PhysX 3.4, APEX 1.4 patch release @21821222

5 files changed, 20 insertions, 14 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactCapsuleBox.cpp b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactCapsuleBox.cpp
index d2dc305a..ecb94a66 100644
--- a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactCapsuleBox.cpp
+++ b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactCapsuleBox.cpp
@@ -72,7 +72,7 @@ static bool fullContactsGenerationCapsuleBox(const CapsuleV& capsule, const BoxV
 		
 		normal = transf1.rotate(normal);
 		
-		manifold.addManifoldContactsToContactBuffer(contactBuffer, normal, transf0, capsule.radius, contactDist);
+		manifold.addManifoldContactsToContactBuffer(contactBuffer, normal, normal, transf0, capsule.radius, contactDist);
 	
 		return true;
 		
@@ -210,7 +210,7 @@ bool pcmContactCapsuleBox(GU_CONTACT_METHOD_ARGS)
 				manifold.addManifoldPoint2(curRTrans.transformInv(closestA), closestB, localNormalPen, replaceBreakingThreshold);
 				
 				normal = transf1.rotate(normal);
-				manifold.addManifoldContactsToContactBuffer(contactBuffer, normal, transf0, capsuleRadius, contactDist);
+				manifold.addManifoldContactsToContactBuffer(contactBuffer, normal, normal, transf0, capsuleRadius, contactDist);
 			
 				return true;
 			}
@@ -219,7 +219,7 @@ bool pcmContactCapsuleBox(GU_CONTACT_METHOD_ARGS)
 	else if(manifold.getNumContacts() > 0)
 	{
 		const Vec3V worldNormal = manifold.getWorldNormal(transf1);
-		manifold.addManifoldContactsToContactBuffer(contactBuffer, worldNormal, transf0, capsuleRadius, contactDist);
+		manifold.addManifoldContactsToContactBuffer(contactBuffer, worldNormal, worldNormal, transf0, capsuleRadius, contactDist);
 		return true;
 	}
 
diff --git a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactCapsuleConvex.cpp b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactCapsuleConvex.cpp
index ad34a263..fff3a19d 100644
--- a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactCapsuleConvex.cpp
+++ b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactCapsuleConvex.cpp
@@ -70,14 +70,14 @@ static bool fullContactsGenerationCapsuleConvex(const CapsuleV& capsule, const C
 			manifold.addBatchManifoldContacts2(manifoldContacts, numContacts);
 			//transform normal into the world space
 			normal = transf1.rotate(normal);
-			manifold.addManifoldContactsToContactBuffer(contactBuffer, normal, transf0, capsule.radius, contactDist);
+			manifold.addManifoldContactsToContactBuffer(contactBuffer, normal, normal, transf0, capsule.radius, contactDist);
 		}
 		else
 		{
 			if (!doOverlapTest)
 			{
 				normal = transf1.rotate(normal);
-				manifold.addManifoldContactsToContactBuffer(contactBuffer, normal, transf0, capsule.radius, contactDist);
+				manifold.addManifoldContactsToContactBuffer(contactBuffer, normal, normal, transf0, capsule.radius, contactDist);
 			}
 		}
 
@@ -248,7 +248,7 @@ bool pcmContactCapsuleConvex(GU_CONTACT_METHOD_ARGS)
 			{
 				//This contact is either come from GJK or EPA
 				normal = transf1.rotate(normal);
-				manifold.addManifoldContactsToContactBuffer(contactBuffer, normal, transf0, capsuleRadius, contactDist);
+				manifold.addManifoldContactsToContactBuffer(contactBuffer, normal, normal, transf0, capsuleRadius, contactDist);
 #if	PCM_LOW_LEVEL_DEBUG
 				manifold.drawManifold(*renderOutput, transf0, transf1);
 #endif
@@ -259,7 +259,7 @@ bool pcmContactCapsuleConvex(GU_CONTACT_METHOD_ARGS)
 	else if (manifold.getNumContacts() > 0)
 	{
 		normal = manifold.getWorldNormal(transf1);
-		manifold.addManifoldContactsToContactBuffer(contactBuffer, normal, transf0, capsuleRadius, contactDist);
+		manifold.addManifoldContactsToContactBuffer(contactBuffer, normal, normal, transf0, capsuleRadius, contactDist);
 #if	PCM_LOW_LEVEL_DEBUG
 		manifold.drawManifold(*renderOutput, transf0, transf1);
 #endif
diff --git a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactPlaneCapsule.cpp b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactPlaneCapsule.cpp
index be1fb0e3..b300ee73 100644
--- a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactPlaneCapsule.cpp
+++ b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactPlaneCapsule.cpp
@@ -58,7 +58,9 @@ bool pcmContactPlaneCapsule(GU_CONTACT_METHOD_ARGS)
 	const PsTransformV aToB(transf1.transformInv(transf0));
 
 	//in world space
-	const Vec3V negPlaneNormal = V3Normalize(V3Neg(QuatGetBasisVector0(transf1.q)));
+	const Vec3V planeNormal = V3Normalize(QuatGetBasisVector0(transf1.q));
+	const Vec3V contactNormal = V3Neg(planeNormal);
+	
 	//ML:localNormal is the local space of plane normal, however, because shape1 is capulse and shape0 is plane, we need to use the reverse of contact normal(which will be the plane normal) to make the refreshContactPoints
 	//work out the correct pentration for points
 	const Vec3V localNormal = V3UnitX();
@@ -86,7 +88,6 @@ bool pcmContactPlaneCapsule(GU_CONTACT_METHOD_ARGS)
 	const PxU32 newContacts = manifold.mNumContacts;
 	const bool bLostContacts = (newContacts != initialContacts);//((initialContacts == 0) || (newContacts != initialContacts));
 
