Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 297 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactCapsuleCapsule.cpp b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactCapsuleCapsule.cpp
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+++ b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactCapsuleCapsule.cpp
@@ -0,0 +1,297 @@
+// 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 "GuVecCapsule.h"
+#include "GuGeometryUnion.h"
+#include "GuContactMethodImpl.h"
+#include "GuContactBuffer.h"
+#include "GuDistanceSegmentSegmentSIMD.h"
+
+using namespace physx;
+using namespace Gu;
+using namespace Ps;
+using namespace aos;
+
+static Vec4V pcmDistancePointSegmentTValue22(	const Vec3VArg a0, const Vec3VArg b0, 
+												const Vec3VArg a1, const Vec3VArg b1,
+												const Vec3VArg p0, const Vec3VArg p1,
+												const Vec3VArg p2, const Vec3VArg p3)
+{
+	const Vec4V zero = V4Zero();
+	const Vec3V ap00 = V3Sub(p0, a0);
+	const Vec3V ap10 = V3Sub(p1, a0);
+	const Vec3V ap01 = V3Sub(p2, a1);
+	const Vec3V ap11 = V3Sub(p3, a1);
+
+	const Vec3V ab0 = V3Sub(b0, a0);
+	const Vec3V ab1 = V3Sub(b1, a1);
+
+/*	const FloatV nom00 = V3Dot(ap00, ab0);
+	const FloatV nom10 = V3Dot(ap10, ab0);
+	const FloatV nom01 = V3Dot(ap01, ab1);
+	const FloatV nom11 = V3Dot(ap11, ab1);*/
+
+	const Vec4V combinedDot = V3Dot4(ap00, ab0, ap10, ab0, ap01, ab1, ap11, ab1);
+	const FloatV nom00 = V4GetX(combinedDot);
+	const FloatV nom10 = V4GetY(combinedDot);
+	const FloatV nom01 = V4GetZ(combinedDot);
+	const FloatV nom11 = V4GetW(combinedDot);
+	
+	const FloatV denom0 = V3Dot(ab0, ab0);
+	const FloatV denom1 = V3Dot(ab1, ab1);
+
+	const Vec4V nom = V4Merge(nom00, nom10, nom01, nom11);
+	const Vec4V denom = V4Merge(denom0, denom0, denom1, denom1);
+
+	const Vec4V tValue = V4Div(nom, denom);
+	return V4Sel(V4IsEq(denom, zero), zero, tValue);
+}
+
+namespace physx
+{
+namespace Gu
+{
+
+	static void storeContact(const Vec3VArg contact, const Vec3VArg normal, const FloatVArg separation, Gu::ContactBuffer& buffer)
+	{
+		Gu::ContactPoint& point = buffer.contacts[buffer.count++];
+
+		const Vec4V normalSep = Ps::aos::V4SetW(Vec4V_From_Vec3V(normal), separation);
+
+		V4StoreA(normalSep, &point.normal.x);
+		V3StoreA(contact, point.point);
+		point.internalFaceIndex1 = PXC_CONTACT_NO_FACE_INDEX;
+
+	}
+
+bool pcmContactCapsuleCapsule(GU_CONTACT_METHOD_ARGS)
+{
+	PX_UNUSED(renderOutput);
+	PX_UNUSED(cache);
+
+	// Get actual shape data
+	const PxCapsuleGeometry& shapeCapsule0 = shape0.get<const PxCapsuleGeometry>();
+	const PxCapsuleGeometry& shapeCapsule1 = shape1.get<const PxCapsuleGeometry>();
+
+	PX_ASSERT(transform1.q.isSane());
+	PX_ASSERT(transform0.q.isSane());
+
+	const Vec3V _p0 = V3LoadA(&transform0.p.x);
+	const QuatV q0 = QuatVLoadA(&transform0.q.x);
+
+	const Vec3V _p1 = V3LoadA(&transform1.p.x);
+	const QuatV q1 = QuatVLoadA(&transform1.q.x);
+
+	/*PsTransformV transf0(p0, q0);
+	PsTransformV transf1(p1, q1);*/
+
+	
+	const FloatV r0 = FLoad(shapeCapsule0.radius);
+	const FloatV halfHeight0 = FLoad(shapeCapsule0.halfHeight);
