Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 220 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactPlaneBox.cpp b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactPlaneBox.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 "GuGeometryUnion.h"
+#include "GuContactMethodImpl.h"
+#include "GuContactBuffer.h"
+
+#include "GuPersistentContactManifold.h"
+
+namespace physx
+{
+namespace Gu
+{
+bool pcmContactPlaneBox(GU_CONTACT_METHOD_ARGS)
+{
+	PX_UNUSED(shape0);
+	PX_UNUSED(renderOutput);
+
+	using namespace Ps::aos;
+
+	Gu::PersistentContactManifold& manifold = cache.getManifold();
+	Ps::prefetchLine(&manifold, 256);
+
+	// Get actual shape data
+	const PxBoxGeometry& shapeBox = shape1.get<const PxBoxGeometry>();
+
+	const PsTransformV transf0 = loadTransformA(transform1);//box transform
+	const PsTransformV transf1 = loadTransformA(transform0);//plane transform
+
+	//box to plane
+	const PsTransformV curTransf(transf1.transformInv(transf0));
+
+	//in world space
+	const Vec3V negPlaneNormal = V3Normalize(V3Neg(QuatGetBasisVector0(transf1.q)));
+	
+	const FloatV contactDist = FLoad(params.mContactDistance);
+
+	const Vec3V boxExtents = V3LoadU(shapeBox.halfExtents);
+
+	const FloatV boxMargin = CalculatePCMBoxMargin(boxExtents);
+	const FloatV projectBreakingThreshold = FMul(boxMargin, FLoad(0.2f));
+	const PxU32 initialContacts = manifold.mNumContacts;
+	
+	manifold.refreshContactPoints(curTransf, projectBreakingThreshold, contactDist);
+
+	const PxU32 newContacts = manifold.mNumContacts;
+	const bool bLostContacts = (newContacts != initialContacts);//((initialContacts == 0) || (newContacts != initialContacts));
+
+	//PX_UNUSED(bLostContacts);
+	//if(bLostContacts || manifold.invalidate_BoxConvex(curTransf, boxMargin))
+	if(bLostContacts || manifold.invalidate_PrimitivesPlane(curTransf, boxMargin, FLoad(0.2f)))
+	{
+		//ML:localNormal is the local space of plane normal, however, because shape1 is box and shape0 is plane, we need to use the reverse of contact normal(which will be the plane normal) to make the refreshContactPoints
+		//work out the correct pentration for points
+		const Vec3V localNormal = V3UnitX();
+
+		manifold.mNumContacts = 0;
+		manifold.setRelativeTransform(curTransf);
+
+		const PsMatTransformV aToB(curTransf);
+		const FloatV bx = V3GetX(boxExtents);
+		const FloatV by = V3GetY(boxExtents);
+		const FloatV bz = V3GetZ(boxExtents);
+
+		const FloatV nbx = FNeg(bx);
+		const FloatV nby = FNeg(by);
+		const FloatV nbz = FNeg(bz);
+
+		const Vec3V temp0 = V3Scale(aToB.getCol0(), bx);
+		const Vec3V temp1 = V3Scale(aToB.getCol1(), by);
+		const Vec3V temp2 = V3Scale(aToB.getCol2(), bz);
+
+		const Vec3V ntemp2 = V3Neg(temp2);
+
+		const FloatV px = V3GetX(aToB.p);
+
+		//box's points in the local space of plane
+		const Vec3V temp01 = V3Add(temp0, temp1);//(x, y)
+		const Vec3V temp02 = V3Sub(temp0, temp1);//(x, -y)
+
+		const FloatV s0 = V3GetX(V3Add(temp2,	temp01));//(x, y, z)
+		const FloatV s1 = V3GetX(V3Add(ntemp2,	temp01));//(x, y, -z)
+		const FloatV s2 = V3GetX(V3Add(temp2,	temp02));//(x, -y, z)
+		const FloatV s3 = V3GetX(V3Add(ntemp2,	temp02));//(x, -y, -z)
+		const FloatV s4 = V3GetX(V3Sub(temp2,	temp02));//(-x, y, z)
+		const FloatV s5 = V3GetX(V3Sub(ntemp2,	temp02));//(-x, y, -z)
+		const FloatV s6 = V3GetX(V3Sub(temp2,	temp01));//(-x, -y, z)
+		const FloatV s7 = V3GetX(V3Sub(ntemp2,	temp01));//(-x, -y, -z)
+
+		const FloatV acceptanceDist = FSub(contactDist, px);
+
+		Gu::PersistentContact* manifoldContacts = PX_CP_TO_PCP(contactBuffer.contacts);
+		PxU32 numContacts = 0;
+
+		if(FAllGrtr(acceptanceDist, s0))
+		{
+			const FloatV pen = FAdd(s0, px);
+			//(x, y, z)
