Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 353 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/distance/GuDistancePointTriangle.cpp b/PhysX_3.4/Source/GeomUtils/src/distance/GuDistancePointTriangle.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 "GuDistancePointTriangle.h"
+#include "GuDistancePointTriangleSIMD.h"
+
+using namespace physx;
+
+// Based on Christer Ericson's book
+PxVec3 Gu::closestPtPointTriangle(const PxVec3& p, const PxVec3& a, const PxVec3& b, const PxVec3& c, float& s, float& t)
+{
+	// Check if P in vertex region outside A
+	const PxVec3 ab = b - a;
+	const PxVec3 ac = c - a;
+	const PxVec3 ap = p - a;
+	const float d1 = ab.dot(ap);
+	const float d2 = ac.dot(ap);
+	if(d1<=0.0f && d2<=0.0f)
+	{
+		s = 0.0f;
+		t = 0.0f;
+		return a;	// Barycentric coords 1,0,0
+	}
+
+	// Check if P in vertex region outside B
+	const PxVec3 bp = p - b;
+	const float d3 = ab.dot(bp);
+	const float d4 = ac.dot(bp);
+	if(d3>=0.0f && d4<=d3)
+	{
+		s = 1.0f;
+		t = 0.0f;
+		return b;	// Barycentric coords 0,1,0
+	}
+
+	// Check if P in edge region of AB, if so return projection of P onto AB
+	const float vc = d1*d4 - d3*d2;
+	if(vc<=0.0f && d1>=0.0f && d3<=0.0f)
+	{
+		const float v = d1 / (d1 - d3);
+		s = v;
+		t = 0.0f;
+		return a + v * ab;	// barycentric coords (1-v, v, 0)
+	}
+
+	// Check if P in vertex region outside C
+	const PxVec3 cp = p - c;
+	const float d5 = ab.dot(cp);
+	const float d6 = ac.dot(cp);
+	if(d6>=0.0f && d5<=d6)
+	{
+		s = 0.0f;
+		t = 1.0f;
+		return c;	// Barycentric coords 0,0,1
+	}
+
+	// Check if P in edge region of AC, if so return projection of P onto AC
+	const float vb = d5*d2 - d1*d6;
+	if(vb<=0.0f && d2>=0.0f && d6<=0.0f)
+	{
+		const float w = d2 / (d2 - d6);
+		s = 0.0f;
+		t = w;
+		return a + w * ac;	// barycentric coords (1-w, 0, w)
+	}
+
+	// Check if P in edge region of BC, if so return projection of P onto BC
+	const float va = d3*d6 - d5*d4;
+	if(va<=0.0f && (d4-d3)>=0.0f && (d5-d6)>=0.0f)
+	{
+		const float w = (d4-d3) / ((d4 - d3) + (d5-d6));
+		s = 1.0f-w;
+		t = w;
+		return b + w * (c-b);	// barycentric coords (0, 1-w, w)
+	}
+
+	// P inside face region. Compute Q through its barycentric coords (u,v,w)
+	const float denom = 1.0f / (va + vb + vc);
+	const float v = vb * denom;
+	const float w = vc * denom;
+	s = v;
+	t = w;
+	return a + ab*v + ac*w;
+}
+
+//Ps::aos::FloatV Gu::distancePointTriangleSquared(	const Ps::aos::Vec3VArg p, 
+//													const Ps::aos::Vec3VArg a, 
+//													const Ps::aos::Vec3VArg b, 
+//													const Ps::aos::Vec3VArg c,
+//													Ps::aos::FloatV& u,
+//													Ps::aos::FloatV& v,
+//													Ps::aos::Vec3V& closestP)
+//{
+//	using namespace Ps::aos;
+//
+//	const FloatV zero = FZero();
+//	const FloatV one = FOne();
+//	//const Vec3V zero = V3Zero();
+//	const Vec3V ab = V3Sub(b, a);
+//	const Vec3V ac = V3Sub(c, a);
+//	const Vec3V bc = V3Sub(c, b);
+//	const Vec3V ap = V3Sub(p, a);
+//	const Vec3V bp = V3Sub(p, b);
+//	const Vec3V cp = V3Sub(p, c);
+//
+//	const FloatV d1 = V3Dot(ab, ap); //  snom
+//	const FloatV d2 = V3Dot(ac, ap); //  tnom
+//	const FloatV d3 = V3Dot(ab, bp); // -sdenom
+//	const FloatV d4 = V3Dot(ac, bp); //  unom = d4 - d3
+//	const FloatV d5 = V3Dot(ab, cp); //  udenom = d5 - d6
+//	const FloatV d6 = V3Dot(ac, cp); // -tdenom
+//	const FloatV unom = FSub(d4, d3);
+//	const FloatV udenom = FSub(d5, d6);
+//	
+//	//check if p in vertex region outside a
+//	const BoolV con00 = FIsGrtr(zero, d1); // snom <= 0
