Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 457 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/contact/GuContactCapsuleBox.cpp b/PhysX_3.4/Source/GeomUtils/src/contact/GuContactCapsuleBox.cpp
new file mode 100644
index 00000000..75e737d4
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+++ b/PhysX_3.4/Source/GeomUtils/src/contact/GuContactCapsuleBox.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 "GuContactBuffer.h"
+#include "GuIntersectionRayBox.h"
+#include "GuDistanceSegmentBox.h"
+#include "GuInternal.h"
+#include "GuContactMethodImpl.h"
+#include "PsMathUtils.h"
+#include "PsUtilities.h"
+#include "GuGeometryUnion.h"
+#include "GuBoxConversion.h"
+
+using namespace physx;
+using namespace Gu;
+
+/*namespace Gu
+{
+const PxU8* getBoxEdges();
+}*/
+
+/////////
+	/*#include "CmRenderOutput.h"
+	#include "PxsContext.h"
+	static void gVisualizeBox(const Box& box, PxcNpThreadContext& context, PxU32 color=0xffffff)
+	{
+		PxMat33 rot(box.base.column0, box.base.column1, box.base.column2);
+		PxMat44 m(rot, box.origin);
+
+		DebugBox db(box.extent);
+
+		Cm::RenderOutput& out = context.mRenderOutput;
+		out << color << m;
+		out << db;
+	}
+	static void gVisualizeLine(const PxVec3& a, const PxVec3& b, PxcNpThreadContext& context, PxU32 color=0xffffff)
+	{
+		PxMat44 m = PxMat44::identity();
+
+		Cm::RenderOutput& out = context.mRenderOutput;
+		out << color << m << Cm::RenderOutput::LINES << a << b;
+	}*/
+/////////
+
+
+static const PxReal fatBoxEdgeCoeff = 0.01f;
+
+static bool intersectEdgeEdgePreca(const PxVec3& p1, const PxVec3& p2, const PxVec3& v1, const PxPlane& plane, PxU32 i, PxU32 j, float coeff, const PxVec3& dir, const PxVec3& p3, const PxVec3& p4, PxReal& dist, PxVec3& ip)
+{
+	// if colliding edge (p3,p4) does not cross plane return no collision
+	// same as if p3 and p4 on same side of plane return 0
+	//
+	// Derivation:
+	// d3 = d(p3, P) = (p3 | plane.n) - plane.d;		Reversed sign compared to Plane::Distance() because plane.d is negated.
+	// d4 = d(p4, P) = (p4 | plane.n) - plane.d;		Reversed sign compared to Plane::Distance() because plane.d is negated.
+	// if d3 and d4 have the same sign, they're on the same side of the plane => no collision
+	// We test both sides at the same time by only testing Sign(d3 * d4).
+	// ### put that in the Plane class
+	// ### also check that code in the triangle class that might be similar
+	const PxReal d3 = plane.distance(p3);
+	PxReal temp = d3 * plane.distance(p4);
+	if(temp>0.0f)	return false;
+
+	// if colliding edge (p3,p4) and plane are parallel return no collision
+	PxVec3 v2 = p4 - p3;
+
+	temp = plane.n.dot(v2);
+	if(temp==0.0f)	return false;	// ### epsilon would be better
+
+	// compute intersection point of plane and colliding edge (p3,p4)
+	ip = p3-v2*(d3/temp);
+
+	// compute distance of intersection from line (ip, -dir) to line (p1,p2)
+	dist =	(v1[i]*(ip[j]-p1[j])-v1[j]*(ip[i]-p1[i]))*coeff;
+	if(dist<0.0f)	return false;
+
+	// compute intersection point on edge (p1,p2) line
+	ip -= dist*dir;
+
