Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 516 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/convex/GuShapeConvex.cpp b/PhysX_3.4/Source/GeomUtils/src/convex/GuShapeConvex.cpp
new file mode 100644
index 00000000..606cafab
--- /dev/null
+++ b/PhysX_3.4/Source/GeomUtils/src/convex/GuShapeConvex.cpp
@@ -0,0 +1,516 @@
+// 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 "GuShapeConvex.h"
+#include "GuBigConvexData.h"
+#include "GuEdgeListData.h"
+#include "GuInternal.h"
+
+#include "CmMatrix34.h"
+#include "GuHillClimbing.h"
+#include "PsFPU.h"
+
+using namespace physx;
+using namespace Gu;
+
+static PX_FORCE_INLINE PxU32 selectClosestPolygon(PxReal& maxDp_, PxU32 numPolygons, const Gu::HullPolygonData* polys, const PxVec3& axis)
+{
+	float maxDp = polys[0].mPlane.n.dot(axis);
+	PxU32 closest = 0;
+
+	// Loop through polygons
+	for(PxU32 i=1; i <numPolygons; i++)
+	{
+		// Catch current polygon and test its plane
+		const PxReal dp = polys[i].mPlane.n.dot(axis);
+		if(dp>maxDp)
+		{
+			maxDp = dp;
+			closest = i;
+		}
+	}
+	maxDp_ = maxDp;
+	return closest;
+}
+
+static PxU32 SelectClosestEdgeCB_Convex(const PolygonalData& data, const Cm::FastVertex2ShapeScaling& scaling, const PxVec3& localSpaceDirection)
+{
+	//vertex1TOShape1Skew is a symmetric matrix.  
+	//it has the property that (vertex1TOShape1Skew * v)|localSpaceDirection == (vertex1TOShape1Skew * localSpaceDirection)|v 
+	const PxVec3 vertexSpaceDirection = scaling * localSpaceDirection;
+
+	const Gu::HullPolygonData* PX_RESTRICT polys = data.mPolygons;
+
+	PxReal maxDp;
+	// ##might not be needed
+	PxU32 closest = ::selectClosestPolygon(maxDp, data.mNbPolygons, polys, vertexSpaceDirection);
+
+	// Since the convex is closed, at least some poly must satisfy this
+	PX_ASSERT(maxDp>=0);
+
+	const PxU32 numEdges = data.mNbEdges;
+	const PxU8* const edgeToFace = data.mFacesByEdges;
+
+	//Loop through edges
+	PxU32 closestEdge = 0xffffffff;
+	PxReal maxDpSq = maxDp * maxDp;
+	for(PxU32 i=0; i < numEdges; i++)
+	{
+		const PxU8 f0 = edgeToFace[i*2];
+		const PxU8 f1 = edgeToFace[i*2+1];
+
+		// unnormalized edge normal
+		const PxVec3 edgeNormal = polys[f0].mPlane.n + polys[f1].mPlane.n;
+		const PxReal enMagSq = edgeNormal.magnitudeSquared();
+		//Test normal of current edge - squared test is valid if dp and maxDp both >= 0
+		const float dp = edgeNormal.dot(vertexSpaceDirection);
+		if(dp>=0.0f && dp*dp>maxDpSq*enMagSq)
+		{
+			maxDpSq = dp*dp/enMagSq;
+			closestEdge = i;
+		}
+	}
+
+	if(closestEdge!=0xffffffff)
+	{
+		const PxU8* FBE = edgeToFace;
+
+		const PxU32 f0 = FBE[closestEdge*2];
+		const PxU32 f1 = FBE[closestEdge*2+1];
+
+		const PxReal dp0 = polys[f0].mPlane.n.dot(vertexSpaceDirection);
+		const PxReal dp1 = polys[f1].mPlane.n.dot(vertexSpaceDirection);
+		if(dp0>dp1)
+			closest = f0;
+		else
+			closest = f1;
+	}
+	return closest;
+}
+ 
+// Hull projection callback for "small" hulls
+static void HullProjectionCB_SmallConvex(const PolygonalData& data, const PxVec3& dir,
+										 const Cm::Matrix34& world,
+										 const Cm::FastVertex2ShapeScaling& scaling,
+										 PxReal& min, PxReal& max)
+{
+	const PxVec3 localSpaceDirection = world.rotateTranspose(dir);
+	//vertex1TOShape1Skew is a symmetric matrix.  
