Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 86 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactSphereSphere.cpp b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactSphereSphere.cpp
new file mode 100644
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+++ b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactSphereSphere.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 "GuGeometryUnion.h"
+
+#include "GuContactBuffer.h"
+#include "GuContactMethodImpl.h"
+#include "PsVecTransform.h"
+
+namespace physx
+{
+namespace Gu
+{
+bool pcmContactSphereSphere(GU_CONTACT_METHOD_ARGS)
+{
+	PX_UNUSED(cache);
+	PX_UNUSED(renderOutput);
+
+	using namespace Ps::aos;
+	const PxSphereGeometry& shapeSphere0 = shape0.get<const PxSphereGeometry>();
+	const PxSphereGeometry& shapeSphere1 = shape1.get<const PxSphereGeometry>();
+	
+	const FloatV cDist	= FLoad(params.mContactDistance);
+	const Vec3V p0 =  V3LoadA(&transform0.p.x);
+	const Vec3V p1 =  V3LoadA(&transform1.p.x);
+
+	const FloatV r0		= FLoad(shapeSphere0.radius);
+	const FloatV r1		= FLoad(shapeSphere1.radius);
+	
+
+	const Vec3V _delta = V3Sub(p0, p1);
+	const FloatV distanceSq = V3Dot(_delta, _delta);
+	const FloatV radiusSum = FAdd(r0, r1);
+	const FloatV inflatedSum = FAdd(radiusSum, cDist);
+	
+	if(FAllGrtr(FMul(inflatedSum, inflatedSum), distanceSq))
+	{
+		const FloatV eps	=  FLoad(0.00001f);
+		const FloatV nhalf	= FLoad(-0.5f);
+		const FloatV magn = FSqrt(distanceSq);
+		const BoolV bCon = FIsGrtrOrEq(eps, magn);
+		const Vec3V normal = V3Sel(bCon, V3UnitX(), V3ScaleInv(_delta, magn)); 
+		const FloatV scale = FMul(FSub(FAdd(r0, magn), r1), nhalf);
+		const Vec3V point = V3ScaleAdd(normal, scale, p0);
+		const FloatV dist =  FSub(magn, 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