Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 230 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactCapsuleBox.cpp b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactCapsuleBox.cpp
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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.  
+
+#include "GuVecBox.h"
+#include "GuVecCapsule.h"
+#include "GuGeometryUnion.h"
+
+#include "GuContactMethodImpl.h"
+#include "GuContactBuffer.h"
+#include "GuPCMContactGen.h"
+#include "GuPCMShapeConvex.h"
+#include "GuGJKPenetration.h"
+#include "GuEPA.h"
+
+
+namespace physx
+{
+	using namespace Ps::aos;
+
+namespace Gu
+{
+
+static bool fullContactsGenerationCapsuleBox(const CapsuleV& capsule, const BoxV& box, const PxVec3 halfExtents,  const PsMatTransformV& aToB, const PsTransformV& transf0, const PsTransformV& transf1,
+								PersistentContact* manifoldContacts, PxU32& numContacts, ContactBuffer& contactBuffer, PersistentContactManifold& manifold, Vec3V& normal, const Vec3VArg closest,
+								const FloatVArg boxMargin, const FloatVArg contactDist, const bool doOverlapTest, const FloatVArg toleranceScale)
+{
+
+	PolygonalData polyData;
+	PCMPolygonalBox polyBox(halfExtents);
+	polyBox.getPolygonalData(&polyData);
+
+	Mat33V identity = M33Identity();
+	SupportLocalImpl<BoxV> map(box, transf1, identity, identity);
+
+	PxU32 origContacts = numContacts;
+	if (generateCapsuleBoxFullContactManifold(capsule, polyData, &map, aToB, manifoldContacts, numContacts, contactDist, normal, closest, boxMargin, doOverlapTest, toleranceScale))
+	{
+		//EPA has contacts and we have new contacts, we discard the EPA contacts
+		if(origContacts != 0 && numContacts != origContacts)
+		{
+			numContacts--;
+			manifoldContacts++;
+		}
+
+		manifold.addBatchManifoldContacts2(manifoldContacts, numContacts);
+		
+		normal = transf1.rotate(normal);
+		
+		manifold.addManifoldContactsToContactBuffer(contactBuffer, normal, transf0, capsule.radius, contactDist);
+	
+		return true;
+		
+	}
+
+	return false;
+
+}
+
+
+bool pcmContactCapsuleBox(GU_CONTACT_METHOD_ARGS)
+{
+	
+	PX_UNUSED(renderOutput);
+
+	PersistentContactManifold& manifold = cache.getManifold();
+	Ps::prefetchLine(&manifold, 256);
+	const PxCapsuleGeometry& shapeCapsule = shape0.get<const PxCapsuleGeometry>();
+	const PxBoxGeometry& shapeBox = shape1.get<const PxBoxGeometry>();
+
+	PX_ASSERT(transform1.q.isSane());
+	PX_ASSERT(transform0.q.isSane());  
+
+	const Vec3V zeroV = V3Zero();
+	const Vec3V boxExtents = V3LoadU(shapeBox.halfExtents);
+
+	const FloatV contactDist = FLoad(params.mContactDistance);
+
+	const PsTransformV transf0 = loadTransformA(transform0);
+	const PsTransformV transf1 = loadTransformA(transform1);
+
+	const PsTransformV curRTrans = transf1.transformInv(transf0);
+	const PsMatTransformV aToB_(curRTrans);
+
+	const FloatV capsuleRadius = FLoad(shapeCapsule.radius);
+	const FloatV capsuleHalfHeight = FLoad(shapeCapsule.halfHeight);
+
+	const PxU32 initialContacts = manifold.mNumContacts;
+
+	const FloatV boxMargin = Gu::CalculatePCMBoxMargin(boxExtents);
+	
+	const FloatV minMargin = FMin(boxMargin, capsuleRadius);
+
+	const FloatV projectBreakingThreshold = FMul(minMargin, FLoad(0.8f));
+	
+	const FloatV refreshDist = FAdd(contactDist, capsuleRadius);
+	//refreshContactPoints remove invalid contacts from the manifold and update the number correspondingly
+	manifold.refreshContactPoints(aToB_, projectBreakingThreshold, refreshDist);
+
+	const bool bLostContacts = (manifold.mNumContacts != initialContacts);
+
+	PX_UNUSED(bLostContacts);
+	if(bLostContacts || manifold.invalidate_SphereCapsule(curRTrans, minMargin))	
+	{
+
+		GjkStatus status = manifold.mNumContacts > 0 ? GJK_UNDEFINED : GJK_NON_INTERSECT;
