PhysX 3.4, APEX 1.4 patch release @23879214

5 files changed, 12 insertions, 19 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactCapsuleHeightField.cpp b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactCapsuleHeightField.cpp
index 1136d522..8c83b145 100644
--- a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactCapsuleHeightField.cpp
+++ b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactCapsuleHeightField.cpp
@@ -109,9 +109,7 @@ bool Gu::pcmContactCapsuleHeightField(GU_CONTACT_METHOD_ARGS)
 		multiManifold.mNumManifolds = 0;
 		multiManifold.setRelativeTransform(curTransform); 
 
-		const Gu::HeightField& hf = *static_cast<Gu::HeightField*>(shapeHeight.heightField);
-
-		Gu::HeightFieldUtil hfUtil(shapeHeight, hf);
+		Gu::HeightFieldUtil hfUtil(shapeHeight);
 
 		const PxVec3 tmp = getCapsuleHalfHeightVector(transform0, shapeCapsule);
 
diff --git a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactConvexHeightField.cpp b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactConvexHeightField.cpp
index 45bec74c..d7a58bdb 100644
--- a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactConvexHeightField.cpp
+++ b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactConvexHeightField.cpp
@@ -129,10 +129,8 @@ bool Gu::PCMContactConvexHeightfield(
 
 		const PxTransform t0to1 = transform1.transformInv(transform0);
 		
-		const Gu::HeightField& hf = *static_cast<Gu::HeightField*>(shapeHeightfield.heightField);
-		Gu::HeightFieldUtil hfUtil(shapeHeightfield, hf);
-
-		//Gu::HeightFieldUtil hfUtil(shapeHeightfield);
+		Gu::HeightFieldUtil hfUtil(shapeHeightfield);
+		const Gu::HeightField& hf = hfUtil.getHeightField();
 
 		////////////////////
 
diff --git a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactSphereBox.cpp b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactSphereBox.cpp
index 30fda7de..213833f7 100644
--- a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactSphereBox.cpp
+++ b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactSphereBox.cpp
@@ -115,10 +115,9 @@ bool pcmContactSphereBox(GU_CONTACT_METHOD_ARGS)
 			const FloatV dist = FNeg(FSel(con0, z, FSel(con1, x, y)));
 
 			//separation so far is just the embedding of the center point; we still have to push out all of the radius.
-			const Vec3V point = sphereOrigin;
 			const Vec3V normal = transf1.rotate(locNorm);
 			const FloatV penetration = FSub(dist, radius);
-
+			const Vec3V point = V3Sub(sphereOrigin, V3Scale(normal, dist));
 
 			Gu::ContactPoint& contact = contactBuffer.contacts[contactBuffer.count++];
 			V4StoreA(Vec4V_From_Vec3V(normal), &contact.normal.x);
diff --git a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactSphereHeightField.cpp b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactSphereHeightField.cpp
index cce99cd4..f642a751 100644
--- a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactSphereHeightField.cpp
+++ b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactSphereHeightField.cpp
@@ -116,8 +116,7 @@ bool Gu::pcmContactSphereHeightField(GU_CONTACT_METHOD_ARGS)
 		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);
+		Gu::HeightFieldUtil hfUtil(shapeHeight);
 		const PxVec3 sphereCenterShape1Space = transform1.transformInv(transform0.p);
 		const Vec3V sphereCenter = V3LoadU(sphereCenterShape1Space);
 		PxReal inflatedRadius = shapeSphere.radius + params.mContactDistance;
diff --git a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactSphereSphere.cpp b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactSphereSphere.cpp
index c56f4df5..0a18286b 100644
--- a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactSphereSphere.cpp
+++ b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactSphereSphere.cpp
@@ -62,19 +62,18 @@ bool pcmContactSphereSphere(GU_CONTACT_METHOD_ARGS)
 	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);
+		const FloatV dist = FSqrt(distanceSq);
+		const BoolV bCon = FIsGrtrOrEq(eps, dist);
+		const Vec3V normal = V3Sel(bCon, V3UnitX(), V3ScaleInv(_delta, dist));
+
+		const Vec3V point = V3ScaleAdd(normal, r1, p1);
+		const FloatV pen = FSub(dist, 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);
+		FStore(pen, &contact.separation);
 
 		contact.internalFaceIndex1 = PXC_CONTACT_NO_FACE_INDEX;