Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 96 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/convex/GuHillClimbing.cpp b/PhysX_3.4/Source/GeomUtils/src/convex/GuHillClimbing.cpp
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+++ b/PhysX_3.4/Source/GeomUtils/src/convex/GuHillClimbing.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 "foundation/PxVec3.h"
+#include "foundation/PxAssert.h"
+#include "PsUserAllocated.h"
+#include "CmPhysXCommon.h"
+#include "GuHillClimbing.h"
+#include "GuBigConvexData2.h"
+
+namespace physx
+{
+
+void localSearch(PxU32& id, const PxVec3& dir, const PxVec3* verts, const Gu::BigConvexRawData* val)
+{
+	// WARNING: there is a problem on x86 with a naive version of this code, where truncation
+	// of values from 80 bits to 32 bits as they're stored in memory means that iteratively moving to 
+	// an adjacent vertex of greater support can go into an infinite loop. So we use a version which 
+	// never vists a version twice. Note - this might not be enough for GJK, since local
+	// termination of the support function might not be enough to ensure convergence of GJK itself.
+
+	// if we got here, we'd better have vertices and valencies
+	PX_ASSERT(verts && val);
+
+	class TinyBitMap
+	{
+	public:
+		PxU32 m[8];
+		PX_FORCE_INLINE TinyBitMap()			{ m[0] = m[1] = m[2] = m[3] = m[4] = m[5] = m[6] = m[7] = 0;	}
+		PX_FORCE_INLINE void set(PxU8 v)		{ m[v>>5] |= 1<<(v&31);											}
+		PX_FORCE_INLINE bool get(PxU8 v) const	{ return (m[v>>5] & 1<<(v&31)) != 0;							}
+	};
+
+	TinyBitMap visited;
+
+	const Gu::Valency* Valencies	= val->mValencies;
+	const PxU8* Adj					= val->mAdjacentVerts;
+
+	PX_ASSERT(Valencies && Adj);
+
+	// Get the initial value and the initial vertex
+	float MaxVal	= dir.dot(verts[id]);
+	PxU32 NextVtx	= id;
+
+	do
+	{
+		PxU16 NbNeighbors = Valencies[NextVtx].mCount;
+		const PxU8* Run	= Adj + Valencies[NextVtx].mOffset;
+		id = NextVtx;
+		while(NbNeighbors--)
+		{
+			const PxU8 Neighbor = *Run++;
+
+			if(!visited.get(Neighbor))
+			{
+				visited.set(Neighbor);
+
+				const float CurVal = dir.dot(verts[Neighbor]);
+
+				if(CurVal>MaxVal)
+				{
+					MaxVal	= CurVal;
+					NextVtx	= Neighbor;
+				}
+			}
+		}
+	} while(NextVtx!=id);
+}
+
+}