Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 169 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/mesh/GuSweepMesh.h b/PhysX_3.4/Source/GeomUtils/src/mesh/GuSweepMesh.h
new file mode 100644
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+++ b/PhysX_3.4/Source/GeomUtils/src/mesh/GuSweepMesh.h
@@ -0,0 +1,169 @@
+// 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_MESH_H
+#define GU_SWEEP_MESH_H
+
+#include "GuMidphaseInterface.h"
+#include "GuVecConvexHull.h"
+
+namespace physx
+{
+
+namespace Gu
+{
+	// PT: class to make sure we can safely V4Load Matrix34's last column
+	class Matrix34Padded : public Cm::Matrix34
+	{
+		public:
+			PX_FORCE_INLINE	Matrix34Padded(const Matrix34& src) : Matrix34(src)	{}
+			PX_FORCE_INLINE	Matrix34Padded()									{}
+			PX_FORCE_INLINE	~Matrix34Padded()									{}
+			PxU32	padding;
+	};
+	PX_COMPILE_TIME_ASSERT(0==(sizeof(Matrix34Padded)==16));
+
+	// PT: intermediate class containing shared bits of code & members
+	struct SweepShapeMeshHitCallback : MeshHitCallback<PxRaycastHit>
+	{
+							SweepShapeMeshHitCallback(CallbackMode::Enum mode, const PxHitFlags& hitFlags, bool flipNormal, float distCoef);
+
+		const PxHitFlags	mHitFlags;
+		bool				mStatus;			// Default is false, set to true if a valid hit is found. Stays true once true.
+		bool				mInitialOverlap;	// Default is false, set to true if an initial overlap hit is found. Reset for each hit.
+		bool				mFlipNormal;		// If negative scale is used we need to flip normal
+		PxReal				mDistCoeff;			// dist coeff from unscaled to scaled distance
+
+		void operator=(const SweepShapeMeshHitCallback&) {}
+	};
+
+	struct SweepCapsuleMeshHitCallback : SweepShapeMeshHitCallback
+	{		
+		PxSweepHit&			mSweepHit;
+		const Cm::Matrix34&	mVertexToWorldSkew;		
+		const PxReal		mTrueSweepDistance;		// max sweep distance that can be used
+		PxReal				mBestAlignmentValue;	// best alignment value for triangle normal
+		PxReal				mBestDist;				// best distance, not the same as sweepHit.distance, can be shorter by epsilon
+		const Capsule&		mCapsule;
+		const PxVec3&		mUnitDir;
+		const bool			mMeshDoubleSided;	// PT: true if PxMeshGeometryFlag::eDOUBLE_SIDED
+		const bool			mIsSphere;
+
+		SweepCapsuleMeshHitCallback(PxSweepHit& sweepHit, const Cm::Matrix34& worldMatrix, PxReal distance, bool meshDoubleSided,
+									const Capsule& capsule, const PxVec3& unitDir, const PxHitFlags& hitFlags, bool flipNormal, float distCoef);
+
+		virtual PxAgain processHit(const PxRaycastHit& aHit, const PxVec3& v0, const PxVec3& v1, const PxVec3& v2, PxReal& shrunkMaxT, const PxU32*);
+
+		// PT: TODO: unify these operators
+		void operator=(const SweepCapsuleMeshHitCallback&) {}
+
+		bool finalizeHit(	PxSweepHit& sweepHit, const Capsule& lss, const PxTriangleMeshGeometry& triMeshGeom,
+							const PxTransform& pose, bool isDoubleSided) const;
+	};
+
+#if PX_VC 
+    #pragma warning(push)
+	#pragma warning( disable : 4324 ) // Padding was added at the end of a structure because of a __declspec(align) value.