+	// check if intersection point (ip) is between edge (p1,p2) vertices
+	temp = (p1.x-ip.x)*(p2.x-ip.x)+(p1.y-ip.y)*(p2.y-ip.y)+(p1.z-ip.z)*(p2.z-ip.z);
+	if(temp<0.0f)	return true;	// collision found
+
+	return false;	// no collision
+}
+
+
+static bool GuTestAxis(const PxVec3& axis, const Segment& segment, PxReal radius, const Box& box, PxReal& depth)
+{
+	// Project capsule
+	PxReal min0 = segment.p0.dot(axis);
+	PxReal max0 = segment.p1.dot(axis);
+	if(min0>max0) Ps::swap(min0, max0);
+	min0 -= radius;
+	max0 += radius;
+
+	// Project box
+	PxReal Min1, Max1;
+	{
+		const PxReal BoxCen = box.center.dot(axis);
+		const PxReal BoxExt = 
+				PxAbs(box.rot.column0.dot(axis)) * box.extents.x
+			+	PxAbs(box.rot.column1.dot(axis)) * box.extents.y
+			+	PxAbs(box.rot.column2.dot(axis)) * box.extents.z;
+
+		Min1 = BoxCen - BoxExt; 
+		Max1 = BoxCen + BoxExt; 
+	}
+
+	// Test projections
+	if(max0<Min1 || Max1<min0)
+		return false;
+
+	const PxReal d0 = max0 - Min1;
+	PX_ASSERT(d0>=0.0f);
+	const PxReal d1 = Max1 - min0;
+	PX_ASSERT(d1>=0.0f);
+	depth = physx::intrinsics::selectMin(d0, d1);
+	return true;
+}
+
+
+static bool GuCapsuleOBBOverlap3(const Segment& segment, PxReal radius, const Box& box, PxReal* t=NULL, PxVec3* pp=NULL)
+{
+	PxVec3 Sep(PxReal(0));
+	PxReal PenDepth = PX_MAX_REAL;
+
+	// Test normals
+	for(PxU32 i=0;i<3;i++)
+	{
+		PxReal d;
+		if(!GuTestAxis(box.rot[i], segment, radius, box, d))
+			return false;
+
+		if(d<PenDepth)
+		{
+			PenDepth = d;
+			Sep = box.rot[i];
+		}
+	}
+
+	// Test edges
+	PxVec3 CapsuleAxis(segment.p1 - segment.p0);
+	CapsuleAxis = CapsuleAxis.getNormalized();
+	for(PxU32 i=0;i<3;i++)
+	{
+		PxVec3 Cross = CapsuleAxis.cross(box.rot[i]);
+		if(!Ps::isAlmostZero(Cross))
+		{
+			Cross = Cross.getNormalized();
+			PxReal d;
+			if(!GuTestAxis(Cross, segment, radius, box, d))
+				return false;
+
+			if(d<PenDepth)
+			{
+				PenDepth = d;
+				Sep = Cross;
+			}
+		}
+	}
+
+	const PxVec3 Witness = segment.computeCenter() - box.center;
+
+	if(Sep.dot(Witness) < 0.0f)
+		Sep = -Sep;
+
+	if(t)
+		*t = PenDepth;
+	if(pp)
+		*pp = Sep;
+
+	return true;
+}
+
+
+static void GuGenerateVFContacts(	ContactBuffer& contactBuffer,
+									//
+									const Segment& segment,
+									const PxReal radius,
+									//
+									const Box& worldBox,
+									//
+									const PxVec3& normal,
+									const PxReal contactDistance)
+{
+	const PxVec3 Max = worldBox.extents;
+	const PxVec3 Min = -worldBox.extents;
+
+	const PxVec3 tmp2 = - worldBox.rot.transformTranspose(normal);
+
+	const PxVec3* PX_RESTRICT Ptr = &segment.p0;
+	for(PxU32 i=0;i<2;i++)
+	{
+		const PxVec3& Pos = Ptr[i];
+
+		const PxVec3 tmp = worldBox.rot.transformTranspose(Pos - worldBox.center);
+		PxReal tnear, tfar;
+		int Res = intersectRayAABB(Min, Max, tmp, tmp2, tnear, tfar);
+
+		if(Res!=-1 && tnear < radius + contactDistance)
+		{
+			contactBuffer.contact(Pos - tnear * normal, normal, tnear - radius);
+		}
+	}
+}
+
+
+// PT: this looks similar to PxcGenerateEEContacts2 but it is mandatory to properly handle thin capsules.
