(transform1, bounds0, GuHfQueryFlags::eWORLD_SPACE, &callback);
+	
+	PxVec3 origin = shape0.mCenter;
+	PxVec3 extent = shape0.mExtents;
+
+	PxReal minTOI = PX_MAX_REAL;
+
+	PxU32 numTrigs = tempContainer.size();
+	PxU32* trianglesIndices = tempContainer.begin();
+
+	for(PxU32 a = 0; a < numTrigs; ++a)
+	{
+
+		PxTriangle tri;
+		hfUtil.getTriangle(shape1.mPrevTransform, tri, 0, 0, trianglesIndices[a], true, true);
+
+
+
+		PxVec3 resultNormal = -(tri.verts[1]-tri.verts[0]).cross(tri.verts[2]-tri.verts[0]);
+		resultNormal.normalize();
+
+		if(relTr.dot(resultNormal) >= fastMovingThreshold)
+		{
+
+			PxBounds3 bounds;
+			bounds.setEmpty();
+			bounds.include(tri.verts[0]);
+			bounds.include(tri.verts[1]);
+			bounds.include(tri.verts[2]);
+
+			PxF32 toi = sweepAABBAABB(origin, extent * 1.1f, bounds.getCenter(), (bounds.getExtents() + PxVec3(0.01f, 0.01f, 0.01f)) * 1.1f, trA, trB);
+
+			minTOI = PxMin(minTOI, toi);
+		}
+	}
+
+	return minTOI;
+}
+
+
+
+PxReal SweepAnyShapeMesh(GU_SWEEP_METHOD_ARGS)
+{
+	PX_UNUSED(toiEstimate);
+	// this is the trimesh midphase for convex vs mesh sweep. shape0 is the convex shape.
+
+	// Get actual shape data
+	const PxTriangleMeshGeometryLL& shapeMesh = shape1.mGeometry->get<const PxTriangleMeshGeometryLL>();
+
+	const Cm::FastVertex2ShapeScaling meshScaling(shapeMesh.scale);
+
+	/*---------------------------------------------------*\
+	|
+	| STEP1: OPCODE Geometry collection
+	|
+	\*---------------------------------------------------*/
+
+	PxVec3 trA = transform0.p - lastTm0.p;
+	PxVec3 trB = transform1.p - lastTm1.p;
+
+	PxVec3 relTr = trA - trB;
+	PxVec3 unitDir = relTr;
+	PxReal length = unitDir.normalize();
+
+	PxMat33 matRot(lastTm0.q);
+
+
+	//1) Compute the swept bounds
+	Box sweptBox;
+	computeSweptBox(sweptBox, shape0.mExtents, shape0.mCenter, matRot, unitDir, length);
+
+	Box vertexSpaceBox;
+	if (shapeMesh.scale.isIdentity())
+		vertexSpaceBox = transformBoxOrthonormal(sweptBox, transform1.getInverse());
+	else
+		computeVertexSpaceOBB(vertexSpaceBox, sweptBox, transform1, shapeMesh.scale);
+
+
+	vertexSpaceBox.extents += PxVec3(restDistance);
+
+	Ps::InlineArray<PxU32, 64> tempContainer;
+
+	AccumCallback callback(tempContainer);
+
+	// AP scaffold: early out opportunities, should probably use fat raycast
+	Midphase::intersectOBB(shapeMesh.meshData, vertexSpaceBox, callback, true);
+
+	if (tempContainer.size() == 0)
+		return PX_MAX_REAL;
+
+	// Intersection found, fetch triangles
+	PxU32 numTrigs = tempContainer.size();
+	const PxU32* triangleIndices = tempContainer.begin();
+
+	PxVec3 origin = shape0.mCenter;
+	PxVec3 extent = shape0.mExtents + PxVec3(restDistance);
+	
+	Ps::InlineArray<PxU32, 64> orderedContainer;
+	orderedContainer.resize(tempContainer.size());
+	
+	Ps::InlineArray<PxU32, 64> distanceEntries;
+	distanceEntries.resize(tempContainer.size());
+	
+	PxU32* orderedList = orderedContainer.begin();
+	PxF32* distances = reinterpret_cast<PxF32*>(distanceEntries.begin());
+
+	PxReal minTOI = PX_MAX_REAL;
+
+
+	PxU32 count = 0;
+	for(PxU32 a = 0; a < numTrigs; ++a)
+	{
+		PxU32 unused;
+		ConvexTriangles convexPartOfMesh1(shapeMesh, meshScaling, &triangleIndices[a], 1, &unused);
+
+		PxVec3 resultNormal = -transform1.rotate(convexPartOfMesh1.getPolygonNormal(0));
+
+		if(relTr.dot(resultNormal) >= fastMovingThreshold)
+		{
+			PxBounds3 bounds;
+			convexPartOfMesh1.getBounds(bounds, lastTm1);
+			//OK, we have all 3 vertices, now calculate bounds...