+	//it has the property that (vertex1TOShape1Skew * v)|localSpaceDirection == (vertex1TOShape1Skew * localSpaceDirection)|v 
+	const PxVec3 vertexSpaceDirection = scaling * localSpaceDirection;
+
+	// PT: prevents aliasing
+	PxReal minimum = PX_MAX_REAL;
+	PxReal maximum = -PX_MAX_REAL;
+
+	//brute-force, localspace
+	{
+		const PxVec3* PX_RESTRICT verts = data.mVerts;
+		PxU32 numVerts = data.mNbVerts;
+		while(numVerts--)
+		{
+			const PxReal dp = (*verts++).dot(vertexSpaceDirection);
+			minimum = physx::intrinsics::selectMin(minimum, dp);
+			maximum = physx::intrinsics::selectMax(maximum, dp);
+		}
+
+	}
+
+	const PxReal offset = world.p.dot(dir);
+	min = minimum + offset;
+	max = maximum + offset;
+}
+
+static PxU32 computeNearestOffset(const PxU32 subdiv, const PxVec3& dir)
+{
+	// ComputeCubemapNearestOffset(const Point& dir, udword subdiv)
+
+	// PT: ok so why exactly was the code duplicated here?
+	// PxU32 CI = CubemapLookup(dir,u,v)
+
+	PxU32 index;
+	PxReal coeff;
+	// find largest axis
+	PxReal absNx = PxAbs(dir.x);
+	PxReal absNy = PxAbs(dir.y);
+	PxReal absNz = PxAbs(dir.z);
+
+	if( absNy > absNx &&
+		absNy > absNz)
+	{
+		//y biggest
+		index = 1;
+		coeff = 1.0f/absNy;
+	}
+	else if(absNz > absNx)
+	{
+		index = 2;
+		coeff = 1.0f/absNz;
+	}
+	else
+	{
+		index = 0;
+		coeff = 1.0f/absNx;
+	}
+
+	union
+	{
+		PxU32 aU32;
+		PxReal aFloat;
+	} conv;
+
+	conv.aFloat = dir[index];
+	PxU32 sign = conv.aU32>>31;
+	
+	const PxU32 index2 = Ps::getNextIndex3(index);
+	const PxU32 index3 = Ps::getNextIndex3(index2);
+	PxReal u = dir[index2] * coeff;
+	PxReal v = dir[index3] * coeff;
+	
+	PxU32 CI = (sign | (index+index));
+
+	//Remap to [0, subdiv[
+	coeff = 0.5f * PxReal(subdiv-1);
+	u += 1.0f; u *= coeff;
+	v += 1.0f; v *= coeff;
+
+	//Round to nearest
+	PxU32 ui = PxU32(u);
+	PxU32 vi = PxU32(v);
+
+	PxReal du = u - PxReal(ui);
+	PxReal dv = v - PxReal(vi);
+	if(du>0.5f) ui++;
+	if(dv>0.5f) vi++;
+
+	//Compute offset
+	return CI*(subdiv*subdiv) + ui*subdiv + vi;
+}
+
+// Hull projection callback for "big" hulls
+static void HullProjectionCB_BigConvex(const PolygonalData& data, const PxVec3& dir, const Cm::Matrix34& world, const Cm::FastVertex2ShapeScaling& scaling, PxReal& minimum, PxReal& maximum)
+{
+	const PxVec3* PX_RESTRICT verts = data.mVerts;
+
+	const PxVec3 localSpaceDirection = world.rotateTranspose(dir);
+	//vertex1TOShape1Skew is a symmetric matrix.  
+	//it has the property that (vertex1TOShape1Skew * v)|localSpaceDirection == (vertex1TOShape1Skew * localSpaceDirection)|v 
+	const PxVec3 vertexSpaceDirection = scaling * localSpaceDirection;	//NB: triangles are always shape 1! eek!
+
+	// This version is better for objects with a lot of vertices
+	const Gu::BigConvexRawData* bigData = data.mBigData;
+	PxU32 minID = 0, maxID = 0;
+	{
+		const PxU32 offset = computeNearestOffset(bigData->mSubdiv, -vertexSpaceDirection);
+		minID = bigData->mSamples[offset];
+		maxID = bigData->getSamples2()[offset];
+	}
+	
+	// Do hillclimbing!