+static void GuGenerateEEContacts(	ContactBuffer& contactBuffer,
+									//
+									const Segment& segment,
+									const PxReal radius,
+									//
+									const Box& worldBox,
+									//
+									const PxVec3& normal)
+{
+	const PxU8* PX_RESTRICT Indices = getBoxEdges();
+
+	PxVec3 Pts[8];
+	worldBox.computeBoxPoints(Pts);
+
+	PxVec3 s0 = segment.p0;
+	PxVec3 s1 = segment.p1;
+	Ps::makeFatEdge(s0, s1, fatBoxEdgeCoeff);
+
+	// PT: precomputed part of edge-edge intersection test
+//	const PxVec3 v1 = segment.p1 - segment.p0;
+	const PxVec3 v1 = s1 - s0;
+	PxPlane plane;
+	plane.n = v1.cross(normal);
+//		plane.d = -(plane.normal|segment.p0);
+	plane.d = -(plane.n.dot(s0));
+
+	PxU32 ii,jj;
+	Ps::closestAxis(plane.n, ii, jj);
+
+	const float coeff = 1.0f /(v1[ii]*normal[jj]-v1[jj]*normal[ii]);
+
+
+	for(PxU32 i=0;i<12;i++)
+	{
+//		PxVec3 p1 = Pts[*Indices++];
+//		PxVec3 p2 = Pts[*Indices++];
+//		Ps::makeFatEdge(p1, p2, fatBoxEdgeCoeff);	// PT: TODO: make fat segment instead
+		const PxVec3& p1 = Pts[*Indices++];
+		const PxVec3& p2 = Pts[*Indices++];
+
+//		PT: keep original code in case something goes wrong
+//		PxReal dist;
+//		PxVec3 ip;
+//		if(intersectEdgeEdge(p1, p2, -normal, segment.p0, segment.p1, dist, ip))
+//			contactBuffer.contact(ip, normal, - (radius + dist));
+
+		PxReal dist;
+		PxVec3 ip;
+
+		
+		if(intersectEdgeEdgePreca(s0, s1, v1, plane, ii, jj, coeff, normal, p1, p2, dist, ip))
+//		if(intersectEdgeEdgePreca(segment.p0, segment.p1, v1, plane, ii, jj, coeff, normal, p1, p2, dist, ip))
+		{
+			contactBuffer.contact(ip-normal*dist, normal, - (radius + dist));
+//			if(contactBuffer.count==2)	// PT: we only need 2 contacts to be stable
+//				return;
+		}
+	}
+}
+
+
+static void GuGenerateEEContacts2(	ContactBuffer& contactBuffer,
+									//
+									const Segment& segment,
+									const PxReal radius,
+									//
+									const Box& worldBox,
+									//
+									const PxVec3& normal,
+									const PxReal contactDistance)
+{
+	const PxU8* PX_RESTRICT Indices = getBoxEdges();
+
+	PxVec3 Pts[8];
+	worldBox.computeBoxPoints(Pts);
+
+	PxVec3 s0 = segment.p0;
+	PxVec3 s1 = segment.p1;
+	Ps::makeFatEdge(s0, s1, fatBoxEdgeCoeff);
+
+	// PT: precomputed part of edge-edge intersection test
+//		const PxVec3 v1 = segment.p1 - segment.p0;
+		const PxVec3 v1 = s1 - s0;
+		PxPlane plane;
+		plane.n = -(v1.cross(normal));
+//		plane.d = -(plane.normal|segment.p0);
+		plane.d = -(plane.n.dot(s0));
+
+		PxU32 ii,jj;
+		Ps::closestAxis(plane.n, ii, jj);
+
+		const float coeff = 1.0f /(v1[jj]*normal[ii]-v1[ii]*normal[jj]);
+
+	for(PxU32 i=0;i<12;i++)
+	{
+//		PxVec3 p1 = Pts[*Indices++];
+//		PxVec3 p2 = Pts[*Indices++];
+//		Ps::makeFatEdge(p1, p2, fatBoxEdgeCoeff);	// PT: TODO: make fat segment instead
+		const PxVec3& p1 = Pts[*Indices++];
+		const PxVec3& p2 = Pts[*Indices++];
+
+//		PT: keep original code in case something goes wrong
+//		PxReal dist;
+//		PxVec3 ip;
+//		bool contact = intersectEdgeEdge(p1, p2, normal, segment.p0, segment.p1, dist, ip);
+//		if(contact && dist < radius + contactDistance)
+//			contactBuffer.contact(ip, normal, dist - radius);
+
+		PxReal dist;
+		PxVec3 ip;
+//		bool contact = intersectEdgeEdgePreca(segment.p0, segment.p1, v1, plane, ii, jj, coeff, -normal, p1, p2, dist, ip);
+		bool contact = intersectEdgeEdgePreca(s0, s1, v1, plane, ii, jj, coeff, -normal, p1, p2, dist, ip);
+		if(contact && dist < radius + contactDistance)
+		{
