Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 272 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactCapsuleConvex.cpp b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactCapsuleConvex.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 "GuGJKPenetration.h"
+#include "GuEPA.h"
+#include "GuVecCapsule.h"
+#include "GuVecConvexHull.h"
+#include "GuVecConvexHullNoScale.h"
+#include "GuGeometryUnion.h"
+
+#include "GuContactMethodImpl.h"
+#include "GuContactBuffer.h"
+#include "GuPCMContactGen.h"
+#include "GuPCMShapeConvex.h"
+
+namespace physx
+{
+
+using namespace Ps::aos;
+
+namespace Gu
+{
+
+static bool fullContactsGenerationCapsuleConvex(const CapsuleV& capsule, const ConvexHullV& convexHull,  const PsMatTransformV& aToB, const PsTransformV& transf0,const PsTransformV& transf1,
+								PersistentContact* manifoldContacts, ContactBuffer& contactBuffer, const bool idtScale, PersistentContactManifold& manifold, Vec3VArg normal, 
+								const Vec3VArg closest, const FloatVArg tolerance, const FloatVArg contactDist, const bool doOverlapTest, Cm::RenderOutput* renderOutput, const FloatVArg toleranceScale)
+{
+
+	PX_UNUSED(renderOutput);
+	Gu::PolygonalData polyData;
+	getPCMConvexData(convexHull,idtScale, polyData);
+
+	PxU8 buff[sizeof(SupportLocalImpl<ConvexHullV>)];
+	SupportLocal* map = (idtScale ? static_cast<SupportLocal*>(PX_PLACEMENT_NEW(buff, SupportLocalImpl<ConvexHullNoScaleV>)(static_cast<const ConvexHullNoScaleV&>(convexHull), transf1, convexHull.vertex2Shape, convexHull.shape2Vertex, idtScale)) : 
+	static_cast<SupportLocal*>(PX_PLACEMENT_NEW(buff, SupportLocalImpl<ConvexHullV>)(convexHull, transf1, convexHull.vertex2Shape, convexHull.shape2Vertex, idtScale)));
+
+	PxU32 numContacts = 0;
+	if (generateFullContactManifold(capsule, polyData, map, aToB, manifoldContacts, numContacts, contactDist, normal, closest, tolerance, doOverlapTest, toleranceScale))
+	{
+
+		if (numContacts > 0)
+		{
+			manifold.addBatchManifoldContacts2(manifoldContacts, numContacts);
+			//transform normal into the world space
+			normal = transf1.rotate(normal);
+			manifold.addManifoldContactsToContactBuffer(contactBuffer, normal, transf0, capsule.radius, contactDist);
+		}
+		else
+		{
+			if (!doOverlapTest)
+			{
+				normal = transf1.rotate(normal);
+				manifold.addManifoldContactsToContactBuffer(contactBuffer, normal, transf0, capsule.radius, contactDist);
+			}
+		}
+
+#if	PCM_LOW_LEVEL_DEBUG
+		manifold.drawManifold(*renderOutput, transf0, transf1);
+#endif
+		return true;
+		
+	}
+	return false;
+
+}
+
+bool pcmContactCapsuleConvex(GU_CONTACT_METHOD_ARGS)
+{
+	PX_UNUSED(renderOutput);
+
+
+	const PxConvexMeshGeometryLL& shapeConvex = shape1.get<const PxConvexMeshGeometryLL>();
+	const PxCapsuleGeometry& shapeCapsule = shape0.get<const PxCapsuleGeometry>();
+
+	PersistentContactManifold& manifold = cache.getManifold();
+
+	Ps::prefetchLine(shapeConvex.hullData);
+
+		
+	PX_ASSERT(transform1.q.isSane());
+	PX_ASSERT(transform0.q.isSane());
+
+	const Vec3V zeroV = V3Zero();
+
+	const Vec3V vScale = V3LoadU_SafeReadW(shapeConvex.scale.scale);	// PT: safe because 'rotation' follows 'scale' in PxMeshScale
+
+	const FloatV contactDist = FLoad(params.mContactDistance);
+	const FloatV capsuleHalfHeight = FLoad(shapeCapsule.halfHeight);
+	const FloatV capsuleRadius = FLoad(shapeCapsule.radius);
+	const ConvexHullData* hullData =shapeConvex.hullData;
+	
+	//Transfer A into the local space of B
+	const PsTransformV transf0 = loadTransformA(transform0);
+	const PsTransformV transf1 = loadTransformA(transform1);
+	const PsTransformV curRTrans(transf1.transformInv(transf0));
+	const PsMatTransformV aToB(curRTrans);
+	
+
+	const FloatV convexMargin = Gu::CalculatePCMConvexMargin(hullData, vScale);
+	const FloatV capsuleMinMargin = Gu::CalculateCapsuleMinMargin(capsuleRadius);
+	const FloatV minMargin = FMin(convexMargin, capsuleMinMargin);
+	
+	const PxU32 initialContacts = manifold.mNumContacts;
+	const FloatV projectBreakingThreshold = FMul(minMargin, FLoad(1.25f));
+	const FloatV refreshDist = FAdd(contactDist, capsuleRadius);
+
+	manifold.refreshContactPoints(aToB,  projectBreakingThreshold, refreshDist);
+
+	//ML: after refreshContactPoints, we might lose some contacts
+	const bool bLostContacts = (manifold.mNumContacts != initialContacts);
+
