Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 121 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactSphereCapsule.cpp b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactSphereCapsule.cpp
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+++ b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactSphereCapsule.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 "GuVecSphere.h"
+#include "GuVecCapsule.h"
+#include "GuGeometryUnion.h"
+
+#include "GuContactMethodImpl.h"
+#include "GuContactBuffer.h"
+
+
+namespace physx
+{
+
+namespace Gu
+{
+PX_FORCE_INLINE Ps::aos::FloatV PxcDistancePointSegmentSquared(const Ps::aos::Vec3VArg a, const Ps::aos::Vec3VArg b, const Ps::aos::Vec3VArg p, Ps::aos::FloatV& param)
+{
+	using namespace Ps::aos;
+	const FloatV zero = FZero();
+	const FloatV one = FOne();
+
+	const Vec3V ap = V3Sub(p, a);
+	const Vec3V ab = V3Sub(b, a);
+	const FloatV nom = V3Dot(ap, ab);
+	
+	const FloatV denom = V3Dot(ab, ab);
+	const FloatV tValue = FClamp(FMul(nom, FDiv(one, denom)), zero, one);
+
+	const FloatV t = FSel(FIsEq(denom, zero), zero, tValue);
+	const Vec3V v = V3NegScaleSub(ab, t, ap);
+	param = t;
+	return V3Dot(v, v);
+}
+
+bool pcmContactSphereCapsule(GU_CONTACT_METHOD_ARGS)
+{
+	PX_UNUSED(cache);
+	PX_UNUSED(renderOutput);
+
+	using namespace Ps::aos;
+	const PxSphereGeometry& shapeSphere = shape0.get<const PxSphereGeometry>();
+	const PxCapsuleGeometry& shapeCapsule = shape1.get<const PxCapsuleGeometry>();
+
+	//Sphere in world space
+	const Vec3V sphereCenter =  V3LoadA(&transform0.p.x);
+	const QuatV q1 = QuatVLoadA(&transform1.q.x);
+	const Vec3V p1 = V3LoadA(&transform1.p.x);
+
+	const FloatV sphereRadius = FLoad(shapeSphere.radius);
+	const FloatV capsuleRadius = FLoad(shapeCapsule.radius);
+	const FloatV cDist = FLoad(params.mContactDistance);
+
+	//const FloatV r0 = FloatV_From_F32(shapeCapsule.radius);
+	const FloatV halfHeight0 = FLoad(shapeCapsule.halfHeight);
+	const Vec3V basisVector0 = QuatGetBasisVector0(q1);
+	const Vec3V tmp0 = V3Scale(basisVector0, halfHeight0);
+	const Vec3V s = V3Add(p1, tmp0);
+	const Vec3V e = V3Sub(p1, tmp0);
+
+	
+	const FloatV radiusSum = FAdd(sphereRadius, capsuleRadius);
+	const FloatV inflatedSum = FAdd(radiusSum, cDist);
+
+	// Collision detection
+	FloatV t;
+	const FloatV squareDist = PxcDistancePointSegmentSquared(s, e, sphereCenter, t);
+	const FloatV sqInflatedSum = FMul(inflatedSum, inflatedSum);
+
+	if(FAllGrtr(sqInflatedSum, squareDist))//BAllEq(con, bTrue))
+	{
+		const Vec3V p = V3ScaleAdd(V3Sub(e, s), t, s);
+		const Vec3V dir = V3Sub(sphereCenter, p);
+		const Vec3V normal = V3NormalizeSafe(dir, V3UnitX());
+		const Vec3V point = V3NegScaleSub(normal, sphereRadius, sphereCenter);//transform back to the world space
+
+		const FloatV dist = FSub(FSqrt(squareDist), radiusSum);
+		//context.mContactBuffer.contact(point, normal, FSub(FSqrt(squareDist), radiusSum));
+		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(dist, &contact.separation);
+
+		contact.internalFaceIndex1 = PXC_CONTACT_NO_FACE_INDEX;
+
+		return true;
+	}
+	return false;
+}
+}//Gu
+}//physx