Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 137 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/intersection/GuIntersectionCapsuleTriangle.h b/PhysX_3.4/Source/GeomUtils/src/intersection/GuIntersectionCapsuleTriangle.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_INTERSECTION_CAPSULE_TRIANGLE_H
+#define GU_INTERSECTION_CAPSULE_TRIANGLE_H
+
+#include "CmPhysXCommon.h"
+#include "GuCapsule.h"
+#include "PsUtilities.h"
+
+namespace physx
+{
+namespace Gu
+{
+	// PT: precomputed data for capsule-triangle test. Useful when testing the same capsule vs several triangles.
+	struct CapsuleTriangleOverlapData
+	{
+		PxVec3		mCapsuleDir;
+		float		mBDotB;
+		float		mOneOverBDotB;
+
+		void		init(const Capsule& capsule)
+		{
+			const PxVec3 dir = capsule.p1 - capsule.p0;
+			const float BDotB = dir.dot(dir);
+			mCapsuleDir		= dir;
+			mBDotB			= BDotB;
+			mOneOverBDotB	= BDotB!=0.0f ? 1.0f/BDotB : 0.0f;
+		}
+	};
+
+	// PT: tests if projections of capsule & triangle overlap on given axis
+	PX_FORCE_INLINE PxU32 testAxis(const PxVec3& p0, const PxVec3& p1, const PxVec3& p2, const Capsule& capsule, const PxVec3& axis)
+	{
+		// Project capsule
+		float min0 = capsule.p0.dot(axis);
+		float max0 = capsule.p1.dot(axis);
+		if(min0>max0)
+			Ps::swap(min0, max0);
+		const float MR = axis.magnitude()*capsule.radius;
+		min0 -= MR;
+		max0 += MR;
+
+		// Project triangle
+		float min1, max1;
+		{
+			min1 = max1 = p0.dot(axis);
+			float dp = p1.dot(axis);
+			if(dp<min1)	min1 = dp;
+			if(dp>max1)	max1 = dp;
+			dp = p2.dot(axis);
+			if(dp<min1)	min1 = dp;
+			if(dp>max1)	max1 = dp;
+		}
+
+		// Test projections
+		if(max0<min1 || max1<min0)
+			return 0;
+
+		return 1;
+	}
+
+	// PT: computes shortest vector going from capsule axis to triangle edge
+	PX_FORCE_INLINE PxVec3 computeEdgeAxis(	const PxVec3& p, const PxVec3& a,
+											const PxVec3& q, const PxVec3& b,
+											float BDotB, float oneOverBDotB)	
+	{
+		const PxVec3 T = q - p;
+		const float ADotA = a.dot(a);
+		const float ADotB = a.dot(b);
+		const float ADotT = a.dot(T);
+		const float BDotT = b.dot(T);
+
+		const float denom = ADotA*BDotB - ADotB*ADotB;
+
+		float t = denom!=0.0f ? (ADotT*BDotB - BDotT*ADotB) / denom : 0.0f;
+		t = PxClamp(t, 0.0f, 1.0f);
+
+		float u = (t*ADotB - BDotT) * oneOverBDotB;
+
+		if(u<0.0f)
+		{
+			u = 0.0f;
+			t = ADotT / ADotA;
+			t = PxClamp(t, 0.0f, 1.0f);
+		}
+		else if(u>1.0f)
+		{
+			u = 1.0f;
+			t = (ADotB + ADotT) / ADotA;
+			t = PxClamp(t, 0.0f, 1.0f);
+		}
+		return T + b*u - a*t;
+	}
+
+	/**
+	*	Checks if a capsule intersects a triangle.
+	*
+	*	\param		normal	[in] triangle normal (orientation does not matter)
+	*	\param		p0		[in] triangle's first point
+	*	\param		p1		[in] triangle's second point
+	*	\param		p2		[in] triangle's third point
+	*	\param		capsule	[in] capsule
+	*	\param		params	[in] precomputed capsule params
+	*	\return		true if capsule overlaps triangle
+	*/
+	bool intersectCapsuleTriangle(const PxVec3& normal, const PxVec3& p0, const PxVec3& p1, const PxVec3& p2, const Gu::Capsule& capsule, const CapsuleTriangleOverlapData& params);
+}
+}
+
+#endif