Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 101 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/contact/GuContactPlaneConvex.cpp b/PhysX_3.4/Source/GeomUtils/src/contact/GuContactPlaneConvex.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 "GuConvexMeshData.h"
+#include "GuContactMethodImpl.h"
+#include "GuContactBuffer.h"
+#include "GuGeometryUnion.h"
+#include "CmScaling.h"
+
+
+namespace physx
+{
+namespace Gu
+{
+bool contactPlaneConvex(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 PxConvexMeshGeometryLL& shapeConvex = shape1.get<const PxConvexMeshGeometryLL>();
+
+	const PxVec3* PX_RESTRICT hullVertices = shapeConvex.hullData->getHullVertices();
+	PxU32 numHullVertices = shapeConvex.hullData->mNbHullVertices;
+//	Ps::prefetch128(hullVertices);
+
+	// Plane is implicitly <1,0,0> 0 in localspace
+	Cm::Matrix34 convexToPlane (transform0.transformInv(transform1));
+	PxMat33 convexToPlane_rot(convexToPlane[0], convexToPlane[1], convexToPlane[2] );
+
+	bool idtScale = shapeConvex.scale.isIdentity();
+	Cm::FastVertex2ShapeScaling convexScaling;	// PT: TODO: remove default ctor
+	if(!idtScale)
+		convexScaling.init(shapeConvex.scale);
+
+	convexToPlane = Cm::Matrix34( convexToPlane_rot * convexScaling.getVertex2ShapeSkew(), convexToPlane[3] );
+
+	//convexToPlane = context.mVertex2ShapeSkew[1].getVertex2WorldSkew(convexToPlane);
+
+	const Cm::Matrix34 planeToW (transform0);
+
+	// This is rather brute-force
+	
+	bool status = false;
+
+	const PxVec3 contactNormal = -planeToW.m.column0;
+
+	while(numHullVertices--)
+	{
+		const PxVec3& vertex = *hullVertices++;
+//		if(numHullVertices)
+//			Ps::prefetch128(hullVertices);
+
+		const PxVec3 pointInPlane = convexToPlane.transform(vertex);		//TODO: this multiply could be factored out!
+		if(pointInPlane.x <= params.mContactDistance)
+		{
+//			const PxVec3 pointInW = planeToW.transform(pointInPlane);
+//			contactBuffer.contact(pointInW, -planeToW.m.column0, pointInPlane.x);
+			status = true;
+			Gu::ContactPoint* PX_RESTRICT pt = contactBuffer.contact();
+			if(pt)
+			{
+				pt->normal				= contactNormal;
+				pt->point				= planeToW.transform(pointInPlane);
+				pt->separation			= pointInPlane.x;
+				pt->internalFaceIndex1	= PXC_CONTACT_NO_FACE_INDEX;
+			}
+		}
+	}
+	return status;
+}
+}//Gu
+}//physx