+	localSearch(minID, -vertexSpaceDirection, verts, bigData);
+	localSearch(maxID, vertexSpaceDirection, verts, bigData);
+
+	const PxReal offset = world.p.dot(dir);
+	minimum = offset + verts[minID].dot(vertexSpaceDirection);
+	maximum = offset + verts[maxID].dot(vertexSpaceDirection);
+	PX_ASSERT(maximum >= minimum);
+}
+
+void Gu::getPolygonalData_Convex(PolygonalData* PX_RESTRICT dst, const Gu::ConvexHullData* PX_RESTRICT src, const Cm::FastVertex2ShapeScaling& scaling)
+{
+	dst->mCenter			= scaling * src->mCenterOfMass;
+	dst->mNbVerts			= src->mNbHullVertices;
+	dst->mNbPolygons		= src->mNbPolygons;
+	dst->mNbEdges			= src->mNbEdges;
+	dst->mPolygons			= src->mPolygons;
+	dst->mVerts				= src->getHullVertices();
+	dst->mPolygonVertexRefs	= src->getVertexData8();
+	dst->mFacesByEdges		= src->getFacesByEdges8();
+
+// TEST_INTERNAL_OBJECTS
+	dst->mInternal			= src->mInternal;
+//~TEST_INTERNAL_OBJECTS
+
+	dst->mBigData			= src->mBigConvexRawData;
+
+	// This threshold test doesnt cost much and many customers cook on PC and use this on 360.
+	// 360 has a much higher threshold than PC(and it makes a big difference)
+	// PT: the cool thing is that this test is now done once by contact generation call, not once by hull projection
+	if(!src->mBigConvexRawData)
+		dst->mProjectHull = HullProjectionCB_SmallConvex;
+	else
+		dst->mProjectHull = HullProjectionCB_BigConvex;
+	dst->mSelectClosestEdgeCB = SelectClosestEdgeCB_Convex;
+}
+
+// Box emulating convex mesh
+
+// Face0: 0-1-2-3
+// Face1: 1-5-6-2
+// Face2: 5-4-7-6
+// Face3: 4-0-3-7
+// Face4; 3-2-6-7
+// Face5: 4-5-1-0
+
+//     7+------+6			0 = ---
+//     /|     /|			1 = +--
+//    / |    / |			2 = ++-
+//   / 4+---/--+5			3 = -+-
+// 3+------+2 /    y   z	4 = --+
+//  | /    | /     |  /		5 = +-+
+//  |/     |/      |/		6 = +++
+// 0+------+1      *---x	7 = -++
+
+static const PxU8 gPxcBoxPolygonData[] = {
+	0, 1, 2, 3,
+	1, 5, 6, 2,
+	5, 4, 7, 6,
+	4, 0, 3, 7,
+	3, 2, 6, 7,
+	4, 5, 1, 0,
+};
+
+#define	INVSQRT2	0.707106781188f				//!< 1 / sqrt(2)
+static PxVec3 gPxcBoxEdgeNormals[] = 
+{
+	PxVec3(0,			-INVSQRT2,	-INVSQRT2),	// 0-1
+	PxVec3(INVSQRT2,	0,			-INVSQRT2),	// 1-2
+	PxVec3(0,			INVSQRT2,	-INVSQRT2),	// 2-3
+	PxVec3(-INVSQRT2,	0,			-INVSQRT2),	// 3-0
+
+	PxVec3(0,			INVSQRT2,	INVSQRT2),	// 7-6
+	PxVec3(INVSQRT2,	0,			INVSQRT2),	// 6-5
+	PxVec3(0,			-INVSQRT2,	INVSQRT2),	// 5-4
+	PxVec3(-INVSQRT2,	0,			INVSQRT2),	// 4-7
+
+	PxVec3(INVSQRT2,	-INVSQRT2,	0),			// 1-5
+	PxVec3(INVSQRT2,	INVSQRT2,	0),			// 6-2
+	PxVec3(-INVSQRT2,	INVSQRT2,	0),			// 3-7
+	PxVec3(-INVSQRT2,	-INVSQRT2,	0)			// 4-0
+};
+#undef INVSQRT2
+
+// ### needs serious checkings
+	// Flags(16), Count(16), Offset(32);
+static Gu::EdgeDescData gPxcBoxEdgeDesc[] = {
+	{Gu::PX_EDGE_ACTIVE, 2, 0},
+	{Gu::PX_EDGE_ACTIVE, 2, 2},
+	{Gu::PX_EDGE_ACTIVE, 2, 4},
+	{Gu::PX_EDGE_ACTIVE, 2, 6},
+	{Gu::PX_EDGE_ACTIVE, 2, 8},
+	{Gu::PX_EDGE_ACTIVE, 2, 10},
