Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 125 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/distance/GuDistancePointTriangle.h b/PhysX_3.4/Source/GeomUtils/src/distance/GuDistancePointTriangle.h
new file mode 100644
index 00000000..d5d961eb
--- /dev/null
+++ b/PhysX_3.4/Source/GeomUtils/src/distance/GuDistancePointTriangle.h
@@ -0,0 +1,125 @@
+// 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.  
+
+#ifndef GU_DISTANCE_POINT_TRIANGLE_H
+#define GU_DISTANCE_POINT_TRIANGLE_H
+
+#include "foundation/PxVec3.h"
+#include "PxPhysXCommonConfig.h"
+#include "CmPhysXCommon.h"
+
+namespace physx
+{
+namespace Gu
+{
+	// PT: special version:
+	// - inlined
+	// - doesn't compute (s,t) output params
+	// - expects precomputed edges in input
+	PX_FORCE_INLINE PxVec3 closestPtPointTriangle2(const PxVec3& p, const PxVec3& a, const PxVec3& b, const PxVec3& c, const PxVec3& ab, const PxVec3& ac)
+	{
+		// 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)
+			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)
+			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);
+			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)
+			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);
+			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));
+			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;
+		return a + ab*v + ac*w;
+	}
+
+	PX_PHYSX_COMMON_API PxVec3 closestPtPointTriangle(const PxVec3& p, const PxVec3& a, const PxVec3& b, const PxVec3& c, float& s, float& t);
+
+	PX_FORCE_INLINE PxReal distancePointTriangleSquared(const PxVec3& point, 
+														const PxVec3& triangleOrigin, 
+														const PxVec3& triangleEdge0, 
+														const PxVec3& triangleEdge1,
+														PxReal* param0=NULL, 
+														PxReal* param1=NULL)
+	{
+		const PxVec3 pt0 = triangleEdge0 + triangleOrigin;
+		const PxVec3 pt1 = triangleEdge1 + triangleOrigin;
+		float s,t;
+		const PxVec3 cp = closestPtPointTriangle(point, triangleOrigin, pt0, pt1, s, t);
+		if(param0)
+			*param0 = s;
+		if(param1)
+			*param1 = t;
+		return (cp - point).magnitudeSquared();
+	}
+
+} // namespace Gu
+
+}
+
+#endif