Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 173 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/mesh/GuBV4_CapsuleSweep.cpp b/PhysX_3.4/Source/GeomUtils/src/mesh/GuBV4_CapsuleSweep.cpp
new file mode 100644
index 00000000..c8d8a5c2
--- /dev/null
+++ b/PhysX_3.4/Source/GeomUtils/src/mesh/GuBV4_CapsuleSweep.cpp
@@ -0,0 +1,173 @@
+// 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.  
+
+#include "GuBV4.h"
+#include "GuSweepSphereTriangle.h"
+using namespace physx;
+using namespace Gu;
+
+#if PX_INTEL_FAMILY
+
+#include "PsVecMath.h"
+using namespace physx::shdfnd::aos;
+
+#include "GuSIMDHelpers.h"
+#include "GuInternal.h"
+
+#include "GuBV4_BoxOverlap_Internal.h"
+#include "GuBV4_BoxSweep_Params.h"
+
+namespace
+{
+	struct CapsuleSweepParams : BoxSweepParams
+	{
+		Capsule	mLocalCapsule;
+		PxVec3	mCapsuleCenter;
+		PxVec3	mExtrusionDir;
+		PxU32	mEarlyExit;
+		float	mBestAlignmentValue;
+		float	mBestDistance;
+		float	mMaxDist;
+	};
+}
+
+#include "GuBV4_CapsuleSweep_Internal.h"
+#include "GuBV4_Internal.h"
+
+#include "GuBV4_BoxBoxOverlapTest.h"
+
+#ifdef GU_BV4_USE_SLABS
+	#include "GuBV4_Slabs.h"
+#endif
+#include "GuBV4_ProcessStreamOrdered_OBBOBB.h"
+#include "GuBV4_ProcessStreamNoOrder_OBBOBB.h"
+#ifdef GU_BV4_USE_SLABS
+	#include "GuBV4_Slabs_SwizzledNoOrder.h"
+	#include "GuBV4_Slabs_SwizzledOrdered.h"
+#endif
+
+Ps::IntBool BV4_CapsuleSweepSingle(const Capsule& capsule, const PxVec3& dir, float maxDist, const BV4Tree& tree, SweepHit* PX_RESTRICT hit, PxU32 flags)
+{
+	const SourceMesh* PX_RESTRICT mesh = tree.mMeshInterface;
+
+	CapsuleSweepParams Params;
+	setupCapsuleParams(&Params, capsule, dir, maxDist, &tree, mesh, flags);
+
+	if(tree.mNodes)
+	{
+		if(Params.mEarlyExit)
+			processStreamNoOrder<LeafFunction_CapsuleSweepAny>(tree.mNodes, tree.mInitData, &Params);
+		else
+			processStreamOrdered<LeafFunction_CapsuleSweepClosest>(tree.mNodes, tree.mInitData, &Params);
+	}
+	else
+		doBruteForceTests<LeafFunction_CapsuleSweepAny, LeafFunction_CapsuleSweepClosest>(mesh->getNbTriangles(), &Params);
+
+	return computeImpactDataT<ImpactFunctionCapsule>(capsule, dir, hit, &Params, NULL, (flags & QUERY_MODIFIER_DOUBLE_SIDED)!=0, (flags & QUERY_MODIFIER_MESH_BOTH_SIDES)!=0);
+}
+
+// PT: capsule sweep callback version - currently not used
+
+namespace
+{
+	struct CapsuleSweepParamsCB : CapsuleSweepParams
+	{
+		// PT: these new members are only here to call computeImpactDataT during traversal :( 
+		// PT: TODO: most of them may not be needed
+		// PT: TODO: for example mCapsuleCB probably dup of mLocalCapsule
+		Capsule					mCapsuleCB;		// Capsule in original space (maybe not local/mesh space)
+		PxVec3					mDirCB;			// Dir in original space (maybe not local/mesh space)
+		const PxMat44*			mWorldm_Aligned;
+		PxU32					mFlags;
+
+		SweepUnlimitedCallback	mCallback;
+		void*					mUserData;
+		float					mMaxDist;
+		bool					mNodeSorting;
+	};
+
+class LeafFunction_CapsuleSweepCB
+{
+public:
+
+	static PX_FORCE_INLINE Ps::IntBool doLeafTest(CapsuleSweepParamsCB* PX_RESTRICT params, PxU32 primIndex)
+	{
+		PxU32 nbToGo = getNbPrimitives(primIndex);
+		do
+		{
+			if(triCapsuleSweep(params, primIndex, params->mNodeSorting))
+			{
+				// PT: TODO: in this version we must compute the impact data immediately,
+				// which is a terrible idea in general, but I'm not sure what else I can do.
+				SweepHit hit;
+				const bool b = computeImpactDataT<ImpactFunctionCapsule>(params->mCapsuleCB, params->mDirCB, &hit, params, params->mWorldm_Aligned, (params->mFlags & QUERY_MODIFIER_DOUBLE_SIDED)!=0, (params->mFlags & QUERY_MODIFIER_MESH_BOTH_SIDES)!=0);
+				PX_ASSERT(b);
+				PX_UNUSED(b);
+
+				reportUnlimitedCallbackHit(params, hit);
+			}
+			primIndex++;
+		}while(nbToGo--);
+
+		return 0;
+	}
+};
+}
+
+// PT: for design decisions in this function, refer to the comments of BV4_GenericSweepCB().
+void BV4_CapsuleSweepCB(const Capsule& capsule, const PxVec3& dir, float maxDist, const BV4Tree& tree, const PxMat44* PX_RESTRICT worldm_Aligned, SweepUnlimitedCallback callback, void* userData, PxU32 flags, bool nodeSorting)
+{
+	const SourceMesh* PX_RESTRICT mesh = tree.mMeshInterface;
+
+	CapsuleSweepParamsCB Params;
+	Params.mCapsuleCB		= capsule;
+	Params.mDirCB			= dir;
+	Params.mWorldm_Aligned	= worldm_Aligned;
+	Params.mFlags			= flags;
+
+	Params.mCallback		= callback;
+	Params.mUserData		= userData;
+	Params.mMaxDist			= maxDist;
+	Params.mNodeSorting		= nodeSorting;
+	setupCapsuleParams(&Params, capsule, dir, maxDist, &tree, mesh, flags);
+
+	PX_ASSERT(!Params.mEarlyExit);
+
+	if(tree.mNodes)
+	{
+		if(nodeSorting)
+			processStreamOrdered<LeafFunction_CapsuleSweepCB>(tree.mNodes, tree.mInitData, &Params);
+		else
+			processStreamNoOrder<LeafFunction_CapsuleSweepCB>(tree.mNodes, tree.mInitData, &Params);
+	}
+	else
+		doBruteForceTests<LeafFunction_CapsuleSweepCB, LeafFunction_CapsuleSweepCB>(mesh->getNbTriangles(), &Params);
+}
+
+#endif