+	{Gu::PX_EDGE_ACTIVE, 2, 12},
+	{Gu::PX_EDGE_ACTIVE, 2, 14},
+	{Gu::PX_EDGE_ACTIVE, 2, 16},
+	{Gu::PX_EDGE_ACTIVE, 2, 18},
+	{Gu::PX_EDGE_ACTIVE, 2, 20},
+	{Gu::PX_EDGE_ACTIVE, 2, 22},
+};
+
+// ### needs serious checkings
+static PxU8 gPxcBoxFaceByEdge[] = {
+	0,5, 	// Edge 0-1
+	0,1, 	// Edge 1-2
+	0,4, 	// Edge 2-3
+	0,3, 	// Edge 3-0
+	2,4, 	// Edge 7-6
+	1,2, 	// Edge 6-5
+	2,5, 	// Edge 5-4
+	2,3, 	// Edge 4-7
+	1,5, 	// Edge 1-5
+	1,4, 	// Edge 6-2
+	3,4, 	// Edge 3-7
+	3,5, 	// Edge 4-0
+};
+
+static PxU32 SelectClosestEdgeCB_Box(const PolygonalData& data, const Cm::FastVertex2ShapeScaling& scaling, const PxVec3& localDirection)
+{
+	PX_UNUSED(scaling);
+
+	PxReal maxDp;
+	// ##might not be needed
+	PxU32 closest = ::selectClosestPolygon(maxDp, 6, data.mPolygons, localDirection);
+
+	PxU32 numEdges = 12;
+	const PxVec3* PX_RESTRICT edgeNormals = gPxcBoxEdgeNormals;
+
+	//Loop through edges
+	PxU32 closestEdge = 0xffffffff;
+	for(PxU32 i=0; i < numEdges; i++)
+	{
+		//Test normal of current edge
+		const float dp = edgeNormals[i].dot(localDirection);
+		if(dp>maxDp)
+		{
+			maxDp = dp;
+			closestEdge = i;
+		}
+	}
+
+	if(closestEdge!=0xffffffff)
+	{
+		const Gu::EdgeDescData* PX_RESTRICT ED = gPxcBoxEdgeDesc;
+		const PxU8* PX_RESTRICT FBE = gPxcBoxFaceByEdge;
+
+		PX_ASSERT(ED[closestEdge].Count==2);
+		const PxU32 f0 = FBE[ED[closestEdge].Offset];
+		const PxU32 f1 = FBE[ED[closestEdge].Offset+1];
+
+		const PxReal dp0 = data.mPolygons[f0].mPlane.n.dot(localDirection);
+		const PxReal dp1 = data.mPolygons[f1].mPlane.n.dot(localDirection);
+		if(dp0>dp1)
+			closest = f0;
+		else
+			closest = f1;
+	}
+
+	return closest;
+}
+
+static PX_FORCE_INLINE void projectBox(PxVec3& p, const PxVec3& localDir, const PxVec3& extents)
+{
+	// PT: the original code didn't have branches or FPU comparisons. Why rewrite it ?
+//	p.x = (localDir.x >= 0) ? extents.x : -extents.x;
+//	p.y = (localDir.y >= 0) ? extents.y : -extents.y;
+//	p.z = (localDir.z >= 0) ? extents.z : -extents.z;
+	p.x = physx::intrinsics::fsel(localDir.x, extents.x, -extents.x);
+	p.y = physx::intrinsics::fsel(localDir.y, extents.y, -extents.y);
+	p.z = physx::intrinsics::fsel(localDir.z, extents.z, -extents.z);
+}
+
+static void	HullProjectionCB_Box(const PolygonalData& data, const PxVec3& dir, const Cm::Matrix34& world, const Cm::FastVertex2ShapeScaling& scaling, PxReal& minimum, PxReal& maximum)
+{
+	PX_UNUSED(scaling);
+
+	const PxVec3 localDir = world.rotateTranspose(dir);
+
+	PxVec3 p;
+	projectBox(p, localDir, *data.mHalfSide);
+
+	const PxReal offset = world.p.dot(dir);
+	const PxReal tmp = p.dot(localDir);
+	maximum = offset + tmp;
+	minimum = offset - tmp;
+}
+
+PolygonalBox::PolygonalBox(const PxVec3& halfSide) : mHalfSide(halfSide)
+{
+	//Precompute the convex data
+	//     7+------+6			0 = ---
+	//     /|     /|			1 = +--
+	//    / |    / |			2 = ++-
+	//   / 4+---/--+5			3 = -+-
+	// 3+------+2 /    y   z	4 = --+
