Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 473 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/gjk/GuGJKSimplex.h b/PhysX_3.4/Source/GeomUtils/src/gjk/GuGJKSimplex.h
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+++ b/PhysX_3.4/Source/GeomUtils/src/gjk/GuGJKSimplex.h
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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.  
+
+#ifndef GU_GJKSIMPLEX_H
+#define GU_GJKSIMPLEX_H
+
+#include "CmPhysXCommon.h"
+#include "PsVecMath.h"
+#include "GuBarycentricCoordinates.h"
+
+#if (defined __GNUC__ && defined _DEBUG)
+#define PX_GJK_INLINE PX_INLINE
+#define PX_GJK_FORCE_INLINE PX_INLINE
+#else
+#define PX_GJK_INLINE PX_INLINE
+#define PX_GJK_FORCE_INLINE PX_FORCE_INLINE
+#endif
+
+
+namespace physx
+{
+namespace Gu
+{
+
+
+	PX_NOALIAS Ps::aos::Vec3V closestPtPointTetrahedron(Ps::aos::Vec3V* PX_RESTRICT Q, Ps::aos::Vec3V* PX_RESTRICT A, Ps::aos::Vec3V* PX_RESTRICT B, PxU32& size);
+
+	PX_NOALIAS Ps::aos::Vec3V closestPtPointTetrahedron(Ps::aos::Vec3V* PX_RESTRICT Q, Ps::aos::Vec3V* PX_RESTRICT A, Ps::aos::Vec3V* PX_RESTRICT B, PxI32* PX_RESTRICT aInd, PxI32* PX_RESTRICT bInd, 
+		PxU32& size);
+
+	PX_NOALIAS PX_FORCE_INLINE Ps::aos::BoolV PointOutsideOfPlane4(const Ps::aos::Vec3VArg _a, const Ps::aos::Vec3VArg _b, const Ps::aos::Vec3VArg _c, const Ps::aos::Vec3VArg _d)
+	{
+		using namespace Ps::aos;
+		
+		// this is not 0 because of the following scenario:
+		// All the points lie on the same plane and the plane goes through the origin (0,0,0).
+		// On the Wii U, the math below has the problem that when point A gets projected on the
+		// plane cumputed by A, B, C, the distance to the plane might not be 0 for the mentioned
+		// scenario but a small positive or negative value. This can lead to the wrong boolean
+		// results. Using a small negative value as threshold is more conservative but safer.
+		const Vec4V zero = V4Load(-1e-6);
+
+		const Vec3V ab = V3Sub(_b, _a);
+		const Vec3V ac = V3Sub(_c, _a);
+		const Vec3V ad = V3Sub(_d, _a);
+		const Vec3V bd = V3Sub(_d, _b);
+		const Vec3V bc = V3Sub(_c, _b);
+
+		const Vec3V v0 = V3Cross(ab, ac);
+		const Vec3V v1 = V3Cross(ac, ad);
+		const Vec3V v2 = V3Cross(ad, ab);
+		const Vec3V v3 = V3Cross(bd, bc);
+
+		const FloatV signa0 = V3Dot(v0, _a);
+		const FloatV signa1 = V3Dot(v1, _a);
+		const FloatV signa2 = V3Dot(v2, _a);
+		const FloatV signd3 = V3Dot(v3, _a);
+
+		const FloatV signd0 = V3Dot(v0, _d);
+		const FloatV signd1 = V3Dot(v1, _b);
+		const FloatV signd2 = V3Dot(v2, _c);
+		const FloatV signa3 = V3Dot(v3, _b);
+
+		const Vec4V signa = V4Merge(signa0, signa1, signa2, signa3);
+		const Vec4V signd = V4Merge(signd0, signd1, signd2, signd3);
+		return V4IsGrtrOrEq(V4Mul(signa, signd), zero);//same side, outside of the plane
+
+		
+	}
+
+
+	PX_NOALIAS PX_FORCE_INLINE Ps::aos::Vec3V closestPtPointSegment(Ps::aos::Vec3V* PX_RESTRICT Q, PxU32& size)
+	{
+		using namespace Ps::aos;
+		const Vec3V a = Q[0];
+		const Vec3V b = Q[1];
+
+		//const Vec3V origin = V3Zero();
+		const FloatV zero = FZero();
+		const FloatV one = FOne();
+
+		//Test degenerated case
+		const Vec3V ab = V3Sub(b, a);
+		const FloatV denom = V3Dot(ab, ab);
+		const Vec3V ap = V3Neg(a);//V3Sub(origin, a);
+		const FloatV nom = V3Dot(ap, ab);
+		const BoolV con = FIsGrtrOrEq(FEps(), denom);//FIsEq(denom, zero);
+		//TODO - can we get rid of this branch? The problem is size, which isn't a vector!
