Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 155 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactSphereHeightField.cpp b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactSphereHeightField.cpp
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index 00000000..cebb8142
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+++ b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactSphereHeightField.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 "GuVecShrunkBox.h"
+#include "GuVecConvexHull.h"
+#include "GuVecConvexHullNoScale.h"
+#include "GuVecTriangle.h"
+#include "GuGeometryUnion.h"
+
+#include "GuContactMethodImpl.h"
+#include "PxTriangleMesh.h"
+#include "GuContactBuffer.h"
+#include "GuHeightField.h"
+#include "GuPCMContactConvexCommon.h"
+#include "GuPCMContactMeshCallback.h"
+
+using namespace physx;
+using namespace Gu;
+using namespace physx::shdfnd::aos;
+
+namespace physx
+{
+
+struct PCMSphereVsHeightfieldContactGenerationCallback :  PCMHeightfieldContactGenerationCallback<PCMSphereVsHeightfieldContactGenerationCallback>
+{
+
+public:
+	PCMSphereVsMeshContactGeneration		mGeneration;
+
+	PCMSphereVsHeightfieldContactGenerationCallback(
+		const Ps::aos::Vec3VArg		sphereCenter,
+		const Ps::aos::FloatVArg	sphereRadius,
+		const Ps::aos::FloatVArg	contactDistance,
+		const Ps::aos::FloatVArg	replaceBreakingThreshold,
+	
+		const PsTransformV& sphereTransform, 
+		const PsTransformV& heightfieldTransform,
+		const PxTransform&	heightfieldTransform1,
+		Gu::MultiplePersistentContactManifold& multiManifold,
+		Gu::ContactBuffer& contactBuffer,
+		Gu::HeightFieldUtil& hfUtil 
+		
+		
+	) :
+		PCMHeightfieldContactGenerationCallback<PCMSphereVsHeightfieldContactGenerationCallback>(hfUtil, heightfieldTransform1),
+		mGeneration(sphereCenter, sphereRadius, contactDistance, replaceBreakingThreshold, sphereTransform, heightfieldTransform, multiManifold, contactBuffer)
+	{
+	}
+
+	template<PxU32 CacheSize>
+	void processTriangleCache(Gu::TriangleCache<CacheSize>& cache)
+	{
+		mGeneration.processTriangleCache<CacheSize, PCMSphereVsMeshContactGeneration>(cache);
+	}
+
+};
+
+
+bool Gu::pcmContactSphereHeightField(GU_CONTACT_METHOD_ARGS)
+{
+	PX_UNUSED(renderOutput);
+
+	const PxSphereGeometry& shapeSphere = shape0.get<const PxSphereGeometry>();
+	const PxHeightFieldGeometryLL& shapeHeight = shape1.get<const PxHeightFieldGeometryLL>();
+
+	Gu::MultiplePersistentContactManifold& multiManifold = cache.getMultipleManifold();
+
+	const QuatV q0 = QuatVLoadA(&transform0.q.x);
+	const Vec3V p0 = 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 contactDist = FLoad(params.mContactDistance);
+	
+	const PsTransformV sphereTransform(p0, q0);//sphere transform
+	const PsTransformV heightfieldTransform(p1, q1);//height feild
+	const PsTransformV curTransform = heightfieldTransform.transformInv(sphereTransform);
+	
+
+	// We must be in local space to use the cache
+
+	if(multiManifold.invalidate(curTransform, sphereRadius, FLoad(0.02f)))
+	{
+		multiManifold.mNumManifolds = 0;
+		multiManifold.setRelativeTransform(curTransform);
+
+		const FloatV replaceBreakingThreshold = FMul(sphereRadius, FLoad(0.001f));
+		const Gu::HeightField& hf = *static_cast<Gu::HeightField*>(shapeHeight.heightField);
+		Gu::HeightFieldUtil hfUtil(shapeHeight, hf);
+		const PxVec3 sphereCenterShape1Space = transform1.transformInv(transform0.p);
+		const Vec3V sphereCenter = V3LoadU(sphereCenterShape1Space);
+		PxReal inflatedRadius = shapeSphere.radius + params.mContactDistance;
+		PxVec3 inflatedRadiusV(inflatedRadius);
+
+		PxBounds3 bounds(sphereCenterShape1Space - inflatedRadiusV, sphereCenterShape1Space + inflatedRadiusV);
+
+		PCMSphereVsHeightfieldContactGenerationCallback blockCallback(
+			sphereCenter,
+			sphereRadius,
+			contactDist,
+			replaceBreakingThreshold,
+			sphereTransform,
+			heightfieldTransform,
+			transform1,
+			multiManifold,
+			contactBuffer,
+			hfUtil);
+
+		hfUtil.overlapAABBTriangles(transform1, bounds, 0, &blockCallback);
+
+		blockCallback.mGeneration.processContacts(GU_SPHERE_MANIFOLD_CACHE_SIZE, false);
+	}
+	else
+	{
+		const PsMatTransformV aToB(curTransform);
+		const FloatV projectBreakingThreshold = FMul(sphereRadius, FLoad(0.05f));
+		const FloatV refereshDistance = FAdd(sphereRadius, contactDist);
+		multiManifold.refreshManifold(aToB, projectBreakingThreshold, refereshDistance);
+
+	}
+
+	return multiManifold.addManifoldContactsToContactBuffer(contactBuffer, sphereTransform, heightfieldTransform, sphereRadius);
+}
+
+
+}