+
+			PxF32 toi = sweepAABBAABB(origin, extent, bounds.getCenter(), bounds.getExtents() + PxVec3(0.02f, 0.02f, 0.02f), trA, trB);
+
+			PxU32 index = 0;
+			if(toi <= 1.f)
+			{
+				for(PxU32 b = count; b > 0; --b)
+				{
+					if(distances[b-1] <= toi)
+					{
+						//shuffle down and swap
+						index = b;
+						break;
+					}
+					PX_ASSERT(b > 0);
+					PX_ASSERT(b < numTrigs);
+					distances[b] = distances[b-1];
+					orderedList[b] = orderedList[b-1];
+				}
+				PX_ASSERT(index < numTrigs);
+				orderedList[index] = triangleIndices[a];
+				distances[index] = toi;
+				count++;
+			}
+		}
+	}
+
+
+
+	PxVec3 tempWorldNormal(0.f), tempWorldPoint(0.f);
+
+	Cm::FastVertex2ShapeScaling idScale;
+	PxU32 ccdFaceIndex = PXC_CONTACT_NO_FACE_INDEX;
+
+	PxVec3 sphereCenter(lastTm1.p);
+	PxF32 inSphereRadius = shape0.mFastMovingThreshold;
+	//PxF32 inRadSq = inSphereRadius * inSphereRadius;
+
+	PxVec3 sphereCenterInTransform1 = transform1.transformInv(sphereCenter);
+
+	PxVec3 sphereCenterInTransform0p = transform1.transformInv(lastTm0.p);
+
+
+	for (PxU32 ti = 0; ti < count /*&& PxMax(minTOI, 0.f) >= distances[ti]*/; ti++)
+	{
+		PxU32 unused;
+		ConvexTriangles convexPartOfMesh1(shapeMesh, meshScaling, &orderedList[ti], 1, &unused);
+
+		PxVec3 resultNormal, resultPoint, v0l, v1l, v2l;
+		TriangleVertexPointers::getTriangleVerts(shapeMesh.meshData, orderedList[ti], v0l, v1l, v2l);
+		const bool flipNormal = meshScaling.flipsNormal();
+
+		const PxVec3 v0 = meshScaling * v0l;
+		const PxVec3 v1 = meshScaling * (flipNormal ? v2l : v1l);
+		const PxVec3 v2 = meshScaling * (flipNormal ? v1l : v2l);
+
+		TriangleV triangle(V3LoadU(v0), V3LoadU(v1), V3LoadU(v2));
+
+		//do sweep
+		PxReal res = SweepShapeTriangle(
+			*shape0.mGeometry, *shape1.mGeometry, transform0, transform1, lastTm0, lastTm1, restDistance,
+			resultNormal, resultPoint, Cm::FastVertex2ShapeScaling(), triangle,
+			0.f);
+
+		resultNormal = -resultNormal;
+
+		if(res <= 0.f)
+		{
+			res = 0.f;
+
+			PxF32 inRad = inSphereRadius + restDistance;
+			PxF32 inRadSq = inRad*inRad;
+
+			const PxVec3 vv0 = v1 - v0 ;
+			const PxVec3 vv1 = v2 - v0;
+			const PxVec3 nor = vv0.cross(vv1);
+
+			//Now we have a 0 TOI, lets see if the in-sphere hit it!
+
+			PxF32 distanceSq = distancePointTriangleSquared( sphereCenterInTransform1, v0, vv0, vv1);
+
+			if(distanceSq < inRadSq)
+			{
+				const PxF32 distance = PxSqrt(distanceSq);
+				res = distance - inRad;
+				const PxF32 d = nor.dot(v0);
+				const PxF32 dd = nor.dot(sphereCenterInTransform0p);
+				if((dd - d) < 0.f)
+				{
+					//back side, penetration 
+					res = -(2.f * inRad - distance);
+				}
+			}	
+			PX_ASSERT(PxIsFinite(res));
+			resultNormal = convexPartOfMesh1.getPolygonNormal(0);			
+		}
+
+		if (res < minTOI)
+		{
+			tempWorldNormal = resultNormal;//convexPartOfMesh1.getPolygonNormal(0);//transform1.rotate(convexPartOfMesh1.getPolygonNormal(0));
+			tempWorldPoint = resultPoint;
+			minTOI = res;
+			ccdFaceIndex = orderedList[ti];
+		}
+		
+	}
+
+	worldNormal = transform1.rotate(tempWorldNormal);
+	worldPoint = tempWorldPoint;
+	outCCDFaceIndex = ccdFaceIndex;
+	return minTOI;
+}
+
+
+/**
+\brief This code performs a conservative estimate of the TOI of a shape v mesh.
