Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 157 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactSphereBox.cpp b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactSphereBox.cpp
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+++ b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactSphereBox.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 "GuGJKWrapper.h"
+#include "GuVecBox.h"
+#include "GuVecSphere.h"
+#include "GuGeometryUnion.h"
+   
+#include "GuContactMethodImpl.h"
+#include "GuContactBuffer.h"
+
+
+
+namespace physx
+{
+
+namespace Gu
+{
+bool pcmContactSphereBox(GU_CONTACT_METHOD_ARGS)
+{
+	PX_UNUSED(renderOutput);
+	PX_UNUSED(cache);
+
+	using namespace Ps::aos;
+	// Get actual shape data
+	const PxSphereGeometry& shapeSphere = shape0.get<const PxSphereGeometry>();
+	const PxBoxGeometry& shapeBox = shape1.get<const PxBoxGeometry>();
+	//
+
+	//const PsTransformV transf0(transform0);
+	const Vec3V sphereOrigin = V3LoadA(&transform0.p.x);
+	//const PsTransformV transf1(transform1);
+
+	const QuatV q1 = QuatVLoadA(&transform1.q.x);
+	const Vec3V p1 = V3LoadA(&transform1.p.x);
+
+	const FloatV radius = FLoad(shapeSphere.radius);
+	
+	const PsTransformV transf1(p1, q1);
+	
+	const FloatV cDist = FLoad(params.mContactDistance);
+
+	const Vec3V boxExtents = V3LoadU(shapeBox.halfExtents);
+
+	//translate sphere center into the box space
+	const Vec3V sphereCenter = transf1.transformInv(sphereOrigin);
+
+	const Vec3V nBoxExtents = V3Neg(boxExtents);
+
+	//const FloatV radSq = FMul(radius, radius);
+
+	const FloatV inflatedSum = FAdd(radius, cDist);
+	const FloatV sqInflatedSum = FMul(inflatedSum, inflatedSum);
+
+	const Vec3V p = V3Clamp(sphereCenter, nBoxExtents, boxExtents);
+	const Vec3V v = V3Sub(sphereCenter, p);
+	const FloatV lengthSq = V3Dot(v, v);
+
+	PX_ASSERT(contactBuffer.count < ContactBuffer::MAX_CONTACTS);
+
+	if(FAllGrtr(sqInflatedSum, lengthSq))//intersect
+	{
+		//check whether the spherCenter is inside the box
+		const BoolV bInsideBox = V3IsGrtrOrEq(boxExtents, V3Abs(sphereCenter));
+		// PT: TODO: ??? revisit this, why do we have both BAllEqTTTT and BAllTrue3?
+		if(BAllEqTTTT(BAllTrue3(bInsideBox)))//sphere center inside the box
+		{
+			//Pick directions and sign
+			const Vec3V absP = V3Abs(p);
+			const Vec3V distToSurface = V3Sub(boxExtents, absP);//dist from embedded center to box surface along 3 dimensions.
+			
+			const FloatV x = V3GetX(distToSurface);
+			const FloatV y = V3GetY(distToSurface);
+			const FloatV z = V3GetZ(distToSurface);
+
+			const Vec3V xV = V3Splat(x);
+			const Vec3V zV = V3Splat(z);
+
+			//find smallest element of distToSurface
+			const BoolV con0 = BAllTrue3(V3IsGrtrOrEq(distToSurface, zV));
+			const BoolV con1 = BAllTrue3(V3IsGrtrOrEq(distToSurface, xV));
+			const Vec3V sign = V3Sign(p);
+	
+			const Vec3V tmpX = V3Mul(V3UnitX(), sign);
+			const Vec3V tmpY = V3Mul(V3UnitY(), sign);
+			const Vec3V tmpZ = V3Mul(V3UnitZ(), sign);
+			
+			const Vec3V locNorm= V3Sel(con0, tmpZ, V3Sel(con1, tmpX, tmpY));////local coords contact normal
+			const FloatV dist = FNeg(FSel(con0, z, FSel(con1, x, y)));
+
+			//separation so far is just the embedding of the center point; we still have to push out all of the radius.
+			const Vec3V point = sphereOrigin;
+			const Vec3V normal = transf1.rotate(locNorm);
+			const FloatV penetration = FSub(dist, radius);
+
+
+			Gu::ContactPoint& contact = contactBuffer.contacts[contactBuffer.count++];
+			V4StoreA(Vec4V_From_Vec3V(normal), &contact.normal.x);
+			V4StoreA(Vec4V_From_Vec3V(point), &contact.point.x);
+			FStore(penetration, &contact.separation);
+
+			contact.internalFaceIndex1 = PXC_CONTACT_NO_FACE_INDEX;
+			//context.mContactBuffer.contact(point, normal, penetration);
+		}
+		else
+		{
+			//get the closest point from the center to the box surface
+			const FloatV recipLength = FRsqrt(lengthSq);
+			const FloatV length = FRecip(recipLength);
+			const Vec3V locNorm = V3Scale(v, recipLength);
+			const FloatV penetration = FSub(length, radius);
+			const Vec3V normal = transf1.rotate(locNorm);
+			const Vec3V point = transf1.transform(p);
+
+			PX_ASSERT(contactBuffer.count < ContactBuffer::MAX_CONTACTS);
+			Gu::ContactPoint& contact = contactBuffer.contacts[contactBuffer.count++];
+			V4StoreA(Vec4V_From_Vec3V(normal), &contact.normal.x);
+			V4StoreA(Vec4V_From_Vec3V(point), &contact.point.x);
+			FStore(penetration, &contact.separation);
+
+			contact.internalFaceIndex1 = PXC_CONTACT_NO_FACE_INDEX;
+
+			//context.mContactBuffer.contact(point, normal, penetration);
+		}
+		return true;
+	}
+	return false;
+}
+
+}//Gu
+}//physx