Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 241 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/mesh/GuOverlapTestsMesh.cpp b/PhysX_3.4/Source/GeomUtils/src/mesh/GuOverlapTestsMesh.cpp
new file mode 100644
index 00000000..a44343e8
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+++ b/PhysX_3.4/Source/GeomUtils/src/mesh/GuOverlapTestsMesh.cpp
@@ -0,0 +1,241 @@
+// 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 "GuMidphaseInterface.h"
+#include "CmScaling.h"
+#include "GuSphere.h"
+#include "GuInternal.h"
+#include "GuConvexUtilsInternal.h"
+#include "GuVecTriangle.h"
+#include "GuVecConvexHull.h"
+#include "GuConvexMesh.h"
+#include "GuGJK.h"
+#include "GuSweepSharedTests.h"
+
+using namespace physx;
+using namespace Cm;
+using namespace Gu;
+using namespace physx::shdfnd::aos;
+
+// PT: TODO: remove this function, replace with Midphase:: call at calling sites (TA34704)
+bool Gu::checkOverlapAABB_triangleGeom(const PxGeometry& geom, const PxTransform& pose, const PxBounds3& box)
+{
+	PX_ASSERT(geom.getType() == PxGeometryType::eTRIANGLEMESH);
+	const PxTriangleMeshGeometry& meshGeom = static_cast<const PxTriangleMeshGeometry&>(geom);
+
+	// PT: TODO: pass AABB directly to interface
+	const Box obb(box.getCenter(), box.getExtents(), PxMat33(PxIdentity));
+
+	TriangleMesh* meshData = static_cast<TriangleMesh*>(meshGeom.triangleMesh);
+	return Midphase::intersectBoxVsMesh(obb, *meshData, pose, meshGeom.scale, NULL);
+}
+
+bool GeomOverlapCallback_SphereMesh(GU_OVERLAP_FUNC_PARAMS)
+{
+	PX_ASSERT(geom0.getType()==PxGeometryType::eSPHERE);
+	PX_ASSERT(geom1.getType()==PxGeometryType::eTRIANGLEMESH);
+	PX_UNUSED(cache);
+
+	const PxSphereGeometry& sphereGeom = static_cast<const PxSphereGeometry&>(geom0);
+	const PxTriangleMeshGeometry& meshGeom = static_cast<const PxTriangleMeshGeometry&>(geom1);	
+
+	const Sphere worldSphere(pose0.p, sphereGeom.radius);
+
+	TriangleMesh* meshData = static_cast<TriangleMesh*>(meshGeom.triangleMesh);
+	return Midphase::intersectSphereVsMesh(worldSphere, *meshData, pose1, meshGeom.scale, NULL);
+}
+
+bool GeomOverlapCallback_CapsuleMesh(GU_OVERLAP_FUNC_PARAMS)
+{
+	PX_ASSERT(geom0.getType()==PxGeometryType::eCAPSULE);
+	PX_ASSERT(geom1.getType()==PxGeometryType::eTRIANGLEMESH);
+	PX_UNUSED(cache);
+
+	const PxCapsuleGeometry& capsuleGeom = static_cast<const PxCapsuleGeometry&>(geom0);
+	const PxTriangleMeshGeometry& meshGeom = static_cast<const PxTriangleMeshGeometry&>(geom1);
+
+	TriangleMesh* meshData = static_cast<TriangleMesh*>(meshGeom.triangleMesh);
+
+	Capsule capsule;
+	getCapsule(capsule, capsuleGeom, pose0);
+	return Midphase::intersectCapsuleVsMesh(capsule, *meshData, pose1, meshGeom.scale, NULL);
+}
+
+bool GeomOverlapCallback_BoxMesh(GU_OVERLAP_FUNC_PARAMS)
+{
