Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 274 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactConvexHeightField.cpp b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactConvexHeightField.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 "GuVecShrunkBox.h"
+#include "GuVecConvexHull.h"
+#include "GuVecConvexHullNoScale.h"
+#include "GuVecShrunkConvexHullNoScale.h"
+#include "GuVecTriangle.h"
+#include "GuGeometryUnion.h"
+
+#include "GuContactMethodImpl.h"
+#include "GuPCMShapeConvex.h"
+#include "PxTriangleMesh.h"
+#include "GuContactBuffer.h"
+#include "GuHeightField.h"
+#include "GuHeightFieldUtil.h"
+#include "GuPCMContactConvexCommon.h"
+#include "GuPCMContactMeshCallback.h"
+
+#include "PsVecMath.h"
+
+
+using namespace physx;
+using namespace Gu;
+using namespace physx::shdfnd::aos;
+
+namespace physx
+{
+
+struct PCMConvexVsHeightfieldContactGenerationCallback
+	: PCMHeightfieldContactGenerationCallback< PCMConvexVsHeightfieldContactGenerationCallback >
+{
+	PCMConvexVsHeightfieldContactGenerationCallback& operator=(const PCMConvexVsHeightfieldContactGenerationCallback&);
+public:
+	PCMConvexVsMeshContactGeneration		mGeneration;
+
+	PCMConvexVsHeightfieldContactGenerationCallback(
+		const Ps::aos::FloatVArg				contactDistance,
+		const Ps::aos::FloatVArg				replaceBreakingThreshold,
+		const Gu::PolygonalData&				polyData,
+		SupportLocal*							polyMap,
+		const Cm::FastVertex2ShapeScaling&		convexScaling,
+		bool									idtConvexScale,
+		const PsTransformV&						convexTransform, 
+		const PsTransformV&						heightfieldTransform,
+		const PxTransform&						heightfieldTransform1,
+		Gu::MultiplePersistentContactManifold&	multiManifold,
+		Gu::ContactBuffer&						contactBuffer,
+		Gu::HeightFieldUtil&					hfUtil,
+		Ps::InlineArray<PxU32,LOCAL_CONTACTS_SIZE>&	delayedContacts,
+		Cm::RenderOutput*						renderOutput = NULL
+		
+	) :
+		PCMHeightfieldContactGenerationCallback< PCMConvexVsHeightfieldContactGenerationCallback >(hfUtil, heightfieldTransform1),
+		mGeneration(contactDistance, replaceBreakingThreshold, convexTransform, heightfieldTransform,  multiManifold,
+			contactBuffer, polyData, polyMap, delayedContacts, convexScaling, idtConvexScale, renderOutput)
+	{
+	}
+
+	template<PxU32 CacheSize>
+	void processTriangleCache(Gu::TriangleCache<CacheSize>& cache)
+	{
+		mGeneration.processTriangleCache<CacheSize, PCMConvexVsMeshContactGeneration>(cache);
+	}
+	
+};
+
+bool Gu::PCMContactConvexHeightfield(
+	const Gu::PolygonalData& polyData, Gu::SupportLocal* polyMap, const Ps::aos::FloatVArg minMargin,
+	const PxBounds3& hullAABB, const PxHeightFieldGeometry& shapeHeightfield,
+	const PxTransform& transform0, const PxTransform& transform1,
+	PxReal contactDistance, Gu::ContactBuffer& contactBuffer,
+	const Cm::FastVertex2ShapeScaling& convexScaling, bool idtConvexScale,
+	Gu::MultiplePersistentContactManifold& multiManifold, Cm::RenderOutput* renderOutput)
+
+{
+
+	using namespace Ps::aos;
+	using namespace Gu;
+
+	const QuatV q0 = QuatVLoadA(&transform0.q.x);
+	const Vec3V p0 = V3LoadA(&transform0.p.x);
+
+	const QuatV q1 = QuatVLoadA(&transform1.q.x);
