Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 210 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMShapeConvex.cpp b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMShapeConvex.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 "GuPCMShapeConvex.h"
+#include "GuVecConvexHull.h"
+#include "GuPCMContactGen.h"
+#include "CmRenderOutput.h"
+
+using namespace physx;
+using namespace Gu;
+
+namespace physx
+{
+namespace Gu
+{
+	const PxU8 gPCMBoxPolygonData[24] = 
+	{
+		0, 3, 2, 1,
+		1, 2, 6, 5,
+		5, 6, 7, 4,
+		4, 7, 3, 0,
+		3, 7, 6, 2,
+		4, 0, 1, 5,
+	};
+
+
+   Gu::PCMPolygonalBox::PCMPolygonalBox(const PxVec3& halfSide) : mHalfSide(halfSide)
+	{
+		//Precompute the convex data
+		//     7+------+6			0 = ---
+		//     /|     /|			1 = +--
+		//    / |    / |			2 = ++-
+		//   / 4+---/--+5			3 = -+-
+		// 3+------+2 /    y   z	4 = --+
+		//  | /    | /     |  /		5 = +-+
+		//  |/     |/      |/		6 = +++
+		// 0+------+1      *---x	7 = -++
+
+		PxVec3 minimum = -mHalfSide;
+		PxVec3 maximum = mHalfSide;
+		// Generate 8 corners of the bbox
+		mVertices[0] = PxVec3(minimum.x, minimum.y, minimum.z);
+		mVertices[1] = PxVec3(maximum.x, minimum.y, minimum.z);
+		mVertices[2] = PxVec3(maximum.x, maximum.y, minimum.z);
+		mVertices[3] = PxVec3(minimum.x, maximum.y, minimum.z);
+		mVertices[4] = PxVec3(minimum.x, minimum.y, maximum.z);
+		mVertices[5] = PxVec3(maximum.x, minimum.y, maximum.z);
+		mVertices[6] = PxVec3(maximum.x, maximum.y, maximum.z);
+		mVertices[7] = PxVec3(minimum.x, maximum.y, maximum.z);
+
+		//Setup the polygons
+		for(PxU8 i=0; i < 6; i++)
+		{
+			mPolygons[i].mNbVerts = 4;
+			mPolygons[i].mVRef8 = PxU16(i*4);
+		}
+
+		// ### planes needs *very* careful checks
+		// X axis
+		mPolygons[1].mPlane.n = PxVec3(1.0f, 0.0f, 0.0f);
+		mPolygons[1].mPlane.d = -mHalfSide.x;
+		mPolygons[3].mPlane.n = PxVec3(-1.0f, 0.0f, 0.0f);
+		mPolygons[3].mPlane.d = -mHalfSide.x;
+		
+		mPolygons[1].mMinIndex = 0;
+		mPolygons[3].mMinIndex = 1;
+
+		PX_ASSERT(mPolygons[1].getMin(mVertices) == -mHalfSide.x); 
+		PX_ASSERT(mPolygons[3].getMin(mVertices) == -mHalfSide.x);
+
+
+		// Y axis
+		mPolygons[4].mPlane.n = PxVec3(0.f, 1.0f, 0.0f);
+		mPolygons[4].mPlane.d = -mHalfSide.y;
+		mPolygons[5].mPlane.n = PxVec3(0.0f, -1.0f, 0.0f);
+		mPolygons[5].mPlane.d = -mHalfSide.y;
+
+		mPolygons[4].mMinIndex = 0;
+		mPolygons[5].mMinIndex = 2;
+
+
+		PX_ASSERT(mPolygons[4].getMin(mVertices) == -mHalfSide.y); 
+		PX_ASSERT(mPolygons[5].getMin(mVertices) == -mHalfSide.y);
+
+		// Z axis
+		mPolygons[2].mPlane.n = PxVec3(0.f, 0.0f, 1.0f);
+		mPolygons[2].mPlane.d = -mHalfSide.z;
+		mPolygons[0].mPlane.n = PxVec3(0.0f, 0.0f, -1.0f);
+		mPolygons[0].mPlane.d = -mHalfSide.z;
+
+		mPolygons[2].mMinIndex = 0;
+		mPolygons[0].mMinIndex = 4;
+		PX_ASSERT(mPolygons[2].getMin(mVertices) == -mHalfSide.z); 
+		PX_ASSERT(mPolygons[0].getMin(mVertices) == -mHalfSide.z);
+	}
+
+   void Gu::PCMPolygonalBox::getPolygonalData(Gu::PolygonalData* PX_RESTRICT dst) const