+*/
+PxReal SweepEstimateAnyShapeMesh(GU_SWEEP_ESTIMATE_ARGS)
+{
+	// this is the trimesh midphase for convex vs mesh sweep. shape0 is the convex shape.
+	// Get actual shape data
+	const PxTriangleMeshGeometryLL& shapeMesh = shape1.mGeometry->get<const PxTriangleMeshGeometryLL>();
+
+	const Cm::FastVertex2ShapeScaling meshScaling(shapeMesh.scale);
+
+
+	/*---------------------------------------------------*\
+	|
+	| STEP1: OPCODE Geometry collection
+	|
+	\*---------------------------------------------------*/
+
+	PxVec3 trA = transform0.p - lastTr0.p;
+	PxVec3 trB = transform1.p - lastTr1.p;
+
+	PxVec3 relTr = trA - trB;
+	PxVec3 unitDir = relTr;
+	PxReal length = unitDir.normalize();
+
+	PxMat33 matRot(lastTr0.q);
+
+	//1) Compute the swept bounds
+	Box sweptBox;
+	computeSweptBox(sweptBox, shape0.mExtents, shape0.mCenter, matRot, unitDir, length);
+
+	Box vertexSpaceBox;
+	computeVertexSpaceOBB(vertexSpaceBox, sweptBox, transform1, shapeMesh.scale);
+
+	vertexSpaceBox.extents += PxVec3(restDistance);
+
+	// TODO: implement a cached mode that fetches the trigs from a cache rather than per opcode if there is little motion.
+
+	struct CB : MeshHitCallback<PxRaycastHit>
+	{
+		PxReal minTOI;
+		PxReal sumFastMovingThresh;
+		const PxTriangleMeshGeometryLL& shapeMesh;
+		const Cm::FastVertex2ShapeScaling& meshScaling;
+		const PxVec3& relTr;
+		const PxVec3& trA;
+		const PxVec3& trB;
+		const PxTransform& transform1;
+		const PxVec3& origin;
+		const PxVec3& extent;
+
+		CB(PxReal aSumFast, const PxTriangleMeshGeometryLL& aShapeMesh, const Cm::FastVertex2ShapeScaling& aMeshScaling,
+			const PxVec3& aRelTr, const PxVec3& atrA, const PxVec3& atrB, const PxTransform& aTransform1, const PxVec3& aOrigin, const PxVec3& aExtent)
+			:	MeshHitCallback<PxRaycastHit>(CallbackMode::eMULTIPLE),
+				sumFastMovingThresh(aSumFast), shapeMesh(aShapeMesh), meshScaling(aMeshScaling), relTr(aRelTr), trA(atrA), trB(atrB),
+				transform1(aTransform1), origin(aOrigin), extent(aExtent)
+		{
+			minTOI = PX_MAX_REAL;
+		}
+
+		virtual PxAgain processHit( // all reported coords are in mesh local space including hit.position
+			const PxRaycastHit& hit, const PxVec3&, const PxVec3&, const PxVec3&, PxReal& shrunkMaxT, const PxU32*)
+		{
+			PxU32 unused;
+			ConvexTriangles convexPartOfMesh1(shapeMesh, meshScaling, &hit.faceIndex, 1, &unused);
+			PxVec3 resultNormal = -transform1.rotate(convexPartOfMesh1.getPolygonNormal(0));
+			if(relTr.dot(resultNormal) >= sumFastMovingThresh)
+			{
+				PxBounds3 bounds;
+				convexPartOfMesh1.getBounds(bounds, transform1);
+				//OK, we have all 3 vertices, now calculate bounds...
+
+				PX_ASSERT(trB.x == 0.f);
+				PX_ASSERT(trB.y == 0.f);
+				PX_ASSERT(trB.z == 0.f);
+				PxF32 toi = sweepAABBAABB(
+					origin, extent * 1.1f, bounds.getCenter(), (bounds.getExtents() + PxVec3(0.01f, 0.01f, 0.01f)) * 1.1f, trA, trB);
+
+				minTOI = PxMin(minTOI, toi);
+				shrunkMaxT = minTOI;
+			}
+
+			return (minTOI > 0.0f); // stop traversal if minTOI == 0.0f
+		}
+
+		void operator=(const CB&) {}
+	};
+
+	PxVec3 origin = shape0.mCenter;
+	PxVec3 extent = shape0.mExtents + PxVec3(restDistance);
+
+	CB callback(fastMovingThreshold, shapeMesh, meshScaling, relTr, trA, trB, transform1, origin, extent);
+	Midphase::intersectOBB(shapeMesh.meshData, vertexSpaceBox, callback, true);
+
+	return callback.minTOI;
+}
+
+	
+}
+}
+