+
+	const FloatV r1 = FLoad(shapeCapsule1.radius);
+	const FloatV halfHeight1 = FLoad(shapeCapsule1.halfHeight);
+
+	const FloatV cDist = FLoad(params.mContactDistance);
+
+	const Vec3V positionOffset = V3Scale(V3Add(_p0, _p1),  FHalf());
+	const Vec3V p0 = V3Sub(_p0, positionOffset);
+	const Vec3V p1 = V3Sub(_p1, positionOffset);
+
+	const FloatV zero = FZero();
+	//const FloatV one = FOne();
+	const Vec3V zeroV = V3Zero();
+	
+
+	/*const Vec3V positionOffset = V3Scale(V3Add(transf0.p, transf1.p), FloatV_From_F32(0.5f));
+	transf0.p = V3Sub(transf0.p, positionOffset);
+	transf1.p = V3Sub(transf1.p, positionOffset);*/
+
+	const Vec3V basisVector0 = QuatGetBasisVector0(q0);
+	const Vec3V tmp0 = V3Scale(basisVector0, halfHeight0);
+	const Vec3V s0 = V3Add(p0, tmp0);
+	const Vec3V e0 = V3Sub(p0, tmp0);
+	const Vec3V d0 = V3Sub(e0, s0);
+
+	const Vec3V basisVector1 = QuatGetBasisVector0(q1);
+	const Vec3V tmp1 = V3Scale(basisVector1, halfHeight1);
+	const Vec3V s1 = V3Add(p1, tmp1);
+	const Vec3V e1 = V3Sub(p1, tmp1); 
+
+	const Vec3V d1 = V3Sub(e1, s1);
+
+	const FloatV sumRadius = FAdd(r0, r1);
+	const FloatV inflatedSum = FAdd(sumRadius, cDist);
+	const FloatV inflatedSumSquared = FMul(inflatedSum, inflatedSum);
+	const FloatV a = V3Dot(d0, d0);//squared length of segment1
+	const FloatV e = V3Dot(d1, d1);//squared length of segment2
+	const FloatV eps = FLoad(1e-6);//FEps();
+
+	FloatV t0, t1;
+	const FloatV sqDist0 = distanceSegmentSegmentSquared(s0, d0, s1, d1, t0, t1);
+
+	if(FAllGrtrOrEq(inflatedSumSquared, sqDist0))
+	{
+		const Vec4V zeroV4 = V4Zero();
+		const Vec4V oneV4 = V4One();
+		//check to see whether these two capsule are paralle
+		const FloatV parallelTolerance  = FLoad(0.9998f);
+		
+		
+		const BoolV con0 = FIsGrtr(eps, a);
+		const BoolV con1 = FIsGrtr(eps, e);
+		const Vec3V dir0 = V3Sel(con0, zeroV, V3ScaleInv(d0, FSqrt(a)));
+		const Vec3V dir1 = V3Sel(con1, zeroV, V3ScaleInv(d1, FSqrt(e)));
+
+		const FloatV cos = FAbs(V3Dot(dir0, dir1));
+		if(FAllGrtr(cos, parallelTolerance))//paralle
+		{
+			//project s, e into s1e1
+			const Vec4V t= pcmDistancePointSegmentTValue22(s0, e0, s1, e1,
+															s1, e1, s0, e0);
+
+			const BoolV con = BAnd(V4IsGrtrOrEq(t, zeroV4), V4IsGrtrOrEq(oneV4, t));
+			const BoolV con00 = BGetX(con);
+			const BoolV con01 = BGetY(con);
+			const BoolV con10 = BGetZ(con);
+			const BoolV con11 = BGetW(con);
+
+		/*	PX_ALIGN(16, PxU32 conditions[4]);
+			F32Array_Aligned_From_Vec4V(con, (PxF32*)conditions);*/
+
+			
+			PxU32 numContact=0;
+
+			if(BAllEqTTTT(con00))
+			{
+				const Vec3V projS1 = V3ScaleAdd(d0, V4GetX(t), s0);
+				const Vec3V v = V3Sub(projS1, s1);
+				const FloatV sqDist = V3Dot(v, v);
+				const BoolV bCon = BAnd(FIsGrtr(sqDist, eps), FIsGrtr(inflatedSumSquared, sqDist));
+				
+				if(BAllEqTTTT(bCon))
+				{
+					const FloatV dist = FSqrt(sqDist);
+					const FloatV pen =  FSub(dist, sumRadius);
+					const Vec3V normal = V3ScaleInv(v, dist);
+					PX_ASSERT(isFiniteVec3V(normal));
+					const Vec3V _p = V3NegScaleSub(normal, r0, projS1);