+#endif
+
+	struct SweepBoxMeshHitCallback : SweepShapeMeshHitCallback
+	{		
+		const Matrix34Padded&		mMeshToBox;
+		PxReal						mDist, mDist0;
+		physx::shdfnd::aos::FloatV	mDistV;
+		const Box&					mBox;
+		const PxVec3&				mLocalDir;
+		const PxVec3&				mWorldUnitDir;
+		PxReal						mInflation;
+		PxTriangle					mHitTriangle;
+		physx::shdfnd::aos::Vec3V	mMinClosestA;
+		physx::shdfnd::aos::Vec3V	mMinNormal;
+		physx::shdfnd::aos::Vec3V	mLocalMotionV;
+		PxU32						mMinTriangleIndex;
+		PxVec3						mOneOverDir;
+		const bool					mBothTriangleSidesCollide;	// PT: true if PxMeshGeometryFlag::eDOUBLE_SIDED || PxHitFlag::eMESH_BOTH_SIDES
+
+		SweepBoxMeshHitCallback(CallbackMode::Enum mode_, const Matrix34Padded& meshToBox, PxReal distance, bool bothTriangleSidesCollide, 
+								const Box& box, const PxVec3& localMotion, const PxVec3& localDir, const PxVec3& unitDir,
+								const PxHitFlags& hitFlags, const PxReal inflation, bool flipNormal, float distCoef);
+
+		virtual ~SweepBoxMeshHitCallback() {}
+
+		virtual PxAgain processHit(const PxRaycastHit& meshHit, const PxVec3& lp0, const PxVec3& lp1, const PxVec3& lp2, PxReal& shrinkMaxT, const PxU32*);
+
+		bool	finalizeHit(	PxSweepHit& sweepHit, const PxTriangleMeshGeometry& triMeshGeom, const PxTransform& pose,
+								const PxTransform& boxTransform, const PxVec3& localDir,
+								bool meshBothSides, bool isDoubleSided)	const;
+
+	private:
+		SweepBoxMeshHitCallback& operator=(const SweepBoxMeshHitCallback&);
+	};
+
+	struct SweepConvexMeshHitCallback : SweepShapeMeshHitCallback
+	{
+		PxTriangle							mHitTriangle;
+		ConvexHullV							mConvexHull;
+		physx::shdfnd::aos::PsMatTransformV	mMeshToConvex;
+		physx::shdfnd::aos::PsTransformV	mConvexPoseV;
+		const Cm::FastVertex2ShapeScaling&	mMeshScale;
+		PxSweepHit							mSweepHit; // stores either the closest or any hit depending on value of mAnyHit
+		physx::shdfnd::aos::FloatV			mInitialDistance;
+		physx::shdfnd::aos::Vec3V			mConvexSpaceDir; // convexPose.rotateInv(-unit*distance)
+		PxVec3								mUnitDir;
+		PxVec3								mMeshSpaceUnitDir;
+		PxReal								mInflation;
+		const bool							mAnyHit;
+		const bool							mBothTriangleSidesCollide;	// PT: true if PxMeshGeometryFlag::eDOUBLE_SIDED || PxHitFlag::eMESH_BOTH_SIDES
+
+		SweepConvexMeshHitCallback(	const ConvexHullData& hull, const PxMeshScale& convexScale, const Cm::FastVertex2ShapeScaling& meshScale,
+									const PxTransform& convexPose, const PxTransform& meshPose,
+									const PxVec3& unitDir, const PxReal distance, PxHitFlags hitFlags, const bool bothTriangleSidesCollide, const PxReal inflation,
+									const bool anyHit, float distCoef);
+
+		virtual ~SweepConvexMeshHitCallback()	{}
+
+		virtual PxAgain processHit(const PxRaycastHit& hit, const PxVec3& av0, const PxVec3& av1, const PxVec3& av2, PxReal& shrunkMaxT, const PxU32*);
+
+		bool	finalizeHit(PxSweepHit& sweepHit, const PxTriangleMeshGeometry& meshGeom, const PxTransform& pose,
+							const PxConvexMeshGeometry& convexGeom, const PxTransform& convexPose,
+							const PxVec3& unitDir, PxReal inflation,
+							bool isMtd, bool meshBothSides, bool isDoubleSided, bool bothTriangleSidesCollide);
+
+	private:
+		SweepConvexMeshHitCallback& operator=(const SweepConvexMeshHitCallback&);
+	};
+
+#if PX_VC 
+     #pragma warning(pop) 
+#endif
+
+}
+}
+
+#endif