Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 294 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactSphereConvex.cpp b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactSphereConvex.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 "GuGJKPenetration.h"
+#include "GuEPA.h"
+#include "GuVecCapsule.h"
+#include "GuVecConvexHull.h"
+#include "GuVecConvexHullNoScale.h"
+#include "GuVecShrunkConvexHull.h"
+#include "GuVecShrunkConvexHullNoScale.h"
+#include "GuGeometryUnion.h"
+
+#include "GuContactMethodImpl.h"
+#include "GuContactBuffer.h"
+#include "GuPCMContactGen.h"
+#include "GuPCMShapeConvex.h"
+
+namespace physx
+{
+namespace Gu
+{
+
+static void addToContactBuffer(Gu::ContactBuffer& contactBuffer, const Ps::aos::Vec3VArg worldNormal, const Ps::aos::Vec3VArg worldPoint, const Ps::aos::FloatVArg penDep)
+{
+	using namespace Ps::aos;
+	Gu::ContactPoint& contact = contactBuffer.contacts[contactBuffer.count++];
+	V4StoreA(Vec4V_From_Vec3V(worldNormal), reinterpret_cast<PxF32*>(&contact.normal.x));
+	V4StoreA(Vec4V_From_Vec3V(worldPoint), reinterpret_cast<PxF32*>(&contact.point.x));
+	FStore(penDep, &contact.separation);
+
+	PX_ASSERT(contact.point.isFinite());
+	PX_ASSERT(contact.normal.isFinite());
+	PX_ASSERT(PxIsFinite(contact.separation));
+
+	contact.internalFaceIndex1 = PXC_CONTACT_NO_FACE_INDEX;
+
+}
+
+static bool fullContactsGenerationSphereConvex(const Gu::CapsuleV& capsule, const Gu::ConvexHullV& convexHull, const Ps::aos::PsTransformV& transf0,const Ps::aos::PsTransformV& transf1,
+								Gu::PersistentContact* manifoldContacts, Gu::ContactBuffer& contactBuffer, const bool idtScale, Gu::PersistentContactManifold& manifold, 
+								Ps::aos::Vec3VArg normal, const Ps::aos::FloatVArg contactDist, bool doOverlapTest, Cm::RenderOutput* renderOutput)
+{
+	PX_UNUSED(renderOutput);
+	using namespace Ps::aos;
+	Gu::PolygonalData polyData;
+	getPCMConvexData(convexHull,idtScale, polyData);
+
+	PxU8 buff[sizeof(SupportLocalImpl<ConvexHullV>)];
+	SupportLocal* map = (idtScale ? static_cast<SupportLocal*>(PX_PLACEMENT_NEW(buff, SupportLocalImpl<ConvexHullNoScaleV>)(static_cast<const ConvexHullNoScaleV&>(convexHull), transf1, convexHull.vertex2Shape, convexHull.shape2Vertex, idtScale)) : 
+	static_cast<SupportLocal*>(PX_PLACEMENT_NEW(buff, SupportLocalImpl<ConvexHullV>)(convexHull, transf1, convexHull.vertex2Shape, convexHull.shape2Vertex, idtScale)));
+
+	PxU32 numContacts = 0;
+	if(generateSphereFullContactManifold(capsule, polyData, map, manifoldContacts, numContacts, contactDist, normal, doOverlapTest))
+	{
+
+		if(numContacts > 0)
+		{
+			
+			Gu::PersistentContact& p = manifold.getContactPoint(0);
+
+			p.mLocalPointA = manifoldContacts[0].mLocalPointA;
+			p.mLocalPointB = manifoldContacts[0].mLocalPointB;
+			p.mLocalNormalPen = manifoldContacts[0].mLocalNormalPen;
+			manifold.mNumContacts =1;
+
+			//transform normal to world space
+			const Vec3V worldNormal = transf1.rotate(normal);
+			const Vec3V worldP = V3NegScaleSub(worldNormal, capsule.radius, transf0.p);
+			const FloatV penDep = FSub(V4GetW(manifoldContacts[0].mLocalNormalPen), capsule.radius);
+
+#if	PCM_LOW_LEVEL_DEBUG
+			manifold.drawManifold(*renderOutput, transf0, transf1, capsule.radius);
+#endif
+
