Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 216 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/gjk/GuGJKSimplex.cpp b/PhysX_3.4/Source/GeomUtils/src/gjk/GuGJKSimplex.cpp
new file mode 100644
index 00000000..e74e0d03
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+++ b/PhysX_3.4/Source/GeomUtils/src/gjk/GuGJKSimplex.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 "GuGJKSimplex.h"
+
+namespace physx
+{
+namespace Gu
+{
+
+	using namespace Ps::aos;
+
+	static Vec3V getClosestPtPointTriangle(Vec3V* PX_RESTRICT Q, const BoolVArg bIsOutside4, PxU32* indices, PxU32& size)
+	{
+		FloatV bestSqDist = FMax();
+		
+		PxU32 _indices[3] = {0, 1, 2};
+
+		Vec3V closestPt = V3Zero();
+	
+		if(BAllEqTTTT(BGetX(bIsOutside4)))
+		{
+			//use the original indices, size, v and w
+			bestSqDist = closestPtPointTriangleBaryCentric(Q[0], Q[1], Q[2], indices, size, closestPt);
+		}
+
+		if(BAllEqTTTT(BGetY(bIsOutside4)))
+		{
+
+			PxU32 _size = 3;
+			_indices[0] = 0; _indices[1] = 2; _indices[2] = 3; 
+			Vec3V tClosestPt;
+			const FloatV sqDist = closestPtPointTriangleBaryCentric(Q[0], Q[2], Q[3], _indices, _size, tClosestPt);
+
+			const BoolV con = FIsGrtr(bestSqDist, sqDist);
+			if(BAllEqTTTT(con))
+			{
+				closestPt = tClosestPt;
+				bestSqDist = sqDist;
+
+				indices[0] = _indices[0];
+				indices[1] = _indices[1];
+				indices[2] = _indices[2];
+
+				size = _size;
+			}
+		}
+
+		if(BAllEqTTTT(BGetZ(bIsOutside4)))
+		{
+			PxU32 _size = 3;
+			
+			_indices[0] = 0; _indices[1] = 3; _indices[2] = 1; 
+
+			Vec3V tClosestPt;
+			const FloatV sqDist = closestPtPointTriangleBaryCentric(Q[0], Q[3], Q[1], _indices, _size, tClosestPt);
+			
+			const BoolV con = FIsGrtr(bestSqDist, sqDist);
+			if(BAllEqTTTT(con))
+			{
+				closestPt = tClosestPt;
+				bestSqDist = sqDist;
+
+				indices[0] = _indices[0];
+				indices[1] = _indices[1];
+				indices[2] = _indices[2];
+
+				size = _size;
+			}
+
+		}
+
+		if(BAllEqTTTT(BGetW(bIsOutside4)))
+		{
+	
+
+			PxU32 _size = 3;
+			_indices[0] = 1; _indices[1] = 3; _indices[2] = 2; 
+			Vec3V tClosestPt;
+			const FloatV sqDist = closestPtPointTriangleBaryCentric(Q[1], Q[3], Q[2], _indices, _size, tClosestPt);
+
+			const BoolV con = FIsGrtr(bestSqDist, sqDist);
+
+			if(BAllEqTTTT(con))
+			{
+				closestPt = tClosestPt;
+				bestSqDist = sqDist;
+
+				indices[0] = _indices[0];
+				indices[1] = _indices[1];
+				indices[2] = _indices[2];
+
+				size = _size;
+			}
+		}
+
+		return closestPt;
+	}
+
+	PX_NOALIAS Vec3V closestPtPointTetrahedron(Vec3V* PX_RESTRICT Q, Vec3V* PX_RESTRICT A, Vec3V* PX_RESTRICT B, PxU32& size)
+	{
+		
+		const FloatV eps = FLoad(1e-4f);
+		const Vec3V a = Q[0];
+		const Vec3V b = Q[1];
+		const Vec3V c = Q[2];  