+	GjkStatus status = manifold.mNumContacts > 0 ? GJK_UNDEFINED : GJK_NON_INTERSECT;
+
+	Vec3V closestA(zeroV), closestB(zeroV), normal(zeroV); // from a to b
+	const FloatV zero = FZero();
+	FloatV penDep = zero;
+
+	PX_UNUSED(bLostContacts);
+	if(bLostContacts || manifold.invalidate_SphereCapsule(curRTrans, minMargin))
+	{
+		const bool idtScale = shapeConvex.scale.isIdentity();
+
+		manifold.setRelativeTransform(curRTrans);
+		const QuatV vQuat = QuatVLoadU(&shapeConvex.scale.rotation.x);  
+		ConvexHullV convexHull(hullData, zeroV, vScale, vQuat, idtScale);
+		convexHull.setMargin(zero);
+	
+		//transform capsule(a) into the local space of convexHull(b)
+		CapsuleV capsule(aToB.p, aToB.rotate(V3Scale(V3UnitX(), capsuleHalfHeight)), capsuleRadius);
+	
+		LocalConvex<CapsuleV> convexA(capsule);
+		const Vec3V initialSearchDir = V3Sub(capsule.getCenter(), convexHull.getCenter());
+		if(idtScale)
+		{
+			LocalConvex<ConvexHullNoScaleV> convexB(*PX_CONVEX_TO_NOSCALECONVEX(&convexHull));
+
+			status = gjkPenetration<LocalConvex<CapsuleV>, LocalConvex<ConvexHullNoScaleV> >(convexA, convexB, initialSearchDir, contactDist, closestA, closestB, normal, penDep, 
+				manifold.mAIndice, manifold.mBIndice, manifold.mNumWarmStartPoints, true);
+		}
+		else
+		{
+			LocalConvex<ConvexHullV> convexB(convexHull);
+			status = gjkPenetration<LocalConvex<CapsuleV>, LocalConvex<ConvexHullV> >(convexA, convexB, initialSearchDir, contactDist, closestA, closestB, normal, penDep, 
+				manifold.mAIndice, manifold.mBIndice, manifold.mNumWarmStartPoints, true);
+
+		}     
+
+		Gu::PersistentContact* manifoldContacts = PX_CP_TO_PCP(contactBuffer.contacts);
+		bool doOverlapTest = false;
+		if(status == GJK_NON_INTERSECT)
+		{
+			return false;
+		}
+		else if(status == GJK_DEGENERATE)
+		{
+			return fullContactsGenerationCapsuleConvex(capsule, convexHull, aToB, transf0, transf1, manifoldContacts, contactBuffer, idtScale, manifold, normal, 
+				closestB, convexHull.getMargin(), contactDist, true, renderOutput, FLoad(params.mToleranceLength));
+		}
+		else 
+		{
+			const FloatV replaceBreakingThreshold = FMul(minMargin, FLoad(0.05f));
+
+			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[0].mLocalPointA = localPointA;
+				manifoldContacts[0].mLocalPointB = closestB;
+				manifoldContacts[0].mLocalNormalPen = localNormalPen;
+
+				//Add contact to manifold
+				manifold.addManifoldPoint2(localPointA, closestB, localNormalPen, replaceBreakingThreshold);
+			}
+			else
+			{
+				PX_ASSERT(status == EPA_CONTACT);
+				
+				if(idtScale)
+				{
+					LocalConvex<ConvexHullNoScaleV> convexB(*PX_CONVEX_TO_NOSCALECONVEX(&convexHull));
+
+					status= Gu::epaPenetration(convexA, convexB, manifold.mAIndice, manifold.mBIndice, manifold.mNumWarmStartPoints,
+					closestA, closestB, normal, penDep, true);
+				}
+				else
+				{
+					LocalConvex<ConvexHullV> convexB(convexHull);
+					status= Gu::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[0].mLocalPointA = localPointA;
+					manifoldContacts[0].mLocalPointB = closestB;
+					manifoldContacts[0].mLocalNormalPen = localNormalPen;
+
+					//Add contact to manifold
+					manifold.addManifoldPoint2(localPointA, closestB, localNormalPen, replaceBreakingThreshold);
+					
+
+				}
+				else
+				{
+					doOverlapTest = true;   
+				}
+			}
+
+		
+			if(initialContacts == 0 || bLostContacts || doOverlapTest)
+			{
+				return fullContactsGenerationCapsuleConvex(capsule, convexHull, aToB, transf0, transf1, manifoldContacts, contactBuffer, idtScale, manifold, normal, 
+					closestB, convexHull.getMargin(), contactDist, doOverlapTest, renderOutput, FLoad(params.mToleranceLength));
+			}
+			else
+			{
+				//This contact is either come from GJK or EPA
+				normal = transf1.rotate(normal);
+				manifold.addManifoldContactsToContactBuffer(contactBuffer, normal, transf0, capsuleRadius, contactDist);
+#if	PCM_LOW_LEVEL_DEBUG
+				manifold.drawManifold(*renderOutput, transf0, transf1);
+#endif
+				return true;
+			}
+		}	
+	}
+	else if (manifold.getNumContacts() > 0)
+	{
+		normal = manifold.getWorldNormal(transf1);
+		manifold.addManifoldContactsToContactBuffer(contactBuffer, normal, transf0, capsuleRadius, contactDist);
+#if	PCM_LOW_LEVEL_DEBUG
+		manifold.drawManifold(*renderOutput, transf0, transf1);
+#endif
+		return true;
+	}
+	return false;
+}
+
+}//Gu
+}//physx