+		if(BAllEqTTTT(con))
+		{
+			size = 1;
+			return Q[0];
+		}
+
+	/*	const PxU32 count = BAllEq(con, bTrue);
+		size = 2 - count;*/
+		
+		const FloatV tValue = FClamp(FDiv(nom, denom), zero, one);
+		return V3ScaleAdd(ab, tValue, a);
+	}
+
+
+	PX_FORCE_INLINE void getClosestPoint(const Ps::aos::Vec3V* PX_RESTRICT Q, const Ps::aos::Vec3V* PX_RESTRICT A, const Ps::aos::Vec3V* PX_RESTRICT B, const Ps::aos::Vec3VArg closest, Ps::aos::Vec3V& closestA, Ps::aos::Vec3V& closestB, const PxU32 size)
+	{
+		using namespace Ps::aos;
+
+		switch(size)
+		{
+		case 1:
+			{
+				closestA = A[0];
+				closestB = B[0];
+				break;
+			}
+		case 2:
+			{
+				FloatV v;
+				barycentricCoordinates(closest, Q[0], Q[1], v);
+				const Vec3V av = V3Sub(A[1], A[0]);
+				const Vec3V bv = V3Sub(B[1], B[0]);
+				closestA = V3ScaleAdd(av, v, A[0]);
+				closestB = V3ScaleAdd(bv, v, B[0]);
+				
+				break;
+			}
+		case 3:
+			{
+				//calculate the Barycentric of closest point p in the mincowsky sum
+				FloatV v, w;
+				barycentricCoordinates(closest, Q[0], Q[1], Q[2], v, w);
+
+				const Vec3V av0 = V3Sub(A[1], A[0]);
+				const Vec3V av1 = V3Sub(A[2], A[0]);
+				const Vec3V bv0 = V3Sub(B[1], B[0]);
+				const Vec3V bv1 = V3Sub(B[2], B[0]);
+
+				closestA = V3Add(A[0], V3Add(V3Scale(av0, v), V3Scale(av1, w)));
+				closestB = V3Add(B[0], V3Add(V3Scale(bv0, v), V3Scale(bv1, w)));
+			}
+		};
+	}
+
+	PX_NOALIAS PX_GJK_FORCE_INLINE Ps::aos::FloatV closestPtPointTriangleBaryCentric(const Ps::aos::Vec3VArg a, const Ps::aos::Vec3VArg b, const Ps::aos::Vec3VArg c, 
+		PxU32* PX_RESTRICT indices, PxU32& size, Ps::aos::Vec3V& closestPt)
+	{
+		using namespace Ps::aos;
+
+		size = 3;
+		const FloatV zero = FZero();
+		const FloatV eps = FEps();
+		
+		const Vec3V ab = V3Sub(b, a);
+		const Vec3V ac = V3Sub(c, a);
+
+		const Vec3V n = V3Cross(ab, ac);
+		//ML: if the shape is oblong, the degeneracy test sometime can't catch the degeneracy in the tetraheron. Therefore, we need to make sure we still can ternimate with the previous
+		//triangle by returning the maxinum distance. 