+			addToContactBuffer(contactBuffer, worldNormal, worldP, penDep);
+
+			return true;
+		}
+		
+	}
+
+	return false;
+}
+
+bool pcmContactSphereConvex(GU_CONTACT_METHOD_ARGS)
+{
+	using namespace Ps::aos;
+
+	PX_ASSERT(transform1.q.isSane());
+	PX_ASSERT(transform0.q.isSane());
+	
+	
+	const PxConvexMeshGeometryLL& shapeConvex = shape1.get<const PxConvexMeshGeometryLL>();
+	const PxSphereGeometry& shapeSphere = shape0.get<const PxSphereGeometry>();
+
+	Gu::PersistentContactManifold& manifold = cache.getManifold();
+
+	const Vec3V zeroV = V3Zero();
+
+	Ps::prefetchLine(shapeConvex.hullData);
+	const Vec3V vScale = V3LoadU_SafeReadW(shapeConvex.scale.scale);	// PT: safe because 'rotation' follows 'scale' in PxMeshScale
+	const FloatV sphereRadius = FLoad(shapeSphere.radius);
+	const FloatV contactDist = FLoad(params.mContactDistance);
+	const Gu::ConvexHullData* hullData = shapeConvex.hullData;
+	
+	//Transfer A into the local space of B
+	const PsTransformV transf0 = loadTransformA(transform0);
+	const PsTransformV transf1 = loadTransformA(transform1);
+	const PsTransformV curRTrans(transf1.transformInv(transf0));
+	const PsMatTransformV aToB(curRTrans);
+	
+	
+	const FloatV convexMargin = Gu::CalculatePCMConvexMargin(hullData, vScale);
+
+	const PxU32 initialContacts = manifold.mNumContacts;
+	const FloatV minMargin = FMin(convexMargin, sphereRadius);
+	const FloatV projectBreakingThreshold = FMul(minMargin, FLoad(0.05f));
+	
+	const FloatV refreshDistance = FAdd(sphereRadius, contactDist);
+	manifold.refreshContactPoints(aToB, projectBreakingThreshold, refreshDistance);
+	//ML: after refreshContactPoints, we might lose some contacts
+	const bool bLostContacts = (manifold.mNumContacts != initialContacts);
+
+	GjkStatus status = manifold.mNumContacts > 0 ? GJK_UNDEFINED : GJK_NON_INTERSECT;
+
+		
+	Vec3V closestA(zeroV), closestB(zeroV);
+	Vec3V normal(zeroV); // from a to b
+	const FloatV zero = FZero();
+	FloatV penDep = zero;
+
+	PX_UNUSED(bLostContacts);
+
+
+	if(bLostContacts || manifold.invalidate_SphereCapsule(curRTrans, minMargin))
+	{
+
+		manifold.setRelativeTransform(curRTrans);
+		
+		const QuatV vQuat = QuatVLoadU(&shapeConvex.scale.rotation.x);  
+	
+		const bool idtScale = shapeConvex.scale.isIdentity();
+		//use the original shape
+		ConvexHullV convexHull(hullData, zeroV, vScale, vQuat, idtScale);
+		convexHull.setMargin(zero);
+		//transform capsule into the local space of convexHull
+		CapsuleV capsule(aToB.p, sphereRadius);
+
+		LocalConvex<CapsuleV> convexA(capsule);
+		const Vec3V initialSearchDir = V3Sub(capsule.getCenter(), convexHull.getCenter());
+		if(idtScale)
+		{
+			LocalConvex<ConvexHullNoScaleV> convexB(*PX_CONVEX_TO_NOSCALECONVEX(&convexHull));
+			status = gjkPenetration<LocalConvex<CapsuleV>,  LocalConvex<ConvexHullNoScaleV> >(convexA, convexB, initialSearchDir, contactDist, closestA, closestB, normal, penDep, 
+				manifold.mAIndice, manifold.mBIndice, manifold.mNumWarmStartPoints, true);
+		}
+		else
+		{
+			LocalConvex<ConvexHullV> convexB(convexHull);
+			status = gjkPenetration<LocalConvex<CapsuleV>, LocalConvex<ConvexHullV> >(convexA, convexB, initialSearchDir, contactDist, closestA, closestB, normal, penDep,
+				manifold.mAIndice, manifold.mBIndice, manifold.mNumWarmStartPoints, true);
+
+		}
+