+	{
+		dst->mCenter				= PxVec3(0.0f, 0.0f, 0.0f);
+		dst->mNbVerts				= 8;
+		dst->mNbPolygons			= 6;
+		dst->mPolygons				= mPolygons;
+		dst->mNbEdges				= 0;
+		dst->mVerts					= mVertices;
+		dst->mPolygonVertexRefs		= gPCMBoxPolygonData;
+		dst->mFacesByEdges			= NULL;
+		dst->mVerticesByEdges		= NULL;
+		dst->mInternal.mRadius		= 0.0f;
+		dst->mInternal.mExtents[0]	= 0.0f;
+		dst->mInternal.mExtents[1]	= 0.0f;
+		dst->mInternal.mExtents[2]	= 0.0f;
+	}
+
+	static void getPCMPolygonalData_Convex(Gu::PolygonalData* PX_RESTRICT dst, const Gu::ConvexHullData* PX_RESTRICT src, const Ps::aos::Mat33V& vertexToShape)
+	{
+		using namespace Ps::aos;
+		const Vec3V vertexSpaceCenterOfMass = V3LoadU(src->mCenterOfMass);
+		const Vec3V shapeSpaceCenterOfMass = M33MulV3(vertexToShape, vertexSpaceCenterOfMass);
+		V3StoreU(shapeSpaceCenterOfMass, dst->mCenter);
+		dst->mNbVerts			= src->mNbHullVertices;
+		dst->mNbPolygons		= src->mNbPolygons;
+		dst->mNbEdges			= src->mNbEdges;
+		dst->mPolygons			= src->mPolygons;
+		dst->mVerts				= src->getHullVertices();
+		dst->mPolygonVertexRefs	= src->getVertexData8();
+		dst->mFacesByEdges		= src->getFacesByEdges8();
+		dst->mVerticesByEdges   = src->getVerticesByEdges16();
+
+		dst->mBigData			= src->mBigConvexRawData;
+
+		dst->mInternal			= src->mInternal;
+	}
+
+
+	static void getPCMPolygonalData_Convex(Gu::PolygonalData* PX_RESTRICT dst, const Gu::ConvexHullData* PX_RESTRICT src, const Cm::FastVertex2ShapeScaling& scaling)
+	{
+		dst->mCenter			= scaling * src->mCenterOfMass;
+		dst->mNbVerts			= src->mNbHullVertices;
+		dst->mNbPolygons		= src->mNbPolygons;
+		dst->mNbEdges			= src->mNbEdges;
+		dst->mPolygons			= src->mPolygons;
+		dst->mVerts				= src->getHullVertices();
+		dst->mPolygonVertexRefs	= src->getVertexData8();
+		dst->mFacesByEdges		= src->getFacesByEdges8();
+		dst->mVerticesByEdges   = src->getVerticesByEdges16();
+
+		dst->mBigData			= src->mBigConvexRawData;
+		dst->mInternal			= src->mInternal;
+	}
+
+
+	void getPCMConvexData(const Gu::ConvexHullV& convexHull, const bool idtScale, PolygonalData& polyData)
+	{
+	
+		PX_ASSERT(!convexHull.hullData->mAABB.isEmpty());  
+
+		//this is used to calculate the convex hull's center of mass
+		getPCMPolygonalData_Convex(&polyData, convexHull.hullData, convexHull.vertex2Shape);
+
+		if(!idtScale)
+			polyData.mInternal.reset();
+
+	}
+     
+	bool getPCMConvexData(const Gu::GeometryUnion& shape, Cm::FastVertex2ShapeScaling& scaling, PxBounds3& bounds, PolygonalData& polyData)
+	{
+		const PxConvexMeshGeometryLL& shapeConvex = shape.get<const PxConvexMeshGeometryLL>();
+
+		const bool idtScale = shapeConvex.scale.isIdentity();
+		if(!idtScale)
+			scaling.init(shapeConvex.scale);
+
+		PX_ASSERT(!shapeConvex.hullData->mAABB.isEmpty());
+		bounds = shapeConvex.hullData->mAABB.transformFast(scaling.getVertex2ShapeSkew());
+
+		getPCMPolygonalData_Convex(&polyData, shapeConvex.hullData, scaling);
+
+		return idtScale;
+	}
+
+}
+}
+