+//	const BoolV con01 = FIsGrtr(zero, d2); // tnom <= 0
+//	const BoolV con0 = BAnd(con00, con01); // vertex region a
+//	const FloatV u0 = zero;
+//	const FloatV v0 = zero;
+//
+//	//check if p in vertex region outside b
+//	const BoolV con10 = FIsGrtrOrEq(d3, zero);
+//	const BoolV con11 = FIsGrtrOrEq(d3, d4);
+//	const BoolV con1 = BAnd(con10, con11); // vertex region b
+//	const FloatV u1 = one;
+//	const FloatV v1 = zero;
+//
+//	//check if p in vertex region outside c
+//	const BoolV con20 = FIsGrtrOrEq(d6, zero);
+//	const BoolV con21 = FIsGrtrOrEq(d6, d5); 
+//	const BoolV con2 = BAnd(con20, con21); // vertex region c
+//	const FloatV u2 = zero;
+//	const FloatV v2 = one;
+//
+//	//check if p in edge region of AB
+//	const FloatV vc = FSub(FMul(d1, d4), FMul(d3, d2));
+//	
+//	const BoolV con30 = FIsGrtr(zero, vc);
+//	const BoolV con31 = FIsGrtrOrEq(d1, zero);
+//	const BoolV con32 = FIsGrtr(zero, d3);
+//	const BoolV con3 = BAnd(con30, BAnd(con31, con32));
+//	const FloatV sScale = FDiv(d1, FSub(d1, d3));
+//	const Vec3V closest3 = V3Add(a, V3Scale(ab, sScale));
+//	const FloatV u3 = sScale;
+//	const FloatV v3 = zero;
+//
+//	//check if p in edge region of BC
+//	const FloatV va = FSub(FMul(d3, d6),FMul(d5, d4));
+//	const BoolV con40 = FIsGrtr(zero, va);
+//	const BoolV con41 = FIsGrtrOrEq(d4, d3);
+//	const BoolV con42 = FIsGrtrOrEq(d5, d6);
+//	const BoolV con4 = BAnd(con40, BAnd(con41, con42)); 
+//	const FloatV uScale = FDiv(unom, FAdd(unom, udenom));
+//	const Vec3V closest4 = V3Add(b, V3Scale(bc, uScale));
+//	const FloatV u4 = FSub(one, uScale);
+//	const FloatV v4 = uScale;
+//
+//	//check if p in edge region of AC
+//	const FloatV vb = FSub(FMul(d5, d2), FMul(d1, d6));
+//	const BoolV con50 = FIsGrtr(zero, vb);
+//	const BoolV con51 = FIsGrtrOrEq(d2, zero);
+//	const BoolV con52 = FIsGrtr(zero, d6);
+//	const BoolV con5 = BAnd(con50, BAnd(con51, con52));
+//	const FloatV tScale = FDiv(d2, FSub(d2, d6));
+//	const Vec3V closest5 = V3Add(a, V3Scale(ac, tScale));
+//	const FloatV u5 = zero;
+//	const FloatV v5 = tScale;
+//
+//	//P must project inside face region. Compute Q using Barycentric coordinates
+//	const FloatV denom = FRecip(FAdd(va, FAdd(vb, vc)));
+//	const FloatV t = FMul(vb, denom);
+//	const FloatV w = FMul(vc, denom);
+//	const Vec3V bCom = V3Scale(ab, t);
+//	const Vec3V cCom = V3Scale(ac, w);
+//	const Vec3V closest6 = V3Add(a, V3Add(bCom, cCom));
+//	const FloatV u6 = t;
+//	const FloatV v6 = w;
+//	
+//	const Vec3V closest= V3Sel(con0, a, V3Sel(con1, b, V3Sel(con2, c, V3Sel(con3, closest3, V3Sel(con4, closest4, V3Sel(con5, closest5, closest6))))));
+//	u = FSel(con0, u0, FSel(con1, u1, FSel(con2, u2, FSel(con3, u3, FSel(con4, u4, FSel(con5, u5, u6))))));
+//	v = FSel(con0, v0, FSel(con1, v1, FSel(con2, v2, FSel(con3, v3, FSel(con4, v4, FSel(con5, v5, v6))))));
+//	closestP = closest;
+//
+//	const Vec3V vv = V3Sub(p, closest);
+//
+//	return V3Dot(vv, vv);
+//}
+
+
+Ps::aos::FloatV Gu::distancePointTriangleSquared(	const Ps::aos::Vec3VArg p, 
+													const Ps::aos::Vec3VArg a, 
+													const Ps::aos::Vec3VArg b, 
+													const Ps::aos::Vec3VArg c,
+													Ps::aos::FloatV& u,
+													Ps::aos::FloatV& v,
+													Ps::aos::Vec3V& closestP)
+{
+	using namespace Ps::aos;
+
+	const FloatV zero = FZero();
+	const FloatV one = FOne();
+	//const Vec3V zero = V3Zero();
+	const Vec3V ab = V3Sub(b, a);
+	const Vec3V ac = V3Sub(c, a);
+	const Vec3V bc = V3Sub(c, b);