+		const FloatV nn = V3Dot(n, n);
+		if (FAllEq(nn, zero))
+			return FMax();
+
+		//const FloatV va = FNegScaleSub(d5, d4, FMul(d3, d6));//edge region of BC
+		//const FloatV vb = FNegScaleSub(d1, d6, FMul(d5, d2));//edge region of AC
+		//const FloatV vc = FNegScaleSub(d3, d2, FMul(d1, d4));//edge region of AB
+
+		//const FloatV va = V3Dot(n, V3Cross(b, c));//edge region of BC, signed area rbc, u = S(rbc)/S(abc) for a
+		//const FloatV vb = V3Dot(n, V3Cross(c, a));//edge region of AC, signed area rac, v = S(rca)/S(abc) for b
+		//const FloatV vc = V3Dot(n, V3Cross(a, b));//edge region of AB, signed area rab, w = S(rab)/S(abc) for c
+
+		const VecCrossV crossA = V3PrepareCross(a);
+		const VecCrossV crossB = V3PrepareCross(b);
+		const VecCrossV crossC = V3PrepareCross(c);
+		const Vec3V bCrossC = V3Cross(crossB, crossC);
+		const Vec3V cCrossA = V3Cross(crossC, crossA);
+		const Vec3V aCrossB = V3Cross(crossA, crossB);
+
+		const FloatV va = V3Dot(n, bCrossC);//edge region of BC, signed area rbc, u = S(rbc)/S(abc) for a
+		const FloatV vb = V3Dot(n, cCrossA);//edge region of AC, signed area rac, v = S(rca)/S(abc) for b
+		const FloatV vc = V3Dot(n, aCrossB);//edge region of AB, signed area rab, w = S(rab)/S(abc) for c
+
+		const BoolV isFacePoints = BAnd(FIsGrtrOrEq(va, zero), BAnd(FIsGrtrOrEq(vb, zero), FIsGrtrOrEq(vc, zero)));
+
+
+		//face region
+		if(BAllEqTTTT(isFacePoints))
+		{	
+			const FloatV t = FDiv(V3Dot(n, a), nn);
+			const Vec3V q = V3Scale(n, t);
+			closestPt = q;
+			return V3Dot(q, q);
+		}
+
+		const Vec3V ap = V3Neg(a);
+		const Vec3V bp = V3Neg(b);
+		const Vec3V cp = V3Neg(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);
+
+		size = 2;
+		//check if p in edge region of AB
+		const BoolV con30 = FIsGrtrOrEq(zero, vc);
+		const BoolV con31 = FIsGrtrOrEq(d1, zero);
+		const BoolV con32 = FIsGrtrOrEq(zero, d3);
+		const BoolV con3 = BAnd(con30, BAnd(con31, con32));//edge AB region
+		if(BAllEqTTTT(con3))
+		{
+			const FloatV toRecipAB = FSub(d1, d3);
+			const FloatV recipAB = FSel(FIsGrtr(FAbs(toRecipAB), eps), FRecip(toRecipAB), zero);
+			const FloatV t = FMul(d1, recipAB);
+			const Vec3V q = V3ScaleAdd(ab, t, a);
+			closestPt = q;
+			return V3Dot(q, q);
+		}
+	
+		//check if p in edge region of BC
+		const BoolV con40 = FIsGrtrOrEq(zero, va);
+		const BoolV con41 = FIsGrtrOrEq(d4, d3);
+		const BoolV con42 = FIsGrtrOrEq(d5, d6);
+		const BoolV con4 = BAnd(con40, BAnd(con41, con42)); //edge BC region
+		if(BAllEqTTTT(con4))
+		{
+			const Vec3V bc = V3Sub(c, b);
+			const FloatV toRecipBC = FAdd(unom, udenom);
+			const FloatV recipBC = FSel(FIsGrtr(FAbs(toRecipBC), eps), FRecip(toRecipBC), zero);