+
+		Vec3V closestA(zeroV), closestB(zeroV);
+		Vec3V normal(zeroV); // from a to b
+		const FloatV zero = FZero();
+		FloatV penDep = zero;
+
+		manifold.setRelativeTransform(curRTrans);
+		const PsMatTransformV aToB(curRTrans);
+		
+		BoxV box(transf1.p, boxExtents);
+		box.setMargin(zero);
+		
+		//transform capsule into the local space of box
+		CapsuleV capsule(aToB.p, aToB.rotate(V3Scale(V3UnitX(), capsuleHalfHeight)), capsuleRadius);
+		LocalConvex<CapsuleV> convexA(capsule);
+		LocalConvex<BoxV> convexB(box);
+		const Vec3V initialSearchDir = V3Sub(capsule.getCenter(), box.getCenter());
+		status =  gjkPenetration<LocalConvex<CapsuleV>, LocalConvex<BoxV> >(convexA, convexB, initialSearchDir, contactDist, closestA, closestB, normal, penDep, 
+			manifold.mAIndice, manifold.mBIndice, manifold.mNumWarmStartPoints, true);
+
+		PersistentContact* manifoldContacts = PX_CP_TO_PCP(contactBuffer.contacts);
+		PxU32 numContacts = 0;
+		bool doOverlapTest = false;
+		if(status == GJK_NON_INTERSECT)
+		{
+			return false;
+		}
+		else if(status == GJK_DEGENERATE)
+		{
+			return fullContactsGenerationCapsuleBox(capsule, box, shapeBox.halfExtents,  aToB, transf0, transf1, manifoldContacts, numContacts, contactBuffer,
+				manifold, normal, closestB, box.getMargin(), contactDist, true, FLoad(params.mToleranceLength));
+		}
+		else 
+		{
+			if(status == GJK_CONTACT)
+			{
+				const Vec3V localPointA = aToB.transformInv(closestA);//curRTrans.transformInv(closestA);
+				const Vec4V localNormalPen = V4SetW(Vec4V_From_Vec3V(normal), penDep);
+				//Add contact to contact stream
+				manifoldContacts[numContacts].mLocalPointA = localPointA;
+				manifoldContacts[numContacts].mLocalPointB = closestB;
+				manifoldContacts[numContacts++].mLocalNormalPen = localNormalPen;
+			}
+			else
+			{
+				PX_ASSERT(status == EPA_CONTACT);
+	
+				status= epaPenetration(convexA, convexB,  manifold.mAIndice, manifold.mBIndice, manifold.mNumWarmStartPoints, 
+					closestA, closestB, normal, penDep, true);
+				if(status == EPA_CONTACT)
+				{
+					const Vec3V localPointA = aToB.transformInv(closestA);//curRTrans.transformInv(closestA);
+					const Vec4V localNormalPen = V4SetW(Vec4V_From_Vec3V(normal), penDep);
+					//Add contact to contact stream
+					manifoldContacts[numContacts].mLocalPointA = localPointA;
+					manifoldContacts[numContacts].mLocalPointB = closestB;
+					manifoldContacts[numContacts++].mLocalNormalPen = localNormalPen;
+
+				}
+				else
+				{
+					doOverlapTest = true;
+				}
+
+			}
+			
+
+			if(initialContacts == 0 || bLostContacts || doOverlapTest)
+			{
+				return fullContactsGenerationCapsuleBox(capsule, box, shapeBox.halfExtents,  aToB, transf0, transf1, manifoldContacts, numContacts, contactBuffer, manifold, normal, 
+					closestB, box.getMargin(), contactDist, doOverlapTest, FLoad(params.mToleranceLength));
+			}
+			else
+			{
+				
+				//The contacts is either come from GJK or EPA
+				const FloatV replaceBreakingThreshold = FMul(minMargin, FLoad(0.1f));
+				const Vec4V localNormalPen = V4SetW(Vec4V_From_Vec3V(normal), penDep);
+				manifold.addManifoldPoint2(curRTrans.transformInv(closestA), closestB, localNormalPen, replaceBreakingThreshold);
+				
+				normal = transf1.rotate(normal);
+				manifold.addManifoldContactsToContactBuffer(contactBuffer, normal, transf0, capsuleRadius, contactDist);
+			
+				return true;
+			}
+		}	
+	}
+	else if(manifold.getNumContacts() > 0)
+	{
+		const Vec3V worldNormal = manifold.getWorldNormal(transf1);
+		manifold.addManifoldContactsToContactBuffer(contactBuffer, worldNormal, transf0, capsuleRadius, contactDist);
+		return true;
+	}
+
+	return false;
+
+}
+}
+}