+	const Vec3V ap = V3Sub(p, a);
+	const Vec3V bp = V3Sub(p, b);
+	const Vec3V cp = V3Sub(p, c);
+
+	const FloatV d1 = V3Dot(ab, ap); //  snom
+	const FloatV d2 = V3Dot(ac, ap); //  tnom
+	const FloatV d3 = V3Dot(ab, bp); // -sdenom
+	const FloatV d4 = V3Dot(ac, bp); //  unom = d4 - d3
+	const FloatV d5 = V3Dot(ab, cp); //  udenom = d5 - d6
+	const FloatV d6 = V3Dot(ac, cp); // -tdenom
+	const FloatV unom = FSub(d4, d3);
+	const FloatV udenom = FSub(d5, d6);
+	
+	//check if p in vertex region outside a
+	const BoolV con00 = FIsGrtr(zero, d1); // snom <= 0
+	const BoolV con01 = FIsGrtr(zero, d2); // tnom <= 0
+	const BoolV con0 = BAnd(con00, con01); // vertex region a
+
+	if(BAllEqTTTT(con0))
+	{
+		u = zero;
+		v = zero;
+		const Vec3V vv = V3Sub(p, a);
+		closestP = a;
+		return V3Dot(vv, vv);
+	}
+
+	//check if p in vertex region outside b
+	const BoolV con10 = FIsGrtrOrEq(d3, zero);
+	const BoolV con11 = FIsGrtrOrEq(d3, d4);
+	const BoolV con1 = BAnd(con10, con11); // vertex region b
+	if(BAllEqTTTT(con1))
+	{
+		u = one;
+		v = zero;
+		const Vec3V vv = V3Sub(p, b);
+		closestP = b;
+		return V3Dot(vv, vv);
+	}
+
+	//check if p in vertex region outside c
+	const BoolV con20 = FIsGrtrOrEq(d6, zero);
+	const BoolV con21 = FIsGrtrOrEq(d6, d5); 
+	const BoolV con2 = BAnd(con20, con21); // vertex region c
+	if(BAllEqTTTT(con2))
+	{
+		u = zero;
+		v = one;
+		const Vec3V vv = V3Sub(p, c);
+		closestP = c;
+		return V3Dot(vv, vv);
+	}
+
+	//check if p in edge region of AB
+	const FloatV vc = FSub(FMul(d1, d4), FMul(d3, d2));
+	
+	const BoolV con30 = FIsGrtr(zero, vc);
+	const BoolV con31 = FIsGrtrOrEq(d1, zero);
+	const BoolV con32 = FIsGrtr(zero, d3);
+	const BoolV con3 = BAnd(con30, BAnd(con31, con32));
+	if(BAllEqTTTT(con3))
+	{
+		const FloatV sScale = FDiv(d1, FSub(d1, d3));
+		const Vec3V closest3 = V3Add(a, V3Scale(ab, sScale));
+		u = sScale;
+		v = zero;
+		const Vec3V vv = V3Sub(p, closest3);
+		closestP = closest3;
+		return V3Dot(vv, vv);
+	}
+
+	//check if p in edge region of BC
+	const FloatV va = FSub(FMul(d3, d6),FMul(d5, d4));
+	const BoolV con40 = FIsGrtr(zero, va);
+	const BoolV con41 = FIsGrtrOrEq(d4, d3);
+	const BoolV con42 = FIsGrtrOrEq(d5, d6);
+	const BoolV con4 = BAnd(con40, BAnd(con41, con42)); 
+	if(BAllEqTTTT(con4))
+	{
+		const FloatV uScale = FDiv(unom, FAdd(unom, udenom));
+		const Vec3V closest4 = V3Add(b, V3Scale(bc, uScale));
+		u = FSub(one, uScale);
+		v = uScale;
+		const Vec3V vv = V3Sub(p, closest4);
+		closestP = closest4;
+		return V3Dot(vv, vv);
+	}
+
+	//check if p in edge region of AC
+	const FloatV vb = FSub(FMul(d5, d2), FMul(d1, d6));
+	const BoolV con50 = FIsGrtr(zero, vb);
+	const BoolV con51 = FIsGrtrOrEq(d2, zero);
+	const BoolV con52 = FIsGrtr(zero, d6);
+	const BoolV con5 = BAnd(con50, BAnd(con51, con52));
+	if(BAllEqTTTT(con5))
+	{
+		const FloatV tScale = FDiv(d2, FSub(d2, d6));
+		const Vec3V closest5 = V3Add(a, V3Scale(ac, tScale));
+		u = zero;
+		v = tScale;
+		const Vec3V vv = V3Sub(p, closest5);
+		closestP = closest5;
+		return V3Dot(vv, vv);
+	}
+
+	//P must project inside face region. Compute Q using Barycentric coordinates
+	const FloatV denom = FRecip(FAdd(va, FAdd(vb, vc)));
+	const FloatV t = FMul(vb, denom);
+	const FloatV w = FMul(vc, denom);
+	const Vec3V bCom = V3Scale(ab, t);
+	const Vec3V cCom = V3Scale(ac, w);
+	const Vec3V closest6 = V3Add(a, V3Add(bCom, cCom));
+	u = t;
+	v = w;
+	closestP = closest6;
+
+	const Vec3V vv = V3Sub(p, closest6);
+
+	return V3Dot(vv, vv);
+}