+					const Vec3V p = V3Add(_p, positionOffset);
+					
+					storeContact(p, normal, pen, contactBuffer);
+					numContact++;
+				}
+			}
+			if(BAllEqTTTT(con01))
+			{
+				const Vec3V projE1 = V3ScaleAdd(d0, V4GetY(t), s0);
+				const Vec3V v = V3Sub(projE1, e1);
+				const FloatV sqDist = V3Dot(v, v);
+				const BoolV bCon = BAnd(FIsGrtr(sqDist, eps), FIsGrtr(inflatedSumSquared, sqDist));
+				
+				if(BAllEqTTTT(bCon))
+				{
+					const FloatV dist = FSqrt(sqDist);
+					const FloatV pen =  FSub(dist, sumRadius);
+					const Vec3V normal =  V3ScaleInv(v, dist);
+					PX_ASSERT(isFiniteVec3V(normal));
+					const Vec3V _p = V3NegScaleSub(normal, r0, projE1);
+					const Vec3V p = V3Add(_p, positionOffset);
+					storeContact(p, normal, pen, contactBuffer);
+					numContact++;
+				}
+			}
+
+			if(BAllEqTTTT(con10))
+			{
+				const Vec3V projS0 = V3ScaleAdd(d1, V4GetZ(t), s1);
+				const Vec3V v = V3Sub(s0, projS0);
+				const FloatV sqDist = V3Dot(v, v);
+				const BoolV bCon = BAnd(FIsGrtr(sqDist, eps), FIsGrtr(inflatedSumSquared, sqDist));
+				
+				if(BAllEqTTTT(bCon))
+				{
+					const FloatV dist = FSqrt(sqDist);
+					const FloatV pen =  FSub(dist, sumRadius);
+					const Vec3V normal = V3ScaleInv(v, dist);
+				 	PX_ASSERT(isFiniteVec3V(normal));
+					const Vec3V _p = V3NegScaleSub(normal, r0, s0);
+					const Vec3V p = V3Add(_p, positionOffset);
+					//const Vec3V p = V3ScaleAdd(normal, r0, s0);
+					storeContact(p, normal, pen, contactBuffer);
+					numContact++;
+				}
+			}
+
+			if(BAllEqTTTT(con11))
+			{
+				const Vec3V projE0 = V3ScaleAdd(d1, V4GetW(t), s1);
+				const Vec3V v = V3Sub(e0, projE0);
+				const FloatV sqDist = V3Dot(v, v);
+				const BoolV bCon = BAnd(FIsGrtr(sqDist, eps), FIsGrtr(inflatedSumSquared, sqDist));
+				
+				if(BAllEqTTTT(bCon))
+				{
+					const FloatV dist = FSqrt(sqDist);
+					const FloatV pen =  FSub(dist, sumRadius);
+					const Vec3V normal = V3ScaleInv(v, dist);
+					PX_ASSERT(isFiniteVec3V(normal));
+					const Vec3V _p = V3NegScaleSub(normal, r0, e0);
+					const Vec3V p = V3Add(_p, positionOffset);
+					//const Vec3V p = V3ScaleAdd(normal, r0, e0);
+					storeContact(p, normal, pen, contactBuffer);
+					numContact++;
+				}
+			}
+
+			if(numContact)
+				return true;
+
+		}  
+
+		const Vec3V closestA = V3ScaleAdd(d0, t0, s0);
+		const Vec3V closestB = V3ScaleAdd(d1, t1, s1);
+		
+		const BoolV con = FIsGrtr(eps, sqDist0);
+		//const Vec3V normal = V3Sel(FIsEq(dist, zero), V3Sel(FIsGrtr(a, eps), V3Normalise(d0), V3Scale(V3Sub(closestA, closestB), FRecip(dist)));
+		const Vec3V _normal = V3Sel(con, V3Sel(FIsGrtr(a, eps), d0, V3UnitX()), V3Sub(closestA, closestB));
+		const Vec3V normal = V3Normalize(_normal);
+		PX_ASSERT(isFiniteVec3V(normal));
+		const Vec3V _point = V3NegScaleSub(normal, r0, closestA);
+		const Vec3V p = V3Add(_point, positionOffset);
+		const FloatV dist = FSel(con, zero, FSqrt(sqDist0));
+		const FloatV pen = FSub(dist, sumRadius);
+		//PX_ASSERT(FAllGrtrOrEq(zero, pen));
+		storeContact(p, normal, pen, contactBuffer);
+		return true;
+	}
+	return false;
+}
+}//Gu
+}//physx