+	PX_ASSERT(geom0.getType()==PxGeometryType::eBOX);
+	PX_ASSERT(geom1.getType()==PxGeometryType::eTRIANGLEMESH);
+	PX_UNUSED(cache);
+
+	const PxBoxGeometry& boxGeom = static_cast<const PxBoxGeometry&>(geom0);
+	const PxTriangleMeshGeometry& meshGeom = static_cast<const PxTriangleMeshGeometry&>(geom1);
+
+	TriangleMesh* meshData = static_cast<TriangleMesh*>(meshGeom.triangleMesh);
+
+	Box box;
+	buildFrom(box, pose0.p, boxGeom.halfExtents, pose0.q);
+	return Midphase::intersectBoxVsMesh(box, *meshData, pose1, meshGeom.scale, NULL);
+}
+
+///////////////////////////////////////////////////////////////////////////////
+struct ConvexVsMeshOverlapCallback : MeshHitCallback<PxRaycastHit>
+{
+	PsMatTransformV MeshToBoxV;
+	Vec3V boxExtents;
+
+	ConvexVsMeshOverlapCallback(
+		const ConvexMesh& cm, const PxMeshScale& convexScale, const FastVertex2ShapeScaling& meshScale,
+		const PxTransform& tr0, const PxTransform& tr1, bool identityScale, const Box& meshSpaceOBB)
+		:
+			MeshHitCallback<PxRaycastHit>(CallbackMode::eMULTIPLE),
+			mAnyHit			(false),
+			mIdentityScale	(identityScale)
+	{
+		if (!mIdentityScale) // not done in initializer list for performance
+			mMeshScale = Ps::aos::Mat33V(
+				V3LoadU(meshScale.getVertex2ShapeSkew().column0),
+				V3LoadU(meshScale.getVertex2ShapeSkew().column1),
+				V3LoadU(meshScale.getVertex2ShapeSkew().column2) );
+		using namespace Ps::aos;
+
+		const ConvexHullData* hullData = &cm.getHull();
+
+		const Vec3V vScale0 = V3LoadU_SafeReadW(convexScale.scale);	// PT: safe because 'rotation' follows 'scale' in PxMeshScale
+		const QuatV vQuat0 = QuatVLoadU(&convexScale.rotation.x);
+
+		mConvex =  ConvexHullV(hullData, V3Zero(), vScale0, vQuat0, convexScale.isIdentity());
+		aToB = PsMatTransformV(tr0.transformInv(tr1));
+		
+		mIdentityScale = identityScale;
+
+		{
+			// Move to AABB space
+			Matrix34 MeshToBox;
+			computeWorldToBoxMatrix(MeshToBox, meshSpaceOBB);
+
+			const Vec3V base0 = V3LoadU(MeshToBox.m.column0);
+			const Vec3V base1 = V3LoadU(MeshToBox.m.column1);
+			const Vec3V base2 = V3LoadU(MeshToBox.m.column2);
+			const Mat33V matV(base0, base1, base2);
+			const Vec3V p  = V3LoadU(MeshToBox.p);
+			MeshToBoxV = PsMatTransformV(p, matV);
+			boxExtents = V3LoadU(meshSpaceOBB.extents+PxVec3(0.001f));
+		}
+	}
+	virtual ~ConvexVsMeshOverlapCallback()	{}
+
+	virtual PxAgain processHit( // all reported coords are in mesh local space including hit.position
+		const PxRaycastHit&, const PxVec3& v0a, const PxVec3& v1a, const PxVec3& v2a, PxReal&, const PxU32*)
+	{
+		using namespace Ps::aos;
+		Vec3V v0 = V3LoadU(v0a), v1 = V3LoadU(v1a), v2 = V3LoadU(v2a);
+
+		// test triangle AABB in box space vs box AABB in box local space
+		const Vec3V triV0 = MeshToBoxV.transform(v0); // AP: MeshToBoxV already includes mesh scale so we have to use unscaled verts here
