Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 256 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/gjk/GuVecCapsule.h b/PhysX_3.4/Source/GeomUtils/src/gjk/GuVecCapsule.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_CAPSULE_H
+#define GU_VEC_CAPSULE_H
+
+/** \addtogroup geomutils
+@{
+*/
+
+#include "GuVecConvex.h"   
+#include "GuConvexSupportTable.h"
+#include "PxCapsuleGeometry.h"
+
+
+namespace physx
+{
+namespace Gu
+{
+
+	PX_FORCE_INLINE Ps::aos::FloatV CalculateCapsuleMinMargin(const Ps::aos::FloatVArg radius)
+	{
+		using namespace Ps::aos;
+		const FloatV ratio = Ps::aos::FLoad(0.05f);
+		return FMul(radius, ratio);
+	}
+
+	class CapsuleV : public ConvexV  
+	{
+	public:
+		/**
+		\brief Constructor
+		*/
+
+		PX_INLINE CapsuleV():ConvexV(ConvexType::eCAPSULE)
+		{
+			bMarginIsRadius = true;
+		}
+
+		//constructor for sphere
+		PX_INLINE CapsuleV(const Ps::aos::Vec3VArg p, const Ps::aos::FloatVArg radius_) : ConvexV(ConvexType::eCAPSULE)
+		{
+			using namespace Ps::aos;
+			center = p;
+			radius = radius_;
+			p0 = p;
+			p1 = p;
+			FStore(radius, &margin);
+			FStore(radius, &minMargin);
+			FStore(radius, &sweepMargin);
+			bMarginIsRadius = true; 
+		}
+
+		PX_INLINE CapsuleV(const Ps::aos::Vec3VArg center_, const Ps::aos::Vec3VArg v_, const Ps::aos::FloatVArg radius_) : 
+			ConvexV(ConvexType::eCAPSULE, center_)
+		{
+			using namespace Ps::aos;
+			radius = radius_;
+			p0 = V3Add(center_, v_);
+			p1 = V3Sub(center_, v_);
+			FStore(radius, &margin);
+			FStore(radius, &minMargin);
+			FStore(radius, &sweepMargin);
+			bMarginIsRadius = true;
+		}
+
+		PX_INLINE CapsuleV(const PxGeometry& geom) : ConvexV(ConvexType::eCAPSULE, Ps::aos::V3Zero())
+		{
+			using namespace Ps::aos;
+			const PxCapsuleGeometry& capsuleGeom = static_cast<const PxCapsuleGeometry&>(geom);
+
+			const Vec3V axis = V3Scale(V3UnitX(), FLoad(capsuleGeom.halfHeight));
+			const FloatV r = FLoad(capsuleGeom.radius);
+			p0 = axis;
+			p1 = V3Neg(axis);
+			radius = r;
+			FStore(radius, &margin);
+			FStore(radius, &minMargin);
+			FStore(radius, &sweepMargin);
+			bMarginIsRadius = true;
+		}
+
+		/**
+		\brief Constructor
+
+		\param _radius Radius of the capsule.
+		*/
+
+		/**
+		\brief Destructor
+		*/
+		PX_INLINE ~CapsuleV()
+		{
+		}
+
+		PX_FORCE_INLINE void initialize(const Ps::aos::Vec3VArg _p0, const Ps::aos::Vec3VArg _p1, const Ps::aos::FloatVArg _radius)
+		{
+			using namespace Ps::aos;
+			radius = _radius;
+			p0 = _p0;
+			p1 = _p1;
+			FStore(radius, &margin);
+			FStore(radius, &minMargin);
+			FStore(radius, &sweepMargin);
+			center = V3Scale(V3Add(_p0, _p1), FHalf());
+		}   
+
+		PX_INLINE Ps::aos::Vec3V computeDirection() const
+		{
+			return Ps::aos::V3Sub(p1, p0);
+		}
+
+		PX_FORCE_INLINE	Ps::aos::FloatV	getRadius()	const
+		{
+			return radius;
+		}
+
+		PX_FORCE_INLINE Ps::aos::Vec3V supportPoint(const PxI32 index, Ps::aos::FloatV* /*marginDif*/)const
+		{
+			return (&p0)[1-index];
+		}
+
+		PX_FORCE_INLINE void getIndex(const Ps::aos::BoolV con, PxI32& index)const
+		{
+			using namespace Ps::aos;
+			const VecI32V v = VecI32V_From_BoolV(con);
+			const VecI32V t = VecI32V_And(v, VecI32V_One());
