Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 155 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/contact/GuContactCapsuleCapsule.cpp b/PhysX_3.4/Source/GeomUtils/src/contact/GuContactCapsuleCapsule.cpp
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+++ b/PhysX_3.4/Source/GeomUtils/src/contact/GuContactCapsuleCapsule.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 "GuDistanceSegmentSegment.h"
+#include "GuContactMethodImpl.h"
+#include "GuInternal.h"
+#include "GuGeometryUnion.h"
+
+using namespace physx;
+
+namespace physx
+{
+namespace Gu
+{
+bool contactCapsuleCapsule(GU_CONTACT_METHOD_ARGS)
+{
+	PX_UNUSED(renderOutput);
+	PX_UNUSED(cache);
+
+	const PxCapsuleGeometry& capsuleGeom0 = shape0.get<const PxCapsuleGeometry>();
+	const PxCapsuleGeometry& capsuleGeom1 = shape1.get<const PxCapsuleGeometry>();
+
+	// PT: get capsules in local space
+	PxVec3 dir[2];
+	Segment segment[2];
+	{
+		const PxVec3 capsuleLocalSegment0 = getCapsuleHalfHeightVector(transform0, capsuleGeom0);
+		const PxVec3 capsuleLocalSegment1 = getCapsuleHalfHeightVector(transform1, capsuleGeom1);
+
+		const PxVec3 delta = transform1.p - transform0.p;
+		segment[0].p0 = capsuleLocalSegment0;
+		segment[0].p1 = -capsuleLocalSegment0;
+		dir[0] = -capsuleLocalSegment0*2.0f;
+		segment[1].p0 = capsuleLocalSegment1 + delta;
+		segment[1].p1 = -capsuleLocalSegment1 + delta;
+		dir[1] = -capsuleLocalSegment1*2.0f;
+	}
+
+	// PT: compute distance between capsules' segments
+	PxReal s,t;
+	const PxReal squareDist = distanceSegmentSegmentSquared(segment[0], segment[1], &s, &t);
+	const PxReal radiusSum = capsuleGeom0.radius + capsuleGeom1.radius;
+	const PxReal inflatedSum = radiusSum + params.mContactDistance;
+	const PxReal inflatedSumSquared = inflatedSum*inflatedSum;
+
+	if(squareDist >= inflatedSumSquared)
+		return false;
+
+	// PT: TODO: optimize this away
+	PxReal segLen[2];
+	segLen[0] = dir[0].magnitude();
+	segLen[1] = dir[1].magnitude();
+
+	if (segLen[0]) dir[0] *= 1.0f / segLen[0];
+	if (segLen[1]) dir[1] *= 1.0f / segLen[1];
+
+	if (PxAbs(dir[0].dot(dir[1])) > 0.9998f)	//almost parallel, ca. 1 degree difference --> generate two contact points at ends
+	{
+		PxU32 numCons = 0;
+
+		PxReal segLenEps[2];
+		segLenEps[0] = segLen[0] * 0.001f;//0.1% error is ok.
+		segLenEps[1] = segLen[1] * 0.001f;
+			
+		//project the two end points of each onto the axis of the other and take those 4 points.
+		//we could also generate a single normal at the single closest point, but this would be 'unstable'.
+
+		for (PxU32 destShapeIndex = 0; destShapeIndex < 2; destShapeIndex ++)
+		{
+			for (PxU32 startEnd = 0; startEnd < 2; startEnd ++)
+			{
+				const PxU32 srcShapeIndex = 1-destShapeIndex;
+				//project start/end of srcShapeIndex onto destShapeIndex.
+				PxVec3 pos[2];
+				pos[destShapeIndex] = startEnd ? segment[srcShapeIndex].p1 : segment[srcShapeIndex].p0;
+				const PxReal p = dir[destShapeIndex].dot(pos[destShapeIndex] - segment[destShapeIndex].p0);
+				if (p >= -segLenEps[destShapeIndex] && p <= (segLen[destShapeIndex] + segLenEps[destShapeIndex]))
+				{
+					pos[srcShapeIndex] = p * dir[destShapeIndex] + segment[destShapeIndex].p0;
+
+					PxVec3 normal = pos[1] - pos[0];
+
+					const PxReal normalLenSq = normal.magnitudeSquared();
+					if (normalLenSq > 1e-6f && normalLenSq < inflatedSumSquared)
+					{
+						const PxReal distance = PxSqrt(normalLenSq);
+						normal *= 1.0f/distance;
+						PxVec3 point = pos[1] - normal * (srcShapeIndex ? capsuleGeom1 : capsuleGeom0).radius;
+						point += transform0.p;
+						contactBuffer.contact(point, normal, distance - radiusSum);
+						numCons++;
+					}					
+				}
+			}
+		}
+
+		if (numCons)	//if we did not have contacts, then we may have the case where they are parallel, but are stacked end to end, in which case the old code will generate good contacts.
+			return true;
+	}
+
+	// Collision response
+	PxVec3 pos1 = segment[0].getPointAt(s);
+	PxVec3 pos2 = segment[1].getPointAt(t);
+
+	PxVec3 normal = pos1 - pos2;
+
+	const PxReal normalLenSq = normal.magnitudeSquared();
+	if (normalLenSq < 1e-6f)
+	{
+		// PT: TODO: revisit this. "FW" sounds old.
+		// Zero normal -> pick the direction of segment 0.
+		// Not always accurate but consistent with FW.
+		if (segLen[0] > 1e-6f)
+			normal = dir[0];
+		else 
+			normal = PxVec3(1.0f, 0.0f, 0.0f);
+	}
+	else
+	{
+		normal *= PxRecipSqrt(normalLenSq);
+	}
+	
+	pos1 += transform0.p;
+	contactBuffer.contact(pos1 - normal * capsuleGeom0.radius, normal, PxSqrt(squareDist) - radiusSum);
+	return true;
+}
+}//Gu
+}//physx