+	const Vec3V p1 = V3LoadA(&transform1.p.x);
+
+	const FloatV contactDist = FLoad(contactDistance);
+	//Transfer A into the local space of B
+	const PsTransformV convexTransform(p0, q0);//box
+	const PsTransformV heightfieldTransform(p1, q1);//heightfield  
+	const PsTransformV curTransform = heightfieldTransform.transformInv(convexTransform);
+	
+
+	if(multiManifold.invalidate(curTransform, minMargin))
+	{
+		const FloatV replaceBreakingThreshold = FMul(minMargin, FLoad(0.05f));
+		multiManifold.mNumManifolds = 0;
+		multiManifold.setRelativeTransform(curTransform); 
+
+		////////////////////
+
+		const PxTransform t0to1 = transform1.transformInv(transform0);
+		
+		const Gu::HeightField& hf = *static_cast<Gu::HeightField*>(shapeHeightfield.heightField);
+		Gu::HeightFieldUtil hfUtil(shapeHeightfield, hf);
+
+		//Gu::HeightFieldUtil hfUtil(shapeHeightfield);
+
+		////////////////////
+
+		/*const Cm::Matrix34 world0(transform0);
+		const Cm::Matrix34 world1(transform1);
+
+		const PxU8* PX_RESTRICT extraData = meshData->mExtraTrigData;*/
+
+	    Ps::InlineArray<PxU32,LOCAL_CONTACTS_SIZE> delayedContacts;
+			
+		PCMConvexVsHeightfieldContactGenerationCallback blockCallback(
+			contactDist,
+			replaceBreakingThreshold,
+			polyData,
+			polyMap, 
+			convexScaling, 
+			idtConvexScale,
+			convexTransform, 
+			heightfieldTransform,
+			transform1,
+			multiManifold,
+			contactBuffer,
+			hfUtil,
+			delayedContacts,
+			renderOutput
+		);
+
+		hfUtil.overlapAABBTriangles(transform1, PxBounds3::transformFast(t0to1, hullAABB), 0, &blockCallback);
+
+		PX_ASSERT(multiManifold.mNumManifolds <= GU_MAX_MANIFOLD_SIZE);
+		blockCallback.mGeneration.generateLastContacts();
+		blockCallback.mGeneration.processContacts(GU_SINGLE_MANIFOLD_CACHE_SIZE, false);
+	}
+	else
+	{
+		const PsMatTransformV aToB(curTransform);
+
+		const FloatV projectBreakingThreshold = FMul(minMargin, FLoad(0.6f));
+		multiManifold.refreshManifold(aToB, projectBreakingThreshold, contactDist);
+	}
+
+#if PCM_LOW_LEVEL_DEBUG
+	 multiManifold.drawManifold(*renderOutput, convexTransform, heightfieldTransform);
+#endif
+	return multiManifold.addManifoldContactsToContactBuffer(contactBuffer, heightfieldTransform);
+
+}
+
+
+bool Gu::pcmContactConvexHeightField(GU_CONTACT_METHOD_ARGS)
+{
+	using namespace Ps::aos;
+	
+	const PxConvexMeshGeometryLL& shapeConvex = shape0.get<const PxConvexMeshGeometryLL>();
+	const physx::PxHeightFieldGeometryLL& shapHeightField = shape1.get<const PxHeightFieldGeometryLL>();
+
+	const Gu::ConvexHullData* hullData = shapeConvex.hullData;
+	Gu::MultiplePersistentContactManifold& multiManifold = cache.getMultipleManifold();
+
+	const QuatV q0 = QuatVLoadA(&transform0.q.x);
+	const Vec3V p0 = V3LoadA(&transform0.p.x);
+
+	const PsTransformV convexTransform(p0, q0);
+
+	//const bool idtScaleMesh = shapeMesh.scale.isIdentity();
+
+	//Cm::FastVertex2ShapeScaling meshScaling;
+	//if(!idtScaleMesh)
+	//	meshScaling.init(shapeMesh.scale);
+
+	Cm::FastVertex2ShapeScaling convexScaling;
+	PxBounds3 hullAABB;
+	PolygonalData polyData;
+	const bool idtScaleConvex = getPCMConvexData(shape0, convexScaling, hullAABB, polyData);
+
