Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 268 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/gjk/GuVecTriangle.h b/PhysX_3.4/Source/GeomUtils/src/gjk/GuVecTriangle.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_TRIANGLE_H
+#define GU_VEC_TRIANGLE_H
+/** \addtogroup geomutils
+  @{
+*/
+
+#include "GuVecConvex.h"
+#include "GuConvexSupportTable.h"
+#include "GuDistancePointTriangleSIMD.h"
+
+namespace physx
+{
+namespace Gu
+{
+
+	
+	class TriangleV : public ConvexV
+	{
+		public:
+		/**
+		\brief Constructor
+		*/
+		PX_FORCE_INLINE			TriangleV() : ConvexV(ConvexType::eTRIANGLE)
+		{
+			margin = 0.02f;
+			minMargin = PX_MAX_REAL;
+			sweepMargin = PX_MAX_REAL;
+		}
+		/**
+		\brief Constructor
+
+		\param[in] p0 Point 0
+		\param[in] p1 Point 1
+		\param[in] p2 Point 2
+		*/
+
+		PX_FORCE_INLINE	TriangleV(const Ps::aos::Vec3VArg p0, const Ps::aos::Vec3VArg p1, const Ps::aos::Vec3VArg p2): ConvexV(ConvexType::eTRIANGLE)									
+		{
+			using namespace Ps::aos;
+			//const FloatV zero = FZero();
+			const FloatV num = FLoad(0.333333f);
+			center = V3Scale(V3Add(V3Add(p0, p1), p2), num);
+			verts[0] = p0;
+			verts[1] = p1;
+			verts[2] = p2;
+			margin = 0.f;
+			minMargin = PX_MAX_REAL;
+			sweepMargin = PX_MAX_REAL;
+		}
+
+		PX_FORCE_INLINE	TriangleV(const PxVec3* pts) : ConvexV(ConvexType::eTRIANGLE)
+		{
+			using namespace Ps::aos;
+			const Vec3V p0 = V3LoadU(pts[0]);
+			const Vec3V p1 = V3LoadU(pts[1]);
+			const Vec3V p2 = V3LoadU(pts[2]);
+			const FloatV num = FLoad(0.333333f);
+			center = V3Scale(V3Add(V3Add(p0, p1), p2), num);
+			verts[0] = p0;
+			verts[1] = p1;
+			verts[2] = p2;
+			margin = 0.f;
+			minMargin = PX_MAX_REAL;
+			sweepMargin = PX_MAX_REAL;
+		}
+
+		/**
+		\brief Copy constructor
+
+		\param[in] triangle Tri to copy
+		*/
+		PX_FORCE_INLINE			TriangleV(const Gu::TriangleV& triangle) : ConvexV(ConvexType::eTRIANGLE)
+		{
+			using namespace Ps::aos;
+			verts[0] = triangle.verts[0];
+			verts[1] = triangle.verts[1];
+			verts[2] = triangle.verts[2];
+
+			center = triangle.center;
+			margin = 0.f;
+			minMargin = PX_MAX_REAL;
+			sweepMargin = PX_MAX_REAL;
+		}
+		/**
+		\brief Destructor
+		*/
+		PX_FORCE_INLINE			~TriangleV()
+		{
+		}
+
+		PX_FORCE_INLINE void populateVerts(const PxU8* inds, PxU32 numInds, const PxVec3* originalVerts, Ps::aos::Vec3V* vertexs)const
+		{
+			using namespace Ps::aos;
+
+			for(PxU32 i=0; i<numInds; ++i)
+			{
+				vertexs[i] = V3LoadU(originalVerts[inds[i]]);
+			}
+		}
+
+		PX_FORCE_INLINE Ps::aos::FloatV getSweepMargin() const
+		{
+			return Ps::aos::FMax();
+		}
+
+		PX_FORCE_INLINE void setCenter(const Ps::aos::Vec3VArg _center)
+		{
+			using namespace Ps::aos;
+			Vec3V offset = V3Sub(_center, center);
+			center = _center;
+			verts[0] = V3Add(verts[0], offset);
+			verts[1] = V3Add(verts[1], offset);
+			verts[2] = V3Add(verts[2], offset);
+		}
+
+		/**
+		\brief Compute the normal of the Triangle.
+
+		\return Triangle normal.
+		*/
+		PX_FORCE_INLINE	Ps::aos::Vec3V	normal() const  
+		{
+			using namespace Ps::aos;
+			const Vec3V ab = V3Sub(verts[1], verts[0]);
+			const Vec3V ac = V3Sub(verts[2], verts[0]);
+			const Vec3V n = V3Cross(ab, ac);
+			return V3Normalize(n);
+		}  
+
+		/**
+		\brief Compute the unnormalized normal of the Triangle.
