Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 82 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/contact/GuContactSphereCapsule.cpp b/PhysX_3.4/Source/GeomUtils/src/contact/GuContactSphereCapsule.cpp
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+++ b/PhysX_3.4/Source/GeomUtils/src/contact/GuContactSphereCapsule.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 "GuDistancePointSegment.h"
+#include "GuContactMethodImpl.h"
+#include "GuContactBuffer.h"
+#include "GuInternal.h"
+#include "GuGeometryUnion.h"
+
+namespace physx
+{
+namespace Gu
+{
+bool contactSphereCapsule(GU_CONTACT_METHOD_ARGS)
+{
+	PX_UNUSED(renderOutput);
+	PX_UNUSED(cache);
+
+	const PxSphereGeometry& sphereGeom = shape0.get<const PxSphereGeometry>();
+	const PxCapsuleGeometry& capsuleGeom = shape1.get<const PxCapsuleGeometry>();
+
+	// PT: get capsule in local space
+	const PxVec3 capsuleLocalSegment = getCapsuleHalfHeightVector(transform1, capsuleGeom);
+	const Segment localSegment(capsuleLocalSegment, -capsuleLocalSegment);
+
+	// PT: get sphere in capsule space
+	const PxVec3 sphereCenterInCapsuleSpace = transform0.p - transform1.p;
+
+	const PxReal radiusSum = sphereGeom.radius + capsuleGeom.radius;
+	const PxReal inflatedSum = radiusSum + params.mContactDistance;
+
+	// PT: compute distance between sphere center & capsule's segment
+	PxReal u;
+	const PxReal squareDist = distancePointSegmentSquared(localSegment, sphereCenterInCapsuleSpace, &u);
+	if(squareDist >= inflatedSum*inflatedSum)
+		return false;
+
+	// PT: compute contact normal
+	PxVec3 normal = sphereCenterInCapsuleSpace - localSegment.getPointAt(u);
+		
+	// We do a *manual* normalization to check for singularity condition
+	const PxReal lenSq = normal.magnitudeSquared();
+	if(lenSq==0.0f) 
+		normal = PxVec3(1.0f, 0.0f, 0.0f);	// PT: zero normal => pick up random one
+	else
+		normal *= PxRecipSqrt(lenSq);
+
+	// PT: compute contact point
+	const PxVec3 point = sphereCenterInCapsuleSpace + transform1.p - normal * sphereGeom.radius;
+
+	// PT: output unique contact
+	contactBuffer.contact(point, normal, PxSqrt(squareDist) - radiusSum);
+	return true;
+}
+}//Gu
+}//physx