+			manifoldContacts[numContacts].mLocalPointA = boxExtents;//aToB.transformInv(p); 
+			manifoldContacts[numContacts].mLocalPointB = V3NegScaleSub(localNormal, pen, aToB.transform(boxExtents)); 
+			manifoldContacts[numContacts++].mLocalNormalPen = V4SetW(Vec4V_From_Vec3V(localNormal), pen);
+		}
+	
+		if(FAllGrtr(acceptanceDist, s1))
+		{
+			const FloatV pen = FAdd(s1, px);
+			//(x, y, -z)
+			const Vec3V p = V3Merge(bx, by, nbz);
+			//add to contact stream
+			manifoldContacts[numContacts].mLocalPointA = p;//aToB.transformInv(p); 
+			manifoldContacts[numContacts].mLocalPointB = V3NegScaleSub(localNormal, pen, aToB.transform(p)); 
+			manifoldContacts[numContacts++].mLocalNormalPen = V4SetW(Vec4V_From_Vec3V(localNormal), pen);
+		}
+
+		if(FAllGrtr(acceptanceDist, s2))
+		{
+			const FloatV pen = FAdd(s2, px);
+			//(x, -y, z)
+			const Vec3V p = V3Merge(bx, nby, bz);
+			manifoldContacts[numContacts].mLocalPointA = p;//aToB.transformInv(p); 
+			manifoldContacts[numContacts].mLocalPointB = V3NegScaleSub(localNormal, pen, aToB.transform(p)); 
+			manifoldContacts[numContacts++].mLocalNormalPen = V4SetW(Vec4V_From_Vec3V(localNormal), pen);
+		}
+
+		if(FAllGrtr(acceptanceDist, s3))
+		{
+			const FloatV pen = FAdd(s3, px);
+			//(x, -y, -z)
+			const Vec3V p = V3Merge(bx, nby, nbz);
+			manifoldContacts[numContacts].mLocalPointA = p; 
+			manifoldContacts[numContacts].mLocalPointB = V3NegScaleSub(localNormal, pen, aToB.transform(p)); 
+			manifoldContacts[numContacts++].mLocalNormalPen = V4SetW(Vec4V_From_Vec3V(localNormal), pen);
+		}
+	
+		if(FAllGrtr(acceptanceDist, s4))
+		{
+			const FloatV pen = FAdd(s4, px);
+			//(-x, y, z)
+			const Vec3V p =V3Merge(nbx, by, bz);
+			manifoldContacts[numContacts].mLocalPointA = p;
+			manifoldContacts[numContacts].mLocalPointB = V3NegScaleSub(localNormal, pen, aToB.transform(p)); 
+			manifoldContacts[numContacts++].mLocalNormalPen = V4SetW(Vec4V_From_Vec3V(localNormal), pen);
+		}
+
+		if(FAllGrtr(acceptanceDist, s5))
+		{
+			const FloatV pen = FAdd(s5, px);
+			//(-x, y, -z)
+			const Vec3V p = V3Merge(nbx, by, nbz);
+			manifoldContacts[numContacts].mLocalPointA = p;//aToB.transformInv(p); 
+			manifoldContacts[numContacts].mLocalPointB = V3NegScaleSub(localNormal, pen, aToB.transform(p)); 
+			manifoldContacts[numContacts++].mLocalNormalPen = V4SetW(Vec4V_From_Vec3V(localNormal), pen);
+		}
+
+	
+		if(FAllGrtr(acceptanceDist, s6))
+		{
+			const FloatV pen = FAdd(s6, px);
+			//(-x, -y, z)
+			const Vec3V p = V3Merge(nbx, nby, bz);
+			manifoldContacts[numContacts].mLocalPointA = p;//aToB.transformInv(p); 
+			manifoldContacts[numContacts].mLocalPointB = V3NegScaleSub(localNormal, pen, aToB.transform(p)); 
+			manifoldContacts[numContacts++].mLocalNormalPen = V4SetW(Vec4V_From_Vec3V(localNormal), pen);
+		}
+	
+		if(FAllGrtr(acceptanceDist, s7))
+		{
+			const FloatV pen = FAdd(s7, px);
+			//(-x, -y, -z)
+			const Vec3V p = V3Merge(nbx, nby, nbz);
+			manifoldContacts[numContacts].mLocalPointA = p;
+			manifoldContacts[numContacts].mLocalPointB = V3NegScaleSub(localNormal, pen, aToB.transform(p)); 
+			manifoldContacts[numContacts++].mLocalNormalPen = V4SetW(Vec4V_From_Vec3V(localNormal), pen);
+		}
+		
+		//reduce contacts
+		manifold.addBatchManifoldContactsCluster(manifoldContacts, numContacts);
+		manifold.addManifoldContactsToContactBuffer(contactBuffer, negPlaneNormal, transf1, contactDist);
+
+		return manifold.getNumContacts() > 0;
+	}
+	else
+	{
+		manifold.addManifoldContactsToContactBuffer(contactBuffer, negPlaneNormal, transf1, contactDist);
+		
+		//manifold.drawManifold(*gRenderOutPut, transf0, transf1);
+		return manifold.getNumContacts() > 0;
+	}	
+}
+
+}//Gu
+}//physx