+		const Vec3V triV1 = MeshToBoxV.transform(v1);
+		const Vec3V triV2 = MeshToBoxV.transform(v2);
+		Vec3V triMn = V3Min(V3Min(triV0, triV1), triV2);
+		Vec3V triMx = V3Max(V3Max(triV0, triV1), triV2);
+		Vec3V negExtents = V3Neg(boxExtents);
+		BoolV minSeparated = V3IsGrtr(triMn, boxExtents), maxSeparated = V3IsGrtr(negExtents, triMx);
+		BoolV bSeparated = BAnyTrue3(BOr(minSeparated, maxSeparated));
+		if (BAllEqTTTT(bSeparated))
+			return true; // continue traversal
+
+		if (!mIdentityScale)
+		{
+			v0 = M33MulV3(mMeshScale, v0);
+			v1 = M33MulV3(mMeshScale, v1);
+			v2 = M33MulV3(mMeshScale, v2);
+		}
+
+		TriangleV triangle(v0, v1, v2);
+		Vec3V contactA, contactB, normal;
+		FloatV dist;
+		GjkStatus status;
+		RelativeConvex<TriangleV> convexA(triangle, aToB);
+		LocalConvex<ConvexHullV> convexB(mConvex);
+		status = gjk(convexA, convexB, aToB.p, FZero(), contactA, contactB, normal, dist);
+		if (status == GJK_CONTACT)// || FAllGrtrOrEq(mSqTolerance, sqDist))
+		{
+			mAnyHit = true;
+			return false; // abort traversal
+		}
+		return true; // continue traversal
+	}
+	
+	ConvexHullV			mConvex;
+	PsMatTransformV		aToB;
+	Ps::aos::Mat33V		mMeshScale;
+	bool				mAnyHit;
+	bool				mIdentityScale;
+
+private:
+	ConvexVsMeshOverlapCallback& operator=(const ConvexVsMeshOverlapCallback&);
+};
+
+// PT: TODO: refactor bits of this with convex-vs-mesh code
+bool GeomOverlapCallback_ConvexMesh(GU_OVERLAP_FUNC_PARAMS)
+{
+	PX_ASSERT(geom0.getType()==PxGeometryType::eCONVEXMESH);
+	PX_ASSERT(geom1.getType()==PxGeometryType::eTRIANGLEMESH);
+	PX_UNUSED(cache);
+
+	const PxConvexMeshGeometry& convexGeom = static_cast<const PxConvexMeshGeometry&>(geom0);
+	const PxTriangleMeshGeometry& meshGeom = static_cast<const PxTriangleMeshGeometry&>(geom1);
+
+	ConvexMesh* cm = static_cast<ConvexMesh*>(convexGeom.convexMesh);
+	TriangleMesh* meshData = static_cast<TriangleMesh*>(meshGeom.triangleMesh);
+
+	const bool idtScaleConvex = convexGeom.scale.isIdentity();
+	const bool idtScaleMesh = meshGeom.scale.isIdentity();
+
+	FastVertex2ShapeScaling convexScaling;
+	if (!idtScaleConvex)
+		convexScaling.init(convexGeom.scale);
+
+	FastVertex2ShapeScaling meshScaling;
+	if (!idtScaleMesh)
+		meshScaling.init(meshGeom.scale);
+
+	const Matrix34 world0(pose0);
+	const Matrix34 world1(pose1);
+
+	PX_ASSERT(!cm->getLocalBoundsFast().isEmpty());
+	const PxBounds3 hullAABB = cm->getLocalBoundsFast().transformFast(convexScaling.getVertex2ShapeSkew());
+
+	Box hullOBB;
+	computeHullOBB(hullOBB, hullAABB, 0.0f, world0, world1, meshScaling, idtScaleMesh);
+
+	ConvexVsMeshOverlapCallback cb(*cm, convexGeom.scale, meshScaling, pose0, pose1, idtScaleMesh, hullOBB);
+	Midphase::intersectOBB(meshData, hullOBB, cb, true, false);
+
+	return cb.mAnyHit;
+}
+