Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 217 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/gjk/GuVecBox.h b/PhysX_3.4/Source/GeomUtils/src/gjk/GuVecBox.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_VEC_BOX_H
+#define GU_VEC_BOX_H
+
+/** \addtogroup geomutils
+@{
+*/
+#include "foundation/PxTransform.h"
+#include "PxPhysXCommonConfig.h"
+#include "GuVecConvex.h"
+#include "PsVecTransform.h"
+#include "GuConvexSupportTable.h"
+#include "PxBoxGeometry.h"
+
+namespace physx
+{
+PX_PHYSX_COMMON_API extern const Ps::aos::BoolV boxVertexTable[8];
+
+namespace Gu
+{
+
+#define BOX_MARGIN_RATIO		0.15f
+#define	BOX_MIN_MARGIN_RATIO	0.05f
+#define	BOX_SWEEP_MARGIN_RATIO	0.05f
+
+#define BOX_MARGIN_CCD_RATIO		0.01f
+#define	BOX_MIN_MARGIN_CCD_RATIO	0.005f
+
+
+	class CapsuleV;
+
+
+	PX_FORCE_INLINE void CalculateBoxMargin(const Ps::aos::Vec3VArg extent, PxReal& margin, PxReal& minMargin, PxReal& sweepMargin,
+		const PxReal marginR = BOX_MARGIN_RATIO, const PxReal minMarginR = BOX_MIN_MARGIN_RATIO)
+	{
+		using namespace Ps::aos;
+
+		const FloatV min = V3ExtractMin(extent);
+
+		const FloatV margin_ = FMul(min, FLoad(marginR));
+		const FloatV minMargin_ = FMul(min, FLoad(minMarginR));
+		const FloatV sweepMargin_ = FMul(min, FLoad(BOX_SWEEP_MARGIN_RATIO));
+
+		FStore(margin_, &margin);
+		FStore(minMargin_, &minMargin);
+		FStore(sweepMargin_, &sweepMargin);
+	}
+
+	PX_FORCE_INLINE Ps::aos::FloatV CalculateBoxTolerance(const Ps::aos::Vec3VArg extent)
+	{
+		using namespace Ps::aos;
+		
+		const FloatV r0 = FLoad(0.01f);
+		const FloatV min = V3ExtractMin(extent);//FMin(V3GetX(extent), FMin(V3GetY(extent), V3GetZ(extent)));
+		return FMul(min, r0);
+	}
+
+	//This method is called in the PCM contact gen for the refreshing contacts 
+	PX_FORCE_INLINE Ps::aos::FloatV CalculatePCMBoxMargin(const Ps::aos::Vec3VArg extent)
+	{
+		using namespace Ps::aos;
+	
+		const FloatV min = V3ExtractMin(extent);//FMin(V3GetX(extent), FMin(V3GetY(extent), V3GetZ(extent)));
+		return FMul(min, FLoad(BOX_MARGIN_RATIO));
+	}
+
+	class BoxV : public ConvexV
+	{
+	public:
+
+		/**
+		\brief Constructor
+		*/
+		PX_INLINE BoxV() : ConvexV(ConvexType::eBOX)
+		{
+		}
+
+		PX_FORCE_INLINE BoxV(const Ps::aos::Vec3VArg origin, const Ps::aos::Vec3VArg extent) : 
+			ConvexV(ConvexType::eBOX, origin), extents(extent)
+		{
+			CalculateBoxMargin(extent, margin, minMargin, sweepMargin);
+			marginDif = Ps::aos::FZero();
+		}
+																		
+		PX_FORCE_INLINE BoxV(const PxGeometry& geom) : ConvexV(ConvexType::eBOX, Ps::aos::V3Zero())
+		{
+			using namespace Ps::aos;
+			const PxBoxGeometry& boxGeom = static_cast<const PxBoxGeometry&>(geom);
+			const Vec3V extent = Ps::aos::V3LoadU(boxGeom.halfExtents);
+			extents = extent;
+			CalculateBoxMargin(extent, margin, minMargin, sweepMargin, BOX_MARGIN_CCD_RATIO, BOX_MIN_MARGIN_CCD_RATIO);
+			marginDif = Ps::aos::FZero();
+		}
+
+		/**
+		\brief Destructor
+		*/
+		PX_INLINE ~BoxV()
+		{
+		}
+
+		//! Assignment operator
+		PX_INLINE const BoxV& operator=(const BoxV& other)
+		{
+			center	= other.center;
+			extents	= other.extents;
+			margin =  other.margin;
