Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 159 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactPlaneConvex.cpp b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactPlaneConvex.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 "GuVecConvexHull.h"
+#include "GuGeometryUnion.h"
+
+#include "GuContactMethodImpl.h"
+#include "GuContactBuffer.h"
+#include "GuPersistentContactManifold.h"
+
+
+namespace physx
+{
+namespace Gu
+{
+bool pcmContactPlaneConvex(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 PxConvexMeshGeometryLL& shapeConvex = shape1.get<const PxConvexMeshGeometryLL>();
+
+	const PsTransformV transf0 = loadTransformA(transform1);//convex transform
+	const PsTransformV transf1 = loadTransformA(transform0);//plane transform
+	//convex to plane
+	const PsTransformV curTransf(transf1.transformInv(transf0));
+	
+	const Vec3V vScale = V3LoadU_SafeReadW(shapeConvex.scale.scale);	// PT: safe because 'rotation' follows 'scale' in PxMeshScale
+	const Gu::ConvexHullData* hullData = shapeConvex.hullData;
+	const FloatV convexMargin = Gu::CalculatePCMConvexMargin(hullData, vScale);
+	
+
+	//in world space
+	const Vec3V planeNormal = V3Normalize(QuatGetBasisVector0(transf1.q));
+	const Vec3V negPlaneNormal = V3Neg(planeNormal);
+	
+
+	const FloatV contactDist = FLoad(params.mContactDistance);
+
+	//const FloatV replaceBreakingThreshold = FMul(convexMargin, FLoad(0.001f));
+	const FloatV projectBreakingThreshold = FMul(convexMargin, 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, convexMargin))
+	if(bLostContacts || manifold.invalidate_PrimitivesPlane(curTransf, convexMargin, FLoad(0.2f)))
+	{
+		const PsMatTransformV aToB(curTransf);
+		const QuatV vQuat = QuatVLoadU(&shapeConvex.scale.rotation.x);
+
+		const Mat33V vertex2Shape = ConstructVertex2ShapeMatrix(vScale, vQuat);
+		
+		//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 PxVec3* PX_RESTRICT verts = hullData->getHullVertices();
+		const PxU8 numVerts = hullData->mNbHullVertices;
+
+		Gu::PersistentContact* manifoldContacts = PX_CP_TO_PCP(contactBuffer.contacts);
+		PxU32 numContacts = 0;
+		
+		const PsMatTransformV aToBVertexSpace(aToB.p, M33MulM33(aToB.rot, vertex2Shape));
+		//brute force each points
+		for(PxU8 i=0; i<numVerts; ++i)
+		{
+			//in the vertex space of convex
+			const Vec3V pInVertexSpace = V3LoadU(verts[i]);
+			
+			//transform p into plane space
+			const Vec3V pInPlaneSpace = aToBVertexSpace.transform(pInVertexSpace);//V3Add(aToB.p, M33MulV3(temp1, pInVertexSpace));
+		
+			const FloatV signDist = V3GetX(pInPlaneSpace);
+			
+			if(FAllGrtr(contactDist, signDist))
+			{
+				//transform p into shape space
+				const Vec3V pInShapeSpace = M33MulV3(vertex2Shape, pInVertexSpace);
+				//add to manifold
+				
+				manifoldContacts[numContacts].mLocalPointA = pInShapeSpace;
+				manifoldContacts[numContacts].mLocalPointB = V3NegScaleSub(localNormal, signDist, pInPlaneSpace); 
+				manifoldContacts[numContacts++].mLocalNormalPen = V4SetW(Vec4V_From_Vec3V(localNormal), signDist);
+
+				if(numContacts >= Gu::ContactBuffer::MAX_CONTACTS)
+				{
+					//ML: number of contacts are more than MAX_CONTACTS, we need to force contact reduction
+					manifold.reduceBatchContacts(manifoldContacts, numContacts);
+					numContacts = GU_MANIFOLD_CACHE_SIZE;
+					for(PxU32 j=0; j<GU_MANIFOLD_CACHE_SIZE; ++j)
+					{
+						manifoldContacts[j] = manifold.mContactPoints[j];
+					}
+				}
+			}
+		}
+
+		//reduce contacts
+		manifold.addBatchManifoldContacts(manifoldContacts, numContacts);
+		manifold.addManifoldContactsToContactBuffer(contactBuffer, negPlaneNormal, transf1, contactDist);
+#if	PCM_LOW_LEVEL_DEBUG
+		manifold.drawManifold(*renderOutput, transf0, transf1);
+#endif
+
+		return manifold.getNumContacts() > 0;
+	}
+	else
+	{
+		manifold.addManifoldContactsToContactBuffer(contactBuffer, negPlaneNormal, transf1, contactDist);
+#if	PCM_LOW_LEVEL_DEBUG
+		manifold.drawManifold(*renderOutput, transf0, transf1);
+#endif
+		return manifold.getNumContacts() > 0;
+	}	
+}
+
+}//Gu
+}//physx