Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 128 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/contact/GuContactPlaneBox.cpp b/PhysX_3.4/Source/GeomUtils/src/contact/GuContactPlaneBox.cpp
new file mode 100644
index 00000000..bd46b296
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+++ b/PhysX_3.4/Source/GeomUtils/src/contact/GuContactPlaneBox.cpp
@@ -0,0 +1,128 @@
+// 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 "GuContactMethodImpl.h"
+#include "GuContactBuffer.h"
+#include "GuGeometryUnion.h"
+#include "CmMatrix34.h"
+
+#include "PsUtilities.h"
+#include "foundation/PxUnionCast.h"
+
+namespace physx
+{
+namespace Gu
+{
+bool contactPlaneBox(GU_CONTACT_METHOD_ARGS)
+{
+	PX_UNUSED(renderOutput);
+	PX_UNUSED(cache);
+	PX_UNUSED(shape0);
+
+	// Get actual shape data      
+	//const PxPlaneGeometry& shapePlane = shape.get<const PxPlaneGeometry>();
+	const PxBoxGeometry& shapeBox = shape1.get<const PxBoxGeometry>();
+	
+	const PxVec3 negPlaneNormal = -transform0.q.getBasisVector0();
+	
+	//Make sure we have a normalized plane
+	//PX_ASSERT(PxAbs(shape0.mNormal.magnitudeSquared() - 1.0f) < 0.000001f);
+
+	Cm::Matrix34 boxMatrix(transform1);
+	Cm::Matrix34 boxToPlane(transform0.transformInv(transform1));
+
+	PxVec3 point;
+
+	PX_ASSERT(contactBuffer.count==0);
+
+/*	for(int vx=-1; vx<=1; vx+=2)
+		for(int vy=-1; vy<=1; vy+=2)
+			for(int vz=-1; vz<=1; vz+=2)
+			{				
+				//point = boxToPlane.transform(PxVec3(shapeBox.halfExtents.x*vx, shapeBox.halfExtents.y*vy, shapeBox.halfExtents.z*vz));	
+				//PxReal planeEq = point.x;
+				//Optimized a bit
+				point.set(shapeBox.halfExtents.x*vx, shapeBox.halfExtents.y*vy, shapeBox.halfExtents.z*vz);
+				const PxReal planeEq = boxToPlane.m.column0.x*point.x + boxToPlane.m.column1.x*point.y + boxToPlane.m.column2.x*point.z + boxToPlane.p.x;
+
+				if(planeEq <= contactDistance)
+				{
+					contactBuffer.contact(boxMatrix.transform(point), negPlaneNormal, planeEq);
+					
+					//no point in making more than 4 contacts.
+					if (contactBuffer.count >= 6) //was: 4)	actually, with strong interpenetration more than just the bottom surface goes through,
+						//and we want to find the *deepest* 4 vertices, really.
+						return true;
+				}
+			}*/
+
+	// PT: the above code is shock full of LHS/FCMPs. And there's no point in limiting the number of contacts to 6 when the max possible is 8.
+
+	const PxReal limit = params.mContactDistance - boxToPlane.p.x;
+	const PxReal dx = shapeBox.halfExtents.x;
+	const PxReal dy = shapeBox.halfExtents.y;
+	const PxReal dz = shapeBox.halfExtents.z;
+	const PxReal bxdx = boxToPlane.m.column0.x * dx;
+	const PxReal bxdy = boxToPlane.m.column1.x * dy;
+	const PxReal bxdz = boxToPlane.m.column2.x * dz;
+
+	PxReal depths[8];
+	depths[0] =   bxdx + bxdy + bxdz - limit;
+	depths[1] =   bxdx + bxdy - bxdz - limit;
+	depths[2] =   bxdx - bxdy + bxdz - limit;
+	depths[3] =   bxdx - bxdy - bxdz - limit;
+	depths[4] = - bxdx + bxdy + bxdz - limit;
+	depths[5] = - bxdx + bxdy - bxdz - limit;
+	depths[6] = - bxdx - bxdy + bxdz - limit;
+	depths[7] = - bxdx - bxdy - bxdz - limit;
+
+	//const PxU32* binary = reinterpret_cast<const PxU32*>(depths);
+	const PxU32* binary = PxUnionCast<PxU32*, PxF32*>(depths);
+
+	if(binary[0] & PX_SIGN_BITMASK)
+		contactBuffer.contact(boxMatrix.transform(PxVec3(dx, dy, dz)), negPlaneNormal, depths[0] + params.mContactDistance);
+	if(binary[1] & PX_SIGN_BITMASK)
+		contactBuffer.contact(boxMatrix.transform(PxVec3(dx, dy, -dz)), negPlaneNormal, depths[1] + params.mContactDistance);
+	if(binary[2] & PX_SIGN_BITMASK)
+		contactBuffer.contact(boxMatrix.transform(PxVec3(dx, -dy, dz)), negPlaneNormal, depths[2] + params.mContactDistance);
+	if(binary[3] & PX_SIGN_BITMASK)
+		contactBuffer.contact(boxMatrix.transform(PxVec3(dx, -dy, -dz)), negPlaneNormal, depths[3] + params.mContactDistance);
+	if(binary[4] & PX_SIGN_BITMASK)
+		contactBuffer.contact(boxMatrix.transform(PxVec3(-dx, dy, dz)), negPlaneNormal, depths[4] + params.mContactDistance);
+	if(binary[5] & PX_SIGN_BITMASK)
+		contactBuffer.contact(boxMatrix.transform(PxVec3(-dx, dy, -dz)), negPlaneNormal, depths[5] + params.mContactDistance);
+	if(binary[6] & PX_SIGN_BITMASK)
+		contactBuffer.contact(boxMatrix.transform(PxVec3(-dx, -dy, dz)), negPlaneNormal, depths[6] + params.mContactDistance);
+	if(binary[7] & PX_SIGN_BITMASK)
+		contactBuffer.contact(boxMatrix.transform(PxVec3(-dx, -dy, -dz)), negPlaneNormal, depths[7] + params.mContactDistance);
+
+	return contactBuffer.count > 0;
+}
+}//Gu
+}//physx