Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 92 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/gjk/GuGJKTest.cpp b/PhysX_3.4/Source/GeomUtils/src/gjk/GuGJKTest.cpp
new file mode 100644
index 00000000..530634c2
--- /dev/null
+++ b/PhysX_3.4/Source/GeomUtils/src/gjk/GuGJKTest.cpp
@@ -0,0 +1,92 @@
+// 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 "GuGJK.h"
+#include "GuGJKRaycast.h"
+#include "GuGJKPenetration.h"
+#include "GuGJKTest.h"
+
+namespace physx
+{
+namespace Gu
+{
+
+using namespace Ps::aos;
+
+GjkStatus testGjk(GjkConvex& a, GjkConvex& b,  const Vec3VArg initialSearchDir, const FloatVArg contactDist, Vec3V& closestA, Vec3V& closestB, Vec3V& normal, FloatV& dist)
+{
+	return gjk<GjkConvex, GjkConvex>(a, b, initialSearchDir, contactDist, closestA, closestB, normal, dist);
+}
+	
+
+bool testGjkRaycast(GjkConvex& a, GjkConvex& b, const Vec3VArg initialSearchDir, const Ps::aos::FloatVArg initialLambda, const Ps::aos::Vec3VArg s, const Ps::aos::Vec3VArg r, Ps::aos::FloatV& lambda, 
+		Ps::aos::Vec3V& normal, Ps::aos::Vec3V& closestA, const PxReal inflation)
+{
+	return gjkRaycast(a, b, initialSearchDir, initialLambda, s, r, lambda, normal, closestA, inflation);
+}
+
+GjkStatus testGjkPenetration (GjkConvex& a, GjkConvex& b,  const Vec3VArg initialSearchDir, const FloatVArg contactDist, Vec3V& closestA, Vec3V& closestB, Vec3V& normal, FloatV& sqDist)
+{
+	const bool takeCoreShape = a.getMarginIsRadius() || b.getMarginIsRadius();
+	PxU8 aIndices[4];
+	PxU8 bIndices[4];
+	PxU8 size=0;
+	return gjkPenetration<GjkConvex, GjkConvex>(a, b, initialSearchDir, contactDist, closestA, closestB, normal, 
+		sqDist, aIndices, bIndices, size, takeCoreShape);
+}
+
+GjkStatus testGjkPenetration(GjkConvex& a, GjkConvex& b, const Vec3VArg initialSearchDir, const FloatVArg contactDist, Vec3V& closestA, Vec3V& closestB, Vec3V& normal, FloatV& sqDist,
+	PxU8* aIndices, PxU8* bIndices, PxU8 size)
+{
+	const bool takeCoreShape = a.getMarginIsRadius() || b.getMarginIsRadius();
+	return gjkPenetration<GjkConvex, GjkConvex>(a, b, initialSearchDir, contactDist, closestA, closestB, normal,
+		sqDist, aIndices, bIndices, size, takeCoreShape);
+}
+
+GjkStatus testEpaPenetration(GjkConvex& a, GjkConvex& b, Ps::aos::Vec3V& contactA, Ps::aos::Vec3V& contactB, Ps::aos::Vec3V& normal, 
+		Ps::aos::FloatV& penetrationDepth)
+{
+	const bool takeCoreShape = a.getMarginIsRadius() || b.getMarginIsRadius();
+	PxU8 aIndices[4];
+	PxU8 bIndices[4];
+	PxU8 size=0;
+	return epaPenetration(a, b, aIndices, bIndices, size, contactA, contactB, normal, penetrationDepth, takeCoreShape);
+}
+
+GjkStatus testEpaPenetration(GjkConvex& a, GjkConvex& b, Ps::aos::Vec3V& contactA, Ps::aos::Vec3V& contactB, Ps::aos::Vec3V& normal, 
+		Ps::aos::FloatV& penetrationDepth, PxU8* aIndices, PxU8* bIndices, PxU8 size)
+{
+	const bool takeCoreShape = a.getMarginIsRadius() || b.getMarginIsRadius();
+	return epaPenetration(a, b, aIndices, bIndices, size, contactA, contactB, normal, penetrationDepth, takeCoreShape);
+}
+
+}
+}
+