+
+		\param[out] _normal Triangle normal (not normalized).
+		*/
+		PX_FORCE_INLINE	void	denormalizedNormal(Ps::aos::Vec3V& _normal) const
+		{
+			using namespace Ps::aos;
+			const Vec3V ab = V3Sub(verts[1], verts[0]);
+			const Vec3V ac = V3Sub(verts[2], verts[0]);
+			_normal = V3Cross(ab, ac);
+		}
+
+		PX_FORCE_INLINE	Ps::aos::FloatV	area() const
+		{
+			using namespace Ps::aos;
+			const FloatV half = FLoad(0.5f);
+			const Vec3V ba = V3Sub(verts[0], verts[1]);
+			const Vec3V ca = V3Sub(verts[0], verts[2]);
+			const Vec3V v = V3Cross(ba, ca);
+			return FMul(V3Length(v), half);
+		}
+
+		//dir is in local space, verts in the local space
+		PX_FORCE_INLINE Ps::aos::Vec3V supportLocal(const Ps::aos::Vec3VArg dir) const
+		{
+			using namespace Ps::aos;
+			const Vec3V v0 = verts[0];
+			const Vec3V v1 = verts[1];
+			const Vec3V v2 = verts[2];
+			const FloatV d0 = V3Dot(v0, dir);
+			const FloatV d1 = V3Dot(v1, dir);
+			const FloatV d2 = V3Dot(v2, dir);
+
+			const BoolV con0 = BAnd(FIsGrtr(d0, d1), FIsGrtr(d0, d2));
+			const BoolV con1 = FIsGrtr(d1, d2);
+			return V3Sel(con0, v0, V3Sel(con1, v1, v2));
+		}
+
+		PX_FORCE_INLINE void supportLocal(const Ps::aos::Vec3VArg dir, Ps::aos::FloatV& min, Ps::aos::FloatV& max) const
+		{
+			using namespace Ps::aos;
+			const Vec3V v0 = verts[0];
+			const Vec3V v1 = verts[1];
+			const Vec3V v2 = verts[2];
+			FloatV d0 = V3Dot(v0, dir);
+			FloatV d1 = V3Dot(v1, dir);
+			FloatV d2 = V3Dot(v2, dir);
+
+			max = FMax(d0, FMax(d1, d2));
+			min = FMin(d0, FMin(d1, d2));
+		}
+
+		//dir is in b space
+		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;
+			//verts are in local space
+//			const Vec3V _dir = aToB.rotateInv(dir); //transform dir back to a space
+			const Vec3V _dir = aTobT.rotate(dir); //transform dir back to a space
+			const Vec3V maxPoint = supportLocal(_dir);
+			return aToB.transform(maxPoint);//transform maxPoint to the b space
+		}
+
+		PX_FORCE_INLINE Ps::aos::Vec3V supportLocal(const Ps::aos::Vec3VArg dir, PxI32& index, Ps::aos::FloatV* /*marginDif*/) const
+		{
+		
+			using namespace Ps::aos;
+			const VecI32V vZero = VecI32V_Zero();
+			const VecI32V vOne = VecI32V_One();
+			const VecI32V vTwo = VecI32V_Two();
+			const Vec3V v0 = verts[0];
+			const Vec3V v1 = verts[1];
+			const Vec3V v2 = verts[2];
+			const FloatV d0 = V3Dot(v0, dir);
+			const FloatV d1 = V3Dot(v1, dir);
+			const FloatV d2 = V3Dot(v2, dir);
+			const BoolV con0 = BAnd(FIsGrtr(d0, d1), FIsGrtr(d0, d2));
+			const BoolV con1 = FIsGrtr(d1, d2);
+			const VecI32V vIndex = VecI32V_Sel(con0, vZero, VecI32V_Sel(con1, vOne, vTwo));
+			PxI32_From_VecI32V(vIndex, &index);
+			return V3Sel(con0, v0, V3Sel(con1, v1, v2));
+		}
+
+		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
+		{
+			//don't put margin in the triangle
+			using namespace Ps::aos;
+			//transfer dir into the local space of triangle
+//			const Vec3V _dir = aToB.rotateInv(dir);
+			const Vec3V _dir = aTobT.rotate(dir);
+			return aToB.transform(supportLocal(_dir, index, marginDif));//transform the support poin to b space
+		}
+	
+		PX_FORCE_INLINE Ps::aos::Vec3V supportPoint(const PxI32 index, Ps::aos::FloatV* /*marginDif*/)const
+		{
+			return verts[index];
+		}
+
+			/**
+		\brief Array of Vertices.
+		*/
+		Ps::aos::Vec3V		verts[3];
+	};
+}
+
+}
+
+#endif