Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 178 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/ccd/GuCCDSweepConvexMesh.h b/PhysX_3.4/Source/GeomUtils/src/ccd/GuCCDSweepConvexMesh.h
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+++ b/PhysX_3.4/Source/GeomUtils/src/ccd/GuCCDSweepConvexMesh.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_CCD_SWEEP_H
+#define GU_CCD_SWEEP_H
+
+#include "PxPhysXCommonConfig.h"
+#include "CmPhysXCommon.h"
+#include "PsVecTransform.h"
+#include "GuGeometryUnion.h"
+#include "CmScaling.h"
+
+#define GU_TRIANGLE_SWEEP_METHOD_ARGS				\
+	const Gu::GeometryUnion& shape0,				\
+	const Gu::GeometryUnion& shape1,				\
+	const PxTransform& transform0,					\
+	const PxTransform& transform1,					\
+	const PxTransform& lastTm0,						\
+	const PxTransform& lastTm1,						\
+	PxReal restDistance,							\
+	PxVec3& worldNormal,							\
+	PxVec3& worldPoint,								\
+	const Cm::FastVertex2ShapeScaling& meshScaling,	\
+	Gu::TriangleV& triangle,						\
+	const PxF32 toiEstimate
+
+
+#define GU_SWEEP_METHOD_ARGS			\
+	const Gu::CCDShape& shape0,			\
+	const Gu::CCDShape& shape1,			\
+	const PxTransform& transform0,		\
+	const PxTransform& transform1,		\
+	const PxTransform& lastTm0,			\
+	const PxTransform& lastTm1,			\
+	PxReal restDistance,				\
+	PxVec3& worldNormal,				\
+	PxVec3& worldPoint,					\
+	const PxF32 toiEstimate,			\
+	PxU32& outCCDFaceIndex,				\
+	const PxReal fastMovingThreshold
+
+
+#define GU_SWEEP_ESTIMATE_ARGS			\
+	const CCDShape& shape0,				\
+	const CCDShape& shape1,				\
+	const PxTransform& transform0,		\
+	const PxTransform& transform1,		\
+	const PxTransform& lastTr0,			\
+	const PxTransform& lastTr1,			\
+	const PxReal restDistance,			\
+	const PxReal fastMovingThreshold
+
+
+#define GU_SWEEP_METHOD_ARGS_UNUSED		\
+	const Gu::CCDShape& /*shape0*/,		\
+	const Gu::CCDShape& /*shape1*/,		\
+	const PxTransform& /*transform0*/,	\
+	const PxTransform& /*transform1*/,	\
+	const PxTransform& /*lastTm0*/,		\
+	const PxTransform& /*lastTm1*/,		\
+	PxReal /*restDistance*/,			\
+	PxVec3& /*worldNormal*/,			\
+	PxVec3& /*worldPoint*/,				\
+	const PxF32 /*toiEstimate*/,		\
+	PxU32& /*outCCDFaceIndex*/,			\
+	const PxReal /*fastMovingThreshold*/
+
+namespace physx
+{
+namespace Gu
+{
+	struct CCDShape
+	{
+		const Gu::GeometryUnion*	mGeometry;
+		PxReal						mFastMovingThreshold;		//The CCD threshold for this shape
+		PxTransform					mPrevTransform;				//This shape's previous transform
+		PxTransform					mCurrentTransform;			//This shape's current transform
+		PxVec3						mExtents;					//The extents of this shape's AABB
+		PxVec3						mCenter;					//The center of this shape's AABB
+		PxU32						mUpdateCount;				//How many times this shape has been updated in the CCD. This is correlated with the CCD body's update count.
+	};
+
+	PX_FORCE_INLINE PxF32 sweepAABBAABB(const PxVec3& centerA, const PxVec3& extentsA, const PxVec3& centerB, const PxVec3& extentsB, const PxVec3& trA, const PxVec3& trB)
+	{
+		//Sweep 2 AABBs against each other, return the TOI when they hit else PX_MAX_REAL if they don't hit
+		const PxVec3 cAcB = centerA - centerB;
+		const PxVec3 sumExtents = extentsA + extentsB;
+
+		//Initial hit
+		if(PxAbs(cAcB.x) <= sumExtents.x && 
+			PxAbs(cAcB.y) <= sumExtents.y && 
+			PxAbs(cAcB.z) <= sumExtents.z)
+			return 0.f;
+
+		//No initial hit - perform the sweep
+		const PxVec3 relTr = trB - trA;
+		PxF32 tfirst = 0.f;
+		PxF32 tlast = 1.f;
+
+		const PxVec3 aMax = centerA + extentsA;
+		const PxVec3 aMin = centerA - extentsA;
+		const PxVec3 bMax = centerB + extentsB;
+		const PxVec3 bMin = centerB - extentsB;
+
+		const PxF32 eps = 1e-6f;
+
+		for(PxU32 a = 0; a < 3; ++a)
+		{
+			if(relTr[a] < -eps)
+			{
+				if(bMax[a] < aMin[a]) 
+					return PX_MAX_REAL;
+				if(aMax[a] < bMin[a]) 
+					tfirst = PxMax((aMax[a] - bMin[a])/relTr[a], tfirst);
+				if(bMax[a] > aMin[a]) 
+					tlast = PxMin((aMin[a] - bMax[a])/relTr[a], tlast);
+			}
+			else if(relTr[a] > eps)
+			{
+				if(bMin[a] > aMax[a]) 
+					return PX_MAX_REAL;
+				if(bMax[a] < aMin[a]) 
+					tfirst = PxMax((aMin[a] - bMax[a])/relTr[a], tfirst);
+				if(aMax[a] > bMin[a]) 
+					tlast = PxMin((aMax[a] - bMin[a])/relTr[a], tlast);
+			}
+			else
+			{
+				if(bMax[a] < aMin[a] || bMin[a] > aMax[a])
+					return PX_MAX_REAL;
+			}
+
+			//No hit
+			if(tfirst > tlast)
+				return PX_MAX_REAL;
+		}
+		//There was a hit so return the TOI
+		return tfirst; 
+	}
+
+	PX_PHYSX_COMMON_API PxReal SweepShapeShape(GU_SWEEP_METHOD_ARGS);
+
+	PX_PHYSX_COMMON_API PxReal SweepEstimateAnyShapeHeightfield(GU_SWEEP_ESTIMATE_ARGS);
+
+	PX_PHYSX_COMMON_API PxReal SweepEstimateAnyShapeMesh(GU_SWEEP_ESTIMATE_ARGS);
+
+
+}
+}
+#endif
+