+			const FloatV t = FMul(unom, recipBC);
+			indices[0] = indices[1];
+			indices[1] = indices[2];
+			const Vec3V q = V3ScaleAdd(bc, t, b);
+			closestPt = q;
+			return V3Dot(q, q);
+		}
+		
+		//check if p in edge region of AC
+		const BoolV con50 = FIsGrtrOrEq(zero, vb);
+		const BoolV con51 = FIsGrtrOrEq(d2, zero);
+		const BoolV con52 = FIsGrtrOrEq(zero, d6);
+	
+		const BoolV con5 = BAnd(con50, BAnd(con51, con52));//edge AC region
+		if(BAllEqTTTT(con5))
+		{
+			const FloatV toRecipAC = FSub(d2, d6);
+			const FloatV recipAC = FSel(FIsGrtr(FAbs(toRecipAC), eps), FRecip(toRecipAC), zero);
+			const FloatV t = FMul(d2, recipAC);
+			indices[1]=indices[2];
+			const Vec3V q = V3ScaleAdd(ac, t, a);
+			closestPt = q;
+			return V3Dot(q, q);
+		}
+
+		size = 1;
+		//check if p in vertex region outside a
+		const BoolV con00 = FIsGrtrOrEq(zero, d1); // snom <= 0
+		const BoolV con01 = FIsGrtrOrEq(zero, d2); // tnom <= 0
+		const BoolV con0 = BAnd(con00, con01); // vertex region a
+		if(BAllEqTTTT(con0))
+		{
+			closestPt = a;
+			return V3Dot(a, a);
+		}
+
+		//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))
+		{
+			indices[0] = indices[1];
+			closestPt = b;
+			return V3Dot(b, b);
+		}
+		
+		//p is in vertex region outside c
+		indices[0] = indices[2];
+		closestPt = c;
+		return V3Dot(c, c);
+
+	}
+
+	PX_NOALIAS PX_GJK_FORCE_INLINE Ps::aos::Vec3V closestPtPointTriangle(Ps::aos::Vec3V* PX_RESTRICT Q, Ps::aos::Vec3V* A, Ps::aos::Vec3V* B, PxU32& size)
+	{
+		
+		using namespace Ps::aos;
+
+		size = 3;
+	
+		const FloatV eps = FEps();
+		const Vec3V a = Q[0];
+		const Vec3V b = Q[1];
+		const Vec3V c = Q[2];
+		const Vec3V ab = V3Sub(b, a);
+		const Vec3V ac = V3Sub(c, a);
+		const Vec3V signArea = V3Cross(ab, ac);//0.5*(abXac)
+		const FloatV area = V3Dot(signArea, signArea);
+		if(FAllGrtrOrEq(eps, area))
+		{
+			//degenerate
+			size = 2;
+			return closestPtPointSegment(Q, size);
+		}
+
+		PxU32 _size;
+		PxU32 indices[3]={0, 1, 2};
+		Vec3V closestPt;
+		closestPtPointTriangleBaryCentric(a, b, c, indices, _size, closestPt);
+
+		if(_size != 3)
+		{
+		
+			const Vec3V q0 = Q[indices[0]]; const Vec3V q1 = Q[indices[1]];
+			const Vec3V a0 = A[indices[0]]; const Vec3V a1 = A[indices[1]];
+			const Vec3V b0 = B[indices[0]]; const Vec3V b1 = B[indices[1]];
+
+			Q[0] = q0; Q[1] = q1;
+			A[0] = a0; A[1] = a1;
+			B[0] = b0; B[1] = b1;
+
+			size = _size;
+		}
+
+		return closestPt;
+	}
+
+	PX_NOALIAS PX_GJK_FORCE_INLINE Ps::aos::Vec3V closestPtPointTriangle(Ps::aos::Vec3V* PX_RESTRICT Q, Ps::aos::Vec3V* A, Ps::aos::Vec3V* B, PxI32* PX_RESTRICT aInd, PxI32* PX_RESTRICT bInd, 