+		const Vec3V d = Q[3];
+
+		//degenerated
+		const Vec3V ab = V3Sub(b, a);
+		const Vec3V ac = V3Sub(c, a);
+		const Vec3V n = V3Normalize(V3Cross(ab, ac));
+		const FloatV signDist = V3Dot(n, V3Sub(d, a));
+		if(FAllGrtr(eps, FAbs(signDist)))
+		{
+			size = 3;
+			return closestPtPointTriangle(Q, A, B, size);
+		}
+
+		const BoolV bIsOutside4 = PointOutsideOfPlane4(a, b, c, d);
+
+		if(BAllEqFFFF(bIsOutside4))
+		{
+			//All inside
+			return V3Zero();
+		}
+
+		PxU32 indices[3] = {0, 1, 2};
+		
+		const Vec3V closest = getClosestPtPointTriangle(Q, bIsOutside4, indices, size);
+
+		const Vec3V q0 = Q[indices[0]]; const Vec3V q1 = Q[indices[1]]; const Vec3V q2 = Q[indices[2]];
+		const Vec3V a0 = A[indices[0]]; const Vec3V a1 = A[indices[1]]; const Vec3V a2 = A[indices[2]];
+		const Vec3V b0 = B[indices[0]]; const Vec3V b1 = B[indices[1]]; const Vec3V b2 = B[indices[2]];
+		Q[0] = q0; Q[1] = q1; Q[2] = q2;
+		A[0] = a0; A[1] = a1; A[2] = a2;
+		B[0] = b0; B[1] = b1; B[2] = b2; 
+
+		return closest;
+	}
+
+	PX_NOALIAS Vec3V closestPtPointTetrahedron(Vec3V* PX_RESTRICT Q, Vec3V* PX_RESTRICT A, Vec3V* PX_RESTRICT B, PxI32* PX_RESTRICT aInd,  PxI32* PX_RESTRICT bInd, PxU32& size)
+	{
+		
+		const FloatV eps = FLoad(1e-4f);
+		const Vec3V zeroV = V3Zero();
+		
+		const Vec3V a = Q[0];
+		const Vec3V b = Q[1];
+		const Vec3V c = Q[2];
+		const Vec3V d = Q[3];
+
+		//degenerated
+		const Vec3V ab = V3Sub(b, a);
+		const Vec3V ac = V3Sub(c, a);
+		const Vec3V n = V3Normalize(V3Cross(ab, ac));
+		const FloatV signDist = V3Dot(n, V3Sub(d, a));
+		if(FAllGrtr(eps, FAbs(signDist)))
+		{
+			size = 3;
+			return closestPtPointTriangle(Q, A, B, aInd, bInd, size);
+		}
+
+		const BoolV bIsOutside4 = PointOutsideOfPlane4(a, b, c, d);
+
+		if(BAllEqFFFF(bIsOutside4))
+		{
+			//All inside
+			return zeroV;
+		}
+
+		PxU32 indices[3] = {0, 1, 2};
+		const Vec3V closest = getClosestPtPointTriangle(Q, bIsOutside4, indices, size);
+
+		const Vec3V q0 = Q[indices[0]]; const Vec3V q1 = Q[indices[1]]; const Vec3V q2 = Q[indices[2]];
+		const Vec3V a0 = A[indices[0]]; const Vec3V a1 = A[indices[1]]; const Vec3V a2 = A[indices[2]];
+		const Vec3V b0 = B[indices[0]]; const Vec3V b1 = B[indices[1]]; const Vec3V b2 = B[indices[2]];
+		const PxI32 _aInd0 = aInd[indices[0]]; const PxI32 _aInd1 = aInd[indices[1]]; const PxI32 _aInd2 = aInd[indices[2]];
+		const PxI32 _bInd0 = bInd[indices[0]]; const PxI32 _bInd1 = bInd[indices[1]]; const PxI32 _bInd2 = bInd[indices[2]];
+		Q[0] = q0; Q[1] = q1; Q[2] = q2;
+		A[0] = a0; A[1] = a1; A[2] = a2;
+		B[0] = b0; B[1] = b1; B[2] = b2; 
+		aInd[0] = _aInd0; aInd[1] = _aInd1; aInd[2] = _aInd2;
+		bInd[0] = _bInd0; bInd[1] = _bInd1; bInd[2] = _bInd2;
+
+		return closest;
+	}
+}
+
+}