Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 103 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/mesh/GuSweepConvexTri.h b/PhysX_3.4/Source/GeomUtils/src/mesh/GuSweepConvexTri.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_SWEEP_CONVEX_TRI
+#define GU_SWEEP_CONVEX_TRI
+
+#include "GuVecTriangle.h"
+#include "GuVecConvexHull.h"
+#include "GuConvexMesh.h"
+#include "PxConvexMeshGeometry.h"
+#include "GuGJKRaycast.h"
+
+// return true if hit, false if no hit
+static PX_FORCE_INLINE bool sweepConvexVsTriangle(
+	const PxVec3& v0, const PxVec3& v1, const PxVec3& v2,
+	ConvexHullV& convexHull, const Ps::aos::PsMatTransformV& meshToConvex, const Ps::aos::PsTransformV& convexTransfV,
+	const Ps::aos::Vec3VArg convexSpaceDir, const PxVec3& unitDir, const PxVec3& meshSpaceUnitDir,
+	const Ps::aos::FloatVArg fullDistance, PxReal shrunkDistance,
+	PxSweepHit& hit, bool isDoubleSided, const PxReal inflation, bool& initialOverlap, PxU32 faceIndex)
+{
+	using namespace Ps::aos;
+	// Create triangle normal
+	const PxVec3 denormalizedNormal = (v1 - v0).cross(v2 - v1);
+
+	// Backface culling
+	// PT: WARNING, the test is reversed compared to usual because we pass -unitDir to this function
+	const bool culled = !isDoubleSided && (denormalizedNormal.dot(meshSpaceUnitDir) <= 0.0f);
+	if(culled)
+		return false;
+
+	const Vec3V zeroV = V3Zero();
+	const FloatV zero = FZero();
+
+	const Vec3V p0 = V3LoadU(v0); // in mesh local space
+	const Vec3V	p1 = V3LoadU(v1);
+	const Vec3V p2 = V3LoadU(v2);
+
+	// transform triangle verts from mesh local to convex local space
+	TriangleV triangleV(meshToConvex.transform(p0), meshToConvex.transform(p1), meshToConvex.transform(p2));
+
+	FloatV toi;
+	Vec3V closestA,normal;
+
+	LocalConvex<TriangleV> convexA(triangleV);
+	LocalConvex<ConvexHullV> convexB(convexHull);
+	const Vec3V initialSearchDir = V3Sub(triangleV.getCenter(), convexHull.getCenter());
+	// run GJK raycast
+	// sweep triangle in convex local space vs convex, closestA will be the impact point in convex local space
+	const bool gjkHit = gjkRaycastPenetration<LocalConvex<TriangleV>, LocalConvex<ConvexHullV> >(
+		convexA, convexB, initialSearchDir, zero, zeroV, convexSpaceDir, toi, normal, closestA, inflation, false);
+	if(!gjkHit)
+		return false;
+
+	const FloatV minDist = FLoad(shrunkDistance);
+	const Vec3V destWorldPointA = convexTransfV.transform(closestA);
+	const Vec3V destNormal = V3Normalize(convexTransfV.rotate(normal));
+
+	if(FAllGrtrOrEq(zero, toi))
+	{
+		initialOverlap	= true;	// PT: TODO: redundant with hit distance, consider removing
+		return setInitialOverlapResults(hit, unitDir, faceIndex);
+	}
+
+	const FloatV dist = FMul(toi, fullDistance); // scale the toi to original full sweep distance
+	if(FAllGrtr(minDist, dist)) // is current dist < minDist?
+	{
+		hit.faceIndex	= faceIndex;
+		hit.flags		= PxHitFlag::eDISTANCE | PxHitFlag::ePOSITION | PxHitFlag::eNORMAL | PxHitFlag::eFACE_INDEX;
+		V3StoreU(destWorldPointA, hit.position);
+		V3StoreU(destNormal, hit.normal);
+		FStore(dist, &hit.distance);
+		return true; // report a hit
+	}
+	return false; // report no hit
+}
+
+#endif