+		PxU32& size)
+	{
+		
+		using namespace Ps::aos;
+
+		size = 3;
+	
+		const FloatV eps = FEps();
+
+		const Vec3V a = Q[0];
+		const Vec3V b = Q[1];
+		const Vec3V c = Q[2];
+		const Vec3V ab = V3Sub(b, a);
+		const Vec3V ac = V3Sub(c, a);
+		const Vec3V signArea = V3Cross(ab, ac);//0.5*(abXac)
+		const FloatV area = V3Dot(signArea, signArea);
+		if(FAllGrtrOrEq(eps, area))
+		{
+			//degenerate
+			size = 2;
+			return closestPtPointSegment(Q, size);
+		}
+
+		PxU32 _size;
+		PxU32 indices[3]={0, 1, 2};
+		Vec3V closestPt;
+		closestPtPointTriangleBaryCentric(a, b, c, indices, _size, closestPt);
+
+		if(_size != 3)
+		{
+		
+			const Vec3V q0 = Q[indices[0]]; const Vec3V q1 = Q[indices[1]];
+			const Vec3V a0 = A[indices[0]]; const Vec3V a1 = A[indices[1]];
+			const Vec3V b0 = B[indices[0]]; const Vec3V b1 = B[indices[1]];
+			const PxI32 aInd0 = aInd[indices[0]]; const PxI32 aInd1 = aInd[indices[1]];
+			const PxI32 bInd0 = bInd[indices[0]]; const PxI32 bInd1 = bInd[indices[1]];
+
+			Q[0] = q0; Q[1] = q1;
+			A[0] = a0; A[1] = a1;
+			B[0] = b0; B[1] = b1;
+			aInd[0] = aInd0; aInd[1] = aInd1;
+			bInd[0] = bInd0; bInd[1] = bInd1;
+
+			size = _size;
+		}
+
+		return closestPt;
+	}
+
+	
+	
+
+	PX_NOALIAS PX_FORCE_INLINE Ps::aos::Vec3V GJKCPairDoSimplex(Ps::aos::Vec3V* PX_RESTRICT Q, Ps::aos::Vec3V* PX_RESTRICT A, Ps::aos::Vec3V* PX_RESTRICT B, const Ps::aos::Vec3VArg support, 
+		PxU32& size)
+	{
+		using namespace Ps::aos;
+
+		//const PxU32 tempSize = size;
+		//calculate a closest from origin to the simplex
+		switch(size)
+		{
+		case 1:
+			{
+				return support;
+			}
+		case 2:
+			{
+			return closestPtPointSegment(Q, size);
+			}
+		case 3:
+			{
+			return closestPtPointTriangle(Q, A, B, size);
+			}
+		case 4:
+			return closestPtPointTetrahedron(Q, A, B, size);
+		default:
+			PX_ASSERT(0);
+		}
+		return support;
+	}
+
+
+	PX_NOALIAS PX_FORCE_INLINE Ps::aos::Vec3V GJKCPairDoSimplex(Ps::aos::Vec3V* PX_RESTRICT Q, Ps::aos::Vec3V* PX_RESTRICT A, Ps::aos::Vec3V* PX_RESTRICT B, PxI32* PX_RESTRICT aInd, PxI32* PX_RESTRICT bInd, 
+		const Ps::aos::Vec3VArg support, PxU32& size)
+	{
+		using namespace Ps::aos;
+
+		//const PxU32 tempSize = size;
+		//calculate a closest from origin to the simplex
+		switch(size)
+		{
+		case 1:
+			{
+				return support;
+			}
+		case 2:
+			{
+			return closestPtPointSegment(Q, size);
+			}
+		case 3:
+			{
+			return closestPtPointTriangle(Q, A, B, aInd, bInd, size);
+			}
+		case 4:
+			return closestPtPointTetrahedron(Q, A, B, aInd, bInd, size);
+		default:
+			PX_ASSERT(0);
+		}
+		return support;
+	}
+}
+
+}
+
+#endif