Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 158 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactCapsuleHeightField.cpp b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactCapsuleHeightField.cpp
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index 00000000..8f187307
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+++ b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactCapsuleHeightField.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 "PsVecMath.h"
+#include "PsVecTransform.h"
+#include "GuVecTriangle.h"
+#include "GuGeometryUnion.h"
+
+#include "GuContactMethodImpl.h"
+#include "PxTriangleMesh.h"
+#include "GuContactBuffer.h"
+#include "GuHeightField.h"
+#include "GuPCMContactConvexCommon.h"
+#include "GuSegment.h"
+#include "GuInternal.h"
+#include "GuPCMContactMeshCallback.h"
+
+using namespace physx;
+using namespace Gu;
+using namespace Ps::aos;
+
+namespace physx
+{
+
+struct PCMCapsuleVsHeightfieldContactGenerationCallback :  PCMHeightfieldContactGenerationCallback<PCMCapsuleVsHeightfieldContactGenerationCallback>
+{
+	PCMCapsuleVsHeightfieldContactGenerationCallback& operator=(const PCMCapsuleVsHeightfieldContactGenerationCallback&);
+
+public:
+	PCMCapsuleVsMeshContactGeneration		mGeneration;
+
+	PCMCapsuleVsHeightfieldContactGenerationCallback(
+		const Gu::CapsuleV&			capsule,
+		const Ps::aos::FloatVArg	contactDistance,
+		const Ps::aos::FloatVArg	replaceBreakingThreshold,
+	
+		const PsTransformV& capsuleTransform, 
+		const PsTransformV& heightfieldTransform,
+		const PxTransform&	heightfieldTransform1,
+		Gu::MultiplePersistentContactManifold& multiManifold,
+		Gu::ContactBuffer& contactBuffer,
+		Gu::HeightFieldUtil& hfUtil 
+		
+		
+	) :
+		PCMHeightfieldContactGenerationCallback<PCMCapsuleVsHeightfieldContactGenerationCallback>(hfUtil, heightfieldTransform1),
+		mGeneration(capsule, contactDistance, replaceBreakingThreshold, capsuleTransform, heightfieldTransform, multiManifold, contactBuffer)
+	{
+	}
+
+	template<PxU32 CacheSize>
+	void processTriangleCache(Gu::TriangleCache<CacheSize>& cache)
+	{
+		mGeneration.processTriangleCache<CacheSize, PCMCapsuleVsMeshContactGeneration>(cache);
+	}
+	
+};
+
+bool Gu::pcmContactCapsuleHeightField(GU_CONTACT_METHOD_ARGS)
+{
+	PX_UNUSED(renderOutput);
+
+	const PxCapsuleGeometry& shapeCapsule = shape0.get<const PxCapsuleGeometry>();
+	const PxHeightFieldGeometryLL& shapeHeight = shape1.get<const PxHeightFieldGeometryLL>();
+
+	Gu::MultiplePersistentContactManifold& multiManifold = cache.getMultipleManifold();
+
+	const FloatV capsuleRadius = FLoad(shapeCapsule.radius);
+	const FloatV contactDist = FLoad(params.mContactDistance);
+
+	const PsTransformV capsuleTransform = loadTransformA(transform0);//capsule transform
+	const PsTransformV heightfieldTransform = loadTransformA(transform1);//height feild
+
+	const PsTransformV curTransform = heightfieldTransform.transformInv(capsuleTransform);
+	
+	const FloatV replaceBreakingThreshold = FMul(capsuleRadius, FLoad(0.001f));
+
+	if(multiManifold.invalidate(curTransform, capsuleRadius, FLoad(0.02f)))
+	{
+
+		multiManifold.mNumManifolds = 0;
+		multiManifold.setRelativeTransform(curTransform); 
+
+		const Gu::HeightField& hf = *static_cast<Gu::HeightField*>(shapeHeight.heightField);
+
+		Gu::HeightFieldUtil hfUtil(shapeHeight, hf);
+
+		const PxVec3 tmp = getCapsuleHalfHeightVector(transform0, shapeCapsule);
+
+		const PxReal inflatedRadius = shapeCapsule.radius + params.mContactDistance;
+
+		const PxVec3 capsuleCenterInMesh = transform1.transformInv(transform0.p);
+		const PxVec3 capsuleDirInMesh = transform1.rotateInv(tmp);
+		const Gu::CapsuleV capsule(V3LoadU(capsuleCenterInMesh), V3LoadU(capsuleDirInMesh), capsuleRadius);
+
+
+		PCMCapsuleVsHeightfieldContactGenerationCallback callback(
+			capsule,
+			contactDist,
+			replaceBreakingThreshold,
+			capsuleTransform,
+			heightfieldTransform,
+			transform1,
+			multiManifold,
+			contactBuffer,
+			hfUtil
+		);
+
+		PxBounds3 bounds;
+		bounds.maximum = PxVec3(shapeCapsule.halfHeight + inflatedRadius, inflatedRadius, inflatedRadius);
+		bounds.minimum = -bounds.maximum;
+
+		bounds = PxBounds3::transformFast(transform1.transformInv(transform0), bounds);
+
+		hfUtil.overlapAABBTriangles(transform1, bounds, 0, &callback);
+
+		callback.mGeneration.processContacts(GU_CAPSULE_MANIFOLD_CACHE_SIZE, false);
+	}
+	else
+	{
+		const PsMatTransformV aToB(curTransform);
+		// We must be in local space to use the cache
+		const FloatV projectBreakingThreshold = FMul(capsuleRadius, FLoad(0.05f));
+		const FloatV refereshDistance = FAdd(capsuleRadius, contactDist);
+		multiManifold.refreshManifold(aToB, projectBreakingThreshold, refereshDistance);
+
+	}
+	return multiManifold.addManifoldContactsToContactBuffer(contactBuffer, capsuleTransform, heightfieldTransform, capsuleRadius);
+}
+
+
+}