+			minMargin = other.minMargin;
+			marginDif = other.marginDif;
+			sweepMargin = other.sweepMargin;
+			return *this;
+		}
+
+		PX_FORCE_INLINE void populateVerts(const PxU8* inds, PxU32 numInds, const PxVec3* originalVerts, Ps::aos::Vec3V* verts)const
+		{
+			using namespace Ps::aos;
+
+			for(PxU32 i=0; i<numInds; ++i)
+				verts[i] = V3LoadU_SafeReadW(originalVerts[inds[i]]);	// PT: safe because of the way vertex memory is allocated in ConvexHullData (and 'populateVerts' is always called with polyData.mVerts)
+		}
+
+		PX_FORCE_INLINE Ps::aos::Vec3V supportPoint(const PxI32 index, Ps::aos::FloatV* /*marginDif*/)const
+		{
+			using namespace Ps::aos;
+			const BoolV con = boxVertexTable[index];
+			return V3Sel(con, extents, V3Neg(extents));
+		}  
+
+		PX_FORCE_INLINE void getIndex(const Ps::aos::BoolV con, PxI32& index)const 
+		{ 
+			using namespace Ps::aos;
+			index = PxI32(BGetBitMask(con) & 0x7); 
+		}
+
+		PX_FORCE_INLINE Ps::aos::Vec3V supportLocal(const Ps::aos::Vec3VArg dir)const  
+		{
+			using namespace Ps::aos;
+			return V3Sel(V3IsGrtr(dir,  V3Zero()), extents, V3Neg(extents));
+		}
+
+		//this is used in the sat test for the full contact gen
+		PX_SUPPORT_INLINE void supportLocal(const Ps::aos::Vec3VArg dir, Ps::aos::FloatV& min, Ps::aos::FloatV& max)const
+		{
+			using namespace Ps::aos;
+			const Vec3V point = V3Sel(V3IsGrtr(dir,  V3Zero()), extents, V3Neg(extents));
+			max = V3Dot(dir, point);
+			min = FNeg(max);
+		}
+
+		PX_SUPPORT_INLINE Ps::aos::Vec3V supportRelative(const Ps::aos::Vec3VArg dir, const Ps::aos::PsMatTransformV& aTob, const Ps::aos::PsMatTransformV& aTobT) const  
+		{
+			//a is the current object, b is the other object, dir is in the local space of b
+			using namespace Ps::aos;
+//			const Vec3V _dir = aTob.rotateInv(dir);//relTra.rotateInv(dir);//from b to a
+			const Vec3V _dir = aTobT.rotate(dir);//relTra.rotateInv(dir);//from b to a
+			const Vec3V p =  supportLocal(_dir);
+			//transfer p into the b space
+			return aTob.transform(p);//relTra.transform(p);
+		}
+
+		PX_SUPPORT_INLINE Ps::aos::Vec3V supportLocal(const Ps::aos::Vec3VArg dir, PxI32& index, Ps::aos::FloatV* /*marginDif_*/)const  
+		{
+			using namespace Ps::aos;
+			const BoolV comp = V3IsGrtr(dir, V3Zero());
+			getIndex(comp, index);
+			return  V3Sel(comp, extents, V3Neg(extents));
+		}
+
+		PX_SUPPORT_INLINE Ps::aos::Vec3V supportRelative(	const Ps::aos::Vec3VArg dir, const Ps::aos::PsMatTransformV& aTob,
+															const Ps::aos::PsMatTransformV& aTobT, PxI32& index, Ps::aos::FloatV* marginDif_)const  
+		{
+			//a is the current object, b is the other object, dir is in the local space of b
+			using namespace Ps::aos;
+//			const Vec3V _dir = aTob.rotateInv(dir);//relTra.rotateInv(dir);//from b to a
+			const Vec3V _dir = aTobT.rotate(dir);//relTra.rotateInv(dir);//from b to a
+			const Vec3V p = supportLocal(_dir, index, marginDif_);
+			//transfer p into the b space
+			return aTob.transform(p);//relTra.transform(p);
+		}
+
+		Ps::aos::Vec3V  extents;
+		Ps::aos::FloatV marginDif;
+	};
+}	//PX_COMPILE_TIME_ASSERT(sizeof(Gu::BoxV) == 96);
+
+}
+
+/** @} */
+#endif