Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 243 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/gjk/GuVecSphere.h b/PhysX_3.4/Source/GeomUtils/src/gjk/GuVecSphere.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_SPHERE_H
+#define GU_VEC_SPHERE_H
+/** \addtogroup geomutils
+@{
+*/
+
+#include "GuVecConvex.h"
+#include "GuConvexSupportTable.h"
+#include "PxSphereGeometry.h"
+
+/**
+\brief Represents a sphere defined by its center point and radius.
+*/
+namespace physx
+{
+namespace Gu
+{
+	class SphereV : public ConvexV
+	{
+	public:
+		/**
+		\brief Constructor
+		*/
+		PX_INLINE SphereV(): ConvexV(ConvexType::eSPHERE)
+		{
+			radius = Ps::aos::FZero();
+			bMarginIsRadius = true;
+		}
+
+		PX_INLINE SphereV(const Ps::aos::Vec3VArg _center, const Ps::aos::FloatV _radius) : ConvexV(ConvexType::eSPHERE, _center)
+		{
+			using namespace Ps::aos;
+			radius = _radius;
+			FStore(radius, &margin);
+			FStore(radius, &minMargin);
+			FStore(radius, &sweepMargin);
+			bMarginIsRadius = true;
+		}
+
+
+		/**
+		\brief Copy constructor
+		*/
+		PX_INLINE SphereV(const SphereV& sphere) : ConvexV(ConvexType::eSPHERE), radius(sphere.radius)
+		{
+
+			margin = sphere.margin;
+			minMargin = sphere.minMargin;
+			sweepMargin = sphere.sweepMargin;
+			bMarginIsRadius = true;
+		}
+
+		PX_INLINE SphereV(const PxGeometry& geom) : ConvexV(ConvexType::eSPHERE, Ps::aos::V3Zero())
+		{
+			using namespace Ps::aos;
+			const PxSphereGeometry& sphereGeom = static_cast<const PxSphereGeometry&>(geom);
+			const FloatV r = FLoad(sphereGeom.radius);
+			radius = r;
+			margin = sphereGeom.radius;
+			minMargin = sphereGeom.radius;
+			sweepMargin = sphereGeom.radius;
+			bMarginIsRadius = true;
+		}
+
+		/**
+		\brief Destructor
+		*/
+		PX_INLINE ~SphereV()
+		{
+		}
+
+		PX_INLINE	void	setV(const Ps::aos::Vec3VArg _center, const Ps::aos::FloatVArg _radius)		
+		{ 
+			center = _center;
+			radius = _radius;
+		}
+
+		/**
+		\brief Checks the sphere is valid.
+
+		\return		true if the sphere is valid
+		*/
+		PX_INLINE bool isValid() const
+		{
+			// Consistency condition for spheres: Radius >= 0.0f
+			using namespace Ps::aos;
+			return BAllEqTTTT(FIsGrtrOrEq(radius, FZero())) != 0;
+		}
+
+		/**
+		\brief Tests if a point is contained within the sphere.
+
+		\param[in] p the point to test
+		\return	true if inside the sphere
+		*/
+		PX_INLINE bool contains(const Ps::aos::Vec3VArg p) const
+		{
+			using namespace Ps::aos;
+			const FloatV rr = FMul(radius, radius);
+			const FloatV cc =  V3LengthSq(V3Sub(center, p));
+			return FAllGrtrOrEq(rr, cc) != 0;
+		}
+
+		/**
+		\brief Tests if a sphere is contained within the sphere.
+
+		\param		sphere	[in] the sphere to test
+		\return		true if inside the sphere
+		*/
+		PX_INLINE bool contains(const SphereV& sphere)	const
+		{
+			using namespace Ps::aos;
+			
+			const Vec3V centerDif= V3Sub(center, sphere.center);
+			const FloatV radiusDif = FSub(radius, sphere.radius);
+			const FloatV cc = V3Dot(centerDif, centerDif);
+			const FloatV rr = FMul(radiusDif, radiusDif); 
+
+			const BoolV con0 = FIsGrtrOrEq(radiusDif, FZero());//might contain
+			const BoolV con1 = FIsGrtr(rr, cc);//return true
+			return BAllEqTTTT(BAnd(con0, con1))==1;
+		}
+
+		/**
+		\brief Tests if a box is contained within the sphere.
+
+		\param		minimum		[in] minimum value of the box
+		\param		maximum		[in] maximum value of the box
+		\return		true if inside the sphere
+		*/
+		PX_INLINE bool contains(const Ps::aos::Vec3VArg minimum, const Ps::aos::Vec3VArg maximum) const
+		{
+		
+			//compute the sphere which wrap around the box
+			using namespace Ps::aos;
+			const FloatV zero = FZero();
+			const FloatV half = FHalf();
+
+			const Vec3V boxSphereCenter = V3Scale(V3Add(maximum, minimum), half);
+			const Vec3V v = V3Scale(V3Sub(maximum, minimum), half);
+			const FloatV boxSphereR = V3Length(v);
+
+			const Vec3V w = V3Sub(center, boxSphereCenter);
+			const FloatV wLength = V3Length(w);
+			const FloatV dif = FSub(FSub(radius, wLength), boxSphereR); 
+
+			return FAllGrtrOrEq(dif, zero) != 0;
+		}           
+                  
+		/**
+		\brief Tests if the sphere intersects another sphere
+
+		\param		sphere	[in] the other sphere
+		\return		true if spheres overlap
+		*/
+		PX_INLINE bool intersect(const SphereV& sphere) const
+		{
+			using namespace Ps::aos;
+			const Vec3V centerDif = V3Sub(center, sphere.center);
+			const FloatV cc = V3Dot(centerDif, centerDif);
+			const FloatV r = FAdd(radius, sphere.radius);
+			const FloatV rr = FMul(r, r);
+			return FAllGrtrOrEq(rr, cc) != 0;
+		}
+
+		//return point in local space
+		PX_FORCE_INLINE Ps::aos::Vec3V getPoint(const PxU8)
+		{
+			return Ps::aos::V3Zero();
+		}
+  //  
+		//sweep code need to have full version
+		PX_FORCE_INLINE Ps::aos::Vec3V supportSweep(const Ps::aos::Vec3VArg dir)const
+		{
+			using namespace Ps::aos;
+			const Vec3V _dir = V3Normalize(dir);
+			return V3ScaleAdd(_dir, radius, center);  
+		}
+
+		//make the support function the same as support margin
+		PX_FORCE_INLINE Ps::aos::Vec3V support(const Ps::aos::Vec3VArg)const
+		{
+			return center;//_margin is the same as radius
+		}
+  
+
+		PX_FORCE_INLINE Ps::aos::Vec3V supportMargin(const Ps::aos::Vec3VArg dir, const Ps::aos::FloatVArg _margin, Ps::aos::Vec3V& support)const
+		{
+			PX_UNUSED(_margin);
+			PX_UNUSED(dir);
+
+			support = center;
+			return center;//_margin is the same as radius
+		}
+
+		PX_FORCE_INLINE Ps::aos::BoolV isMarginEqRadius()const
+		{
+			return Ps::aos::BTTTT();
+		}
+
+		PX_FORCE_INLINE Ps::aos::FloatV getSweepMargin() const
+		{
+			return Ps::aos::FZero();
+		}
+
+
+		Ps::aos::FloatV radius;		//!< Sphere's center, w component is radius
+
+	};
+}
+
+}
+
+#endif