-	//PX_UNUSED(bLostContacts);
 	if(bLostContacts || manifold.invalidate_PrimitivesPlane(aToB, radius, FLoad(0.02f)))  
 	{
 		manifold.mNumContacts = 0;
@@ -106,20 +107,24 @@ bool pcmContactPlaneCapsule(GU_CONTACT_METHOD_ARGS)
 		if(FAllGrtr(inflatedRadius, signDist1))
 		{
 			const Vec3V localPointA = aToB.transformInv(e);
+			
 			const Vec3V localPointB = V3NegScaleSub(localNormal, signDist1, e);
 			const Vec4V localNormalPen = V4SetW(Vec4V_From_Vec3V(localNormal), signDist1);
 			//add to manifold
 			manifold.addManifoldPoint2(localPointA, localPointB, localNormalPen, replaceBreakingThreshold); 
 		}
 
-		manifold.addManifoldContactsToContactBuffer(contactBuffer, negPlaneNormal, transf0, radius, contactDist);
+		manifold.addManifoldContactsToContactBuffer(contactBuffer, contactNormal, planeNormal, transf0, radius, contactDist);
 
+#if	PCM_LOW_LEVEL_DEBUG
+		manifold.drawManifold(*renderOutput, transf0, transf1);
+#endif
 
 		return manifold.getNumContacts() > 0;
 	}
 	else
 	{
-		manifold.addManifoldContactsToContactBuffer(contactBuffer, negPlaneNormal, transf0, radius, contactDist);
+		manifold.addManifoldContactsToContactBuffer(contactBuffer, contactNormal, planeNormal, transf0, radius, contactDist);
 		return manifold.getNumContacts() > 0;
 	}
 }
diff --git a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPersistentContactManifold.cpp b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPersistentContactManifold.cpp
index 7c144892..f93c703e 100644
--- a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPersistentContactManifold.cpp
+++ b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPersistentContactManifold.cpp
@@ -818,7 +818,8 @@ void Gu::PersistentContactManifold::addManifoldContactsToContactBuffer(Gu::Conta
 	This function is for sphere/capsule vs other primitives. We treat sphere as a point and capsule as a segment in the contact gen and store the sphere center or a point in the segment for capsule
 	in the manifold. 
 */
-void Gu::PersistentContactManifold::addManifoldContactsToContactBuffer(Gu::ContactBuffer& contactBuffer, const Ps::aos::Vec3VArg normal, const Ps::aos::PsTransformV& transf0, const Ps::aos::FloatVArg radius, const Ps::aos::FloatVArg contactOffset)
+void Gu::PersistentContactManifold::addManifoldContactsToContactBuffer(Gu::ContactBuffer& contactBuffer, const Ps::aos::Vec3VArg normal, const Ps::aos::Vec3VArg projectionNormal,
+	const Ps::aos::PsTransformV& transf0, const Ps::aos::FloatVArg radius, const Ps::aos::FloatVArg contactOffset)
 {
 	using namespace Ps::aos;
 
@@ -837,7 +838,7 @@ void Gu::PersistentContactManifold::addManifoldContactsToContactBuffer(Gu::Conta
 		//may introduce noticeable instability.
 		if(FAllGrtrOrEq(contactOffset, dist))
 		{
-			const Vec3V worldP =V3NegScaleSub(normal, radius, transf0.transform(p.mLocalPointA));
+			const Vec3V worldP =V3NegScaleSub(projectionNormal, radius, transf0.transform(p.mLocalPointA));
 
 			Gu::ContactPoint& contact = contactBuffer.contacts[contactCount++];
 			//Fast allign store
diff --git a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPersistentContactManifold.h b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPersistentContactManifold.h
index fbbf581b..e06622da 100644
--- a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPersistentContactManifold.h
+++ b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPersistentContactManifold.h
@@ -341,7 +341,7 @@ public:
 	//This function is for adding box/convexhull manifold contacts to the contact buffer
 	void addManifoldContactsToContactBuffer(Gu::ContactBuffer& contactBuffer, const Ps::aos::Vec3VArg normal, const Ps::aos::PsTransformV& transf1, const Ps::aos::FloatVArg contactOffset);
 	//This function is for adding sphere/capsule manifold contacts to the contact buffer
-	void addManifoldContactsToContactBuffer(Gu::ContactBuffer& contactBuffer, const Ps::aos::Vec3VArg normal, const Ps::aos::PsTransformV& transf0, const Ps::aos::FloatVArg radius, const Ps::aos::FloatVArg contactOffset);
+	void addManifoldContactsToContactBuffer(Gu::ContactBuffer& contactBuffer, const Ps::aos::Vec3VArg normal, const Ps::aos::Vec3VArg projectionNormal, const Ps::aos::PsTransformV& transf0, const Ps::aos::FloatVArg radius, const Ps::aos::FloatVArg contactOffset);
 
 	//get the average normal in the manifold in world space
 	Ps::aos::Vec3V getWorldNormal(const Ps::aos::PsTransformV& trB);