+			contactBuffer.contact(ip-normal*dist, normal, dist - radius);
+//			if(contactBuffer.count==2)	// PT: we only need 2 contacts to be stable
+//				return;
+		}
+	}
+}
+
+namespace physx
+{
+namespace Gu
+{
+bool contactCapsuleBox(GU_CONTACT_METHOD_ARGS)
+{
+	PX_UNUSED(renderOutput);
+	PX_UNUSED(cache);
+
+	// Get actual shape data
+	const PxCapsuleGeometry& shapeCapsule = shape0.get<const PxCapsuleGeometry>();
+	const PxBoxGeometry& shapeBox = shape1.get<const PxBoxGeometry>();
+
+	// PT: TODO: move computations to local space
+
+	// Capsule data
+	Segment worldSegment;
+	getCapsuleSegment(transform0, shapeCapsule, worldSegment);
+	const PxReal inflatedRadius = shapeCapsule.radius + params.mContactDistance;
+
+	// Box data
+	Box worldBox;
+	buildFrom(worldBox, transform1.p, shapeBox.halfExtents, transform1.q);
+
+	// Collision detection
+	PxReal t;
+	PxVec3 onBox;
+	const PxReal squareDist = distanceSegmentBoxSquared(worldSegment.p0, worldSegment.p1, worldBox.center, worldBox.extents, worldBox.rot, &t, &onBox);
+	
+	if(squareDist >= inflatedRadius*inflatedRadius)
+		return false;
+
+	PX_ASSERT(contactBuffer.count==0);
+
+	if(squareDist != 0.0f)
+	{
+		// PT: the capsule segment doesn't intersect the box => distance-based version
+		const PxVec3 onSegment = worldSegment.getPointAt(t);
+		onBox = worldBox.center + worldBox.rot.transform(onBox);
+
+		PxVec3 normal = onSegment - onBox;
+		PxReal normalLen = normal.magnitude();
+
+		if(normalLen > 0.0f)
+		{
+			normal *= 1.0f/normalLen;
+
+			// PT: generate VF contacts for segment's vertices vs box
+			GuGenerateVFContacts(contactBuffer, worldSegment, shapeCapsule.radius, worldBox, normal, params.mContactDistance);
+
+			// PT: early exit if we already have 2 stable contacts
+			if(contactBuffer.count==2)
+				return true;
+
+			// PT: else generate slower EE contacts
+			GuGenerateEEContacts2(contactBuffer, worldSegment, shapeCapsule.radius, worldBox, normal, params.mContactDistance);
+
+			// PT: run VF case for box-vertex-vs-capsule only if we don't have any contact yet
+			if(!contactBuffer.count)
+				contactBuffer.contact(onBox, normal, sqrtf(squareDist) - shapeCapsule.radius);
+		}
+		else
+		{
+			// On linux we encountered the following:
+			// For a case where a segment endpoint lies on the surface of a box, the squared distance between segment and box was tiny but still larger than 0.
+			// However, the computation of the normal length was exactly 0. In that case we should have switched to the penetration based version so we do it now
+			// instead.
+			goto PenetrationBasedCode;
+		}
+	}
+	else
+	{
+		PenetrationBasedCode:
+
+		// PT: the capsule segment intersects the box => penetration-based version
+
+		// PT: compute penetration vector (MTD)
+		PxVec3 sepAxis;
+		PxReal depth;
+		if(!GuCapsuleOBBOverlap3(worldSegment, shapeCapsule.radius, worldBox, &depth, &sepAxis)) return false;
+
+		// PT: generate VF contacts for segment's vertices vs box
+		GuGenerateVFContacts(contactBuffer, worldSegment, shapeCapsule.radius, worldBox, sepAxis, params.mContactDistance);
+
+		// PT: early exit if we already have 2 stable contacts
+		if(contactBuffer.count==2)
+			return true;
+
+		// PT: else generate slower EE contacts
+		GuGenerateEEContacts(contactBuffer, worldSegment, shapeCapsule.radius, worldBox, sepAxis);
+
+		if(!contactBuffer.count)
+		{
+			contactBuffer.contact(worldSegment.computeCenter(), sepAxis, -(shapeCapsule.radius + depth));
+			return true;
+		}
+	}
+	return true;
+}
+}//Gu
+}//physx