+	//  | /    | /     |  /		5 = +-+
+	//  |/     |/      |/		6 = +++
+	// 0+------+1      *---x	7 = -++
+
+	PxVec3 minimum = -mHalfSide;
+	PxVec3 maximum = mHalfSide;
+	// Generate 8 corners of the bbox
+	mVertices[0] = PxVec3(minimum.x, minimum.y, minimum.z);
+	mVertices[1] = PxVec3(maximum.x, minimum.y, minimum.z);
+	mVertices[2] = PxVec3(maximum.x, maximum.y, minimum.z);
+	mVertices[3] = PxVec3(minimum.x, maximum.y, minimum.z);
+	mVertices[4] = PxVec3(minimum.x, minimum.y, maximum.z);
+	mVertices[5] = PxVec3(maximum.x, minimum.y, maximum.z);
+	mVertices[6] = PxVec3(maximum.x, maximum.y, maximum.z);
+	mVertices[7] = PxVec3(minimum.x, maximum.y, maximum.z);
+
+	//Setup the polygons
+	for(PxU8 i=0; i < 6; i++)
+	{
+		mPolygons[i].mNbVerts = 4;
+		mPolygons[i].mVRef8 = PxU16(i*4);
+	}
+
+	// ### planes needs *very* careful checks
+	// X axis
+	mPolygons[1].mPlane.n = PxVec3(1.0f, 0.0f, 0.0f);
+	mPolygons[1].mPlane.d = -mHalfSide.x;
+	mPolygons[3].mPlane.n = PxVec3(-1.0f, 0.0f, 0.0f);
+	mPolygons[3].mPlane.d = -mHalfSide.x;
+	
+	mPolygons[1].mMinIndex = 0;
+	mPolygons[3].mMinIndex = 1;
+
+//	mPolygons[1].mMinObsolete = -mHalfSide.x;
+//	mPolygons[3].mMinObsolete = -mHalfSide.x;
+
+	PX_ASSERT(mPolygons[1].getMin(mVertices) == -mHalfSide.x); 
+	PX_ASSERT(mPolygons[3].getMin(mVertices) == -mHalfSide.x);
+
+
+	// Y axis
+	mPolygons[4].mPlane.n = PxVec3(0.f, 1.0f, 0.0f);
+	mPolygons[4].mPlane.d = -mHalfSide.y;
+	mPolygons[5].mPlane.n = PxVec3(0.0f, -1.0f, 0.0f);
+	mPolygons[5].mPlane.d = -mHalfSide.y;
+
+	mPolygons[4].mMinIndex = 0;
+	mPolygons[5].mMinIndex = 2;
+//	mPolygons[4].mMinObsolete = -mHalfSide.y;
+//	mPolygons[5].mMinObsolete = -mHalfSide.y;
+
+	PX_ASSERT(mPolygons[4].getMin(mVertices) == -mHalfSide.y); 
+	PX_ASSERT(mPolygons[5].getMin(mVertices) == -mHalfSide.y);
+
+	// Z axis
+	mPolygons[2].mPlane.n = PxVec3(0.f, 0.0f, 1.0f);
+	mPolygons[2].mPlane.d = -mHalfSide.z;
+	mPolygons[0].mPlane.n = PxVec3(0.0f, 0.0f, -1.0f);
+	mPolygons[0].mPlane.d = -mHalfSide.z;
+
+	mPolygons[2].mMinIndex = 0;
+	mPolygons[0].mMinIndex = 4;
+//	mPolygons[2].mMinObsolete = -mHalfSide.z;
+//	mPolygons[0].mMinObsolete = -mHalfSide.z;
+	PX_ASSERT(mPolygons[2].getMin(mVertices) == -mHalfSide.z); 
+	PX_ASSERT(mPolygons[0].getMin(mVertices) == -mHalfSide.z);
+}
+
+void PolygonalBox::getPolygonalData(PolygonalData* PX_RESTRICT dst) const
+{
+	dst->mCenter				= PxVec3(0.0f, 0.0f, 0.0f);
+	dst->mNbVerts				= 8;
+	dst->mNbPolygons			= 6;
+	dst->mPolygons				= mPolygons;
+	dst->mNbEdges				= 0;
+	dst->mVerts					= mVertices;
+	dst->mPolygonVertexRefs		= gPxcBoxPolygonData;
+	dst->mFacesByEdges			= NULL;
+	dst->mInternal.mRadius		= 0.0f;
+	dst->mInternal.mExtents[0]	= 0.0f;
+	dst->mInternal.mExtents[1]	= 0.0f;
+	dst->mInternal.mExtents[2]	= 0.0f;
+//	dst->mBigData				= NULL;
+	dst->mHalfSide				= &mHalfSide;
+	dst->mProjectHull			= HullProjectionCB_Box;
+	dst->mSelectClosestEdgeCB	= SelectClosestEdgeCB_Box;
+}