Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 181 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/contact/GuContactSphereBox.cpp b/PhysX_3.4/Source/GeomUtils/src/contact/GuContactSphereBox.cpp
new file mode 100644
index 00000000..58da6764
--- /dev/null
+++ b/PhysX_3.4/Source/GeomUtils/src/contact/GuContactSphereBox.cpp
@@ -0,0 +1,181 @@
+// 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"
+
+using namespace physx;
+
+//This version is ported 1:1 from novodex
+static PX_FORCE_INLINE bool ContactSphereBox(const PxVec3& sphereOrigin, 
+							 PxReal sphereRadius,
+							 const PxVec3& boxExtents,
+//							 const PxcCachedTransforms& boxCacheTransform, 
+							 const PxTransform& boxTransform, 
+							 PxVec3& point, 
+							 PxVec3& normal, 
+							 PxReal& separation, 
+							 PxReal contactDistance)
+{
+//	const PxTransform& boxTransform = boxCacheTransform.getShapeToWorld();
+
+	//returns true on contact
+	const PxVec3 delta = sphereOrigin - boxTransform.p; // s1.center - s2.center;
+	PxVec3 dRot = boxTransform.rotateInv(delta); //transform delta into OBB body coords.
+
+	//check if delta is outside ABB - and clip the vector to the ABB.
+	bool outside = false;
+
+	if (dRot.x < -boxExtents.x)
+	{ 
+		outside = true; 
+		dRot.x = -boxExtents.x;
+	}
+	else if (dRot.x >  boxExtents.x)
+	{ 
+		outside = true; 
+		dRot.x = boxExtents.x;
+	}
+
+	if (dRot.y < -boxExtents.y)
+	{ 
+		outside = true; 
+		dRot.y = -boxExtents.y;
+	}
+	else if (dRot.y >  boxExtents.y)
+	{ 
+		outside = true; 
+		dRot.y = boxExtents.y;
+	}
+
+	if (dRot.z < -boxExtents.z)
+	{ 
+		outside = true; 
+		dRot.z =-boxExtents.z;
+	}
+	else if (dRot.z >  boxExtents.z)
+	{ 
+		outside = true; 
+		dRot.z = boxExtents.z;
+	}
+
+	if (outside) //if clipping was done, sphere center is outside of box.
+	{
+		point = boxTransform.rotate(dRot); //get clipped delta back in world coords.
+		normal = delta - point; //what we clipped away.	
+		const PxReal lenSquared = normal.magnitudeSquared();
+		const PxReal inflatedDist = sphereRadius + contactDistance;
+		if (lenSquared > inflatedDist * inflatedDist) 
+			return false;	//disjoint
+
+		//normalize to make it into the normal:
+		separation = PxRecipSqrt(lenSquared);
+		normal *= separation;	
+		separation *= lenSquared;
+		//any plane that touches the sphere is tangential, so a vector from contact point to sphere center defines normal.
+		//we could also use point here, which has same direction.
+		//this is either a faceFace or a vertexFace contact depending on whether the box's face or vertex collides, but we did not distinguish. 
+		//We'll just use vertex face for now, this info isn't really being used anyway.
+		//contact point is point on surface of cube closest to sphere center.
+		point += boxTransform.p;
+		separation -= sphereRadius;
+		return true;
+	}
+	else
+	{
+		//center is in box, we definitely have a contact.
+		PxVec3 locNorm;	//local coords contact normal
+
+		/*const*/ PxVec3 absdRot;
+		absdRot = PxVec3(PxAbs(dRot.x), PxAbs(dRot.y), PxAbs(dRot.z));
+		/*const*/ PxVec3 distToSurface = boxExtents - absdRot;	//dist from embedded center to box surface along 3 dimensions.
+
+		//find smallest element of distToSurface
+		if (distToSurface.y < distToSurface.x)
+		{
+			if (distToSurface.y < distToSurface.z)
+			{
+				//y
+				locNorm = PxVec3(0.0f, dRot.y > 0.0f ? 1.0f : -1.0f, 0.0f);
+				separation = -distToSurface.y;
+			}
+			else
+			{
+				//z
+				locNorm = PxVec3(0.0f,0.0f, dRot.z > 0.0f ? 1.0f : -1.0f);
+				separation = -distToSurface.z;
+			}
+		}
+		else
+		{
+			if (distToSurface.x < distToSurface.z)
+			{
+				//x
+				locNorm = PxVec3(dRot.x > 0.0f ? 1.0f : -1.0f, 0.0f, 0.0f);
+				separation = -distToSurface.x;
+			}
+			else
+			{
+				//z
+				locNorm = PxVec3(0.0f,0.0f, dRot.z > 0.0f ? 1.0f : -1.0f);
+				separation = -distToSurface.z;
+			}
+		}
+		//separation so far is just the embedding of the center point; we still have to push out all of the radius.
+		point = sphereOrigin;
+		normal = boxTransform.rotate(locNorm);
+		separation -= sphereRadius;
+		return true;
+	}
+}
+
+namespace physx
+{
+namespace Gu
+{
+bool contactSphereBox(GU_CONTACT_METHOD_ARGS)
+{
+	PX_UNUSED(renderOutput);
+	PX_UNUSED(cache);
+
+	const PxSphereGeometry& sphereGeom = shape0.get<const PxSphereGeometry>();
+	const PxBoxGeometry& boxGeom = shape1.get<const PxBoxGeometry>();
+
+	PxVec3 normal;
+	PxVec3 point;
+	PxReal separation;
+	if(!ContactSphereBox(transform0.p, sphereGeom.radius, boxGeom.halfExtents, transform1, point, normal, separation, params.mContactDistance))
+		return false;
+
+	contactBuffer.contact(point, normal, separation);
+	return true;
+}
+}//Gu
+}//physx