+		if(status == GJK_NON_INTERSECT)
+		{
+			return false;
+		}
+		else if(status == GJK_CONTACT)
+		{
+			Gu::PersistentContact& p = manifold.getContactPoint(0);
+			p.mLocalPointA = zeroV;//sphere center
+			p.mLocalPointB = closestB;
+			p.mLocalNormalPen = V4SetW(Vec4V_From_Vec3V(normal), penDep);
+			manifold.mNumContacts =1;
+
+#if	PCM_LOW_LEVEL_DEBUG
+			manifold.drawManifold(*renderOutput, transf0, transf1, capsule.radius);
+#endif
+			
+			//transform normal to world space
+			const Vec3V worldNormal = transf1.rotate(normal);
+			const Vec3V worldP = V3NegScaleSub(worldNormal, sphereRadius, transf0.p);
+			penDep = FSub(penDep, sphereRadius);
+			addToContactBuffer(contactBuffer, worldNormal, worldP, penDep);
+			return true;
+
+		}
+		else if(status == GJK_DEGENERATE)
+		{
+			Gu::PersistentContact* manifoldContacts = PX_CP_TO_PCP(contactBuffer.contacts);
+			
+			return fullContactsGenerationSphereConvex(capsule, convexHull, transf0, transf1, manifoldContacts, contactBuffer, idtScale, 
+				manifold, normal, contactDist, true, renderOutput);
+		}
+		else if(status == EPA_CONTACT)
+		{
+			
+			if(idtScale)
+			{
+				LocalConvex<ConvexHullNoScaleV> convexB(*PX_CONVEX_TO_NOSCALECONVEX(&convexHull));
+				
+				status= Gu::epaPenetration(convexA, convexB, manifold.mAIndice, manifold.mBIndice, manifold.mNumWarmStartPoints,
+						closestA, closestB, normal, penDep, true);
+				
+			}
+			else
+			{
+				LocalConvex<ConvexHullV> convexB(convexHull);
+			
+				status= Gu::epaPenetration(convexA, convexB, manifold.mAIndice, manifold.mBIndice, manifold.mNumWarmStartPoints,
+						closestA, closestB, normal, penDep, true);
+
+			}
+
+			if(status == EPA_CONTACT)
+			{
+				Gu::PersistentContact& p = manifold.getContactPoint(0);
+				p.mLocalPointA = zeroV;//sphere center
+				p.mLocalPointB = closestB;
+				p.mLocalNormalPen = V4SetW(Vec4V_From_Vec3V(normal), penDep);
+				manifold.mNumContacts =1;
+
+#if	PCM_LOW_LEVEL_DEBUG
+				manifold.drawManifold(*renderOutput, transf0, transf1, capsule.radius);
+#endif
+				
+				//transform normal to world space
+				const Vec3V worldNormal = transf1.rotate(normal);
+				const Vec3V worldP = V3NegScaleSub(worldNormal, sphereRadius, transf0.p);
+				penDep = FSub(penDep, sphereRadius);
+
+				addToContactBuffer(contactBuffer, worldNormal, worldP, penDep);
+				return true;
+			}
+			else
+			{
+				Gu::PersistentContact* manifoldContacts = PX_CP_TO_PCP(contactBuffer.contacts);
+				return fullContactsGenerationSphereConvex(capsule, convexHull, transf0, transf1, manifoldContacts,  contactBuffer, idtScale, 
+					manifold, normal, contactDist, true, renderOutput);
+
+			}
+			
+		}
+	}
+	else if(manifold.mNumContacts > 0)
+	{
+		//ML:: the manifold originally has contacts
+		Gu::PersistentContact& p = manifold.getContactPoint(0);
+		const Vec3V worldNormal = transf1.rotate(Vec3V_From_Vec4V(p.mLocalNormalPen));
+		const Vec3V worldP = V3NegScaleSub(worldNormal, sphereRadius, transf0.p);
+		penDep = FSub(V4GetW(p.mLocalNormalPen), sphereRadius);
+
+#if	PCM_LOW_LEVEL_DEBUG
+		manifold.drawManifold(*renderOutput, transf0, transf1, sphereRadius);
+#endif
+	
+		addToContactBuffer(contactBuffer, worldNormal, worldP, penDep);
+		return true;
+	}
+
+	return false;
+
+}  
+}//Gu
+}//phyxs
+