+			PxI32_From_VecI32V(t, &index);
+		}
+
+		PX_FORCE_INLINE void setCenter(const Ps::aos::Vec3VArg _center)
+		{
+			using namespace Ps::aos;
+			Vec3V offset = V3Sub(_center, center);
+			center = _center;
+
+			p0 = V3Add(p0, offset);
+			p1 = V3Add(p1, offset);
+		}
+
+		//dir, p0 and p1 are in the local space of dir
+		PX_FORCE_INLINE Ps::aos::Vec3V supportLocal(const Ps::aos::Vec3VArg dir)const
+		{
+			using namespace Ps::aos;
+			//const Vec3V _dir = V3Normalize(dir);
+			const FloatV dist0 = V3Dot(p0, dir);
+			const FloatV dist1 = V3Dot(p1, dir);
+			return V3Sel(FIsGrtr(dist0, dist1), p0, p1);
+		}
+	
+		PX_FORCE_INLINE Ps::aos::Vec3V supportRelative(const Ps::aos::Vec3VArg dir, const Ps::aos::PsMatTransformV& aToB, const Ps::aos::PsMatTransformV& aTobT) const
+		{
+			using namespace Ps::aos;
+			//transform dir into the local space of a
+//			const Vec3V _dir = aToB.rotateInv(dir);
+			const Vec3V _dir = aTobT.rotate(dir);
+			const Vec3V p = supportLocal(_dir);
+			//transform p back to the local space of b
+			return aToB.transform(p);
+		}
+
+		//dir, p0 and p1 are in the local space of dir
+		PX_FORCE_INLINE Ps::aos::Vec3V supportLocal(const Ps::aos::Vec3VArg dir, PxI32& index, Ps::aos::FloatV* /*marginDif*/)const
+		{
+			using namespace Ps::aos;
+			
+			const FloatV dist0 = V3Dot(p0, dir);
+			const FloatV dist1 = V3Dot(p1, dir);
+			const BoolV comp = FIsGrtr(dist0, dist1);
+			getIndex(comp, index);
+			return V3Sel(comp, p0, p1);
+		}
+	
+		PX_FORCE_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
+		{
+			using namespace Ps::aos;
+			//transform dir into the local space of a
+//			const Vec3V _dir = aToB.rotateInv(dir);
+			const Vec3V _dir = aTobT.rotate(dir);
+
+			const Vec3V p = supportLocal(_dir, index, marginDif);
+			//transform p back to the local space of b
+			return aToB.transform(p);
+		}
+
+		//PX_FORCE_INLINE Ps::aos::BoolV supportLocalIndex(const Ps::aos::Vec3VArg dir, PxI32& index)const
+		//{
+		//	using namespace Ps::aos;
+		//	//scale dir and put it in the vertex space
+		//	const FloatV dist0 = V3Dot(p0, dir);
+		//	const FloatV dist1 = V3Dot(p1, dir);
+		//	const BoolV comp = FIsGrtr(dist0, dist1);
+		//	getIndex(comp, index);
+		//	return comp;
+		//}
+
+		PX_FORCE_INLINE Ps::aos::Vec3V supportLocal(Ps::aos::Vec3V& support, const PxI32& index, const Ps::aos::BoolV comp)const
+		{
+			PX_UNUSED(index);
+
+			using namespace Ps::aos;
+			const Vec3V p = V3Sel(comp, p0, p1);
+			support = p;
+			return p;
+		}
+
+		//PX_FORCE_INLINE Ps::aos::BoolV supportRelativeIndex(const Ps::aos::Vec3VArg dir, const Ps::aos::PsMatTransformV& aTob, PxI32& index)const
+		//{
+		//	using namespace Ps::aos;
+		//	//scale dir and put it in the vertex space
+		//	const Vec3V _dir =aTob.rotateInv(dir);//relTra.rotateInv(dir);
+		//	return supportLocalIndex(_dir, index);
+		//}
+
+		PX_FORCE_INLINE Ps::aos::FloatV getSweepMargin() const
+		{
+			return Ps::aos::FZero();
+		}
+
+		//don't change the order of p0 and p1, the getPoint function depend on the order
+		Ps::aos::Vec3V	p0;		//!< Start of segment
+		Ps::aos::Vec3V	p1;		//!< End of segment
+		Ps::aos::FloatV	radius;
+	};
+}
+
+}
+
+#endif