+	const Vec3V vScale = V3LoadU_SafeReadW(shapeConvex.scale.scale);	// PT: safe because 'rotation' follows 'scale' in PxMeshScale
+	const FloatV convexMargin = Gu::CalculatePCMConvexMargin(hullData, vScale);
+	const FloatV epsilon = FLoad(GU_PCM_MESH_MANIFOLD_EPSILON);
+	const FloatV toleranceLength = FLoad(params.mToleranceLength);
+	const FloatV toleranceMargin = FMul(epsilon, toleranceLength);
+	const FloatV minMargin = FMin(convexMargin, toleranceMargin);
+
+	const QuatV vQuat = QuatVLoadU(&shapeConvex.scale.rotation.x);
+	Gu::ConvexHullV convexHull(hullData, V3Zero(), vScale, vQuat, shapeConvex.scale.isIdentity());
+
+	if(idtScaleConvex)
+	{
+		SupportLocalShrunkImpl<Gu::ConvexHullNoScaleV, Gu::ShrunkConvexHullNoScaleV> convexMap(static_cast<ConvexHullNoScaleV&>(convexHull), convexTransform, convexHull.vertex2Shape, convexHull.shape2Vertex, idtScaleConvex);
+		return Gu::PCMContactConvexHeightfield(polyData, &convexMap, minMargin, hullAABB, shapHeightField, transform0, transform1, params.mContactDistance, contactBuffer, convexScaling, 
+			idtScaleConvex, multiManifold, renderOutput);
+	}
+	else
+	{
+		SupportLocalShrunkImpl<Gu::ConvexHullV, Gu::ShrunkConvexHullV> convexMap(convexHull, convexTransform, convexHull.vertex2Shape, convexHull.shape2Vertex, idtScaleConvex);
+		return Gu::PCMContactConvexHeightfield(polyData, &convexMap, minMargin, hullAABB, shapHeightField, transform0, transform1, params.mContactDistance, contactBuffer, convexScaling, 
+			idtScaleConvex, multiManifold, renderOutput);
+	}
+}  
+
+bool Gu::pcmContactBoxHeightField(GU_CONTACT_METHOD_ARGS)
+{
+	using namespace Ps::aos;
+
+	MultiplePersistentContactManifold& multiManifold = cache.getMultipleManifold();
+
+	const PxBoxGeometry& shapeBox = shape0.get<const PxBoxGeometry>();
+	const physx::PxHeightFieldGeometryLL& shapHeightField = shape1.get<const PxHeightFieldGeometryLL>();
+
+	const PxVec3 ext = shapeBox.halfExtents + PxVec3(params.mContactDistance);
+	const PxBounds3 hullAABB(-ext, ext);
+
+	Cm::FastVertex2ShapeScaling idtScaling;
+
+	const QuatV q0 = QuatVLoadA(&transform0.q.x);
+	const Vec3V p0 = V3LoadA(&transform0.p.x);
+
+	const Vec3V boxExtents = V3LoadU(shapeBox.halfExtents);
+	const FloatV boxMargin = Gu::CalculatePCMBoxMargin(boxExtents);
+
+	const FloatV epsilon = FLoad(GU_PCM_MESH_MANIFOLD_EPSILON);
+	const FloatV toleranceLength = FLoad(params.mToleranceLength);
+	const FloatV toleranceMargin = FMul(epsilon, toleranceLength);
+	const FloatV minMargin = FMin(boxMargin, toleranceMargin);
+
+	Gu::BoxV boxV(V3Zero(), boxExtents);
+
+	const PsTransformV boxTransform(p0, q0);//box
+
+	Gu::PolygonalData polyData;
+	Gu::PCMPolygonalBox polyBox(shapeBox.halfExtents);
+	polyBox.getPolygonalData(&polyData);
+
+	Mat33V identity =  M33Identity();
+	//SupportLocalImpl<Gu::BoxV> boxMap(boxV, boxTransform, identity, identity);
+	SupportLocalShrunkImpl<Gu::BoxV, Gu::ShrunkBoxV> boxMap(boxV, boxTransform, identity, identity, true);
+
+	return Gu::PCMContactConvexHeightfield(polyData, &boxMap, minMargin, hullAABB, shapHeightField, transform0, transform1, params.mContactDistance, contactBuffer, 
+		idtScaling, true, multiManifold, renderOutput);
+}
+}