Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 158 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/sweep/GuSweepBoxSphere.cpp b/PhysX_3.4/Source/GeomUtils/src/sweep/GuSweepBoxSphere.cpp
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+++ b/PhysX_3.4/Source/GeomUtils/src/sweep/GuSweepBoxSphere.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 "GuSweepBoxSphere.h"
+#include "GuOverlapTests.h"
+#include "GuSphere.h"
+#include "GuBoxConversion.h"
+#include "GuCapsule.h"
+#include "GuIntersectionRayCapsule.h"
+#include "GuIntersectionRayBox.h"
+#include "GuIntersectionSphereBox.h"
+#include "GuDistancePointSegment.h"
+#include "GuInternal.h"
+
+using namespace physx;
+using namespace Gu;
+using namespace Cm;
+
+namespace
+{
+// PT: TODO: get rid of this copy
+static const PxVec3 gNearPlaneNormal[] = 
+{
+	PxVec3(1.0f, 0.0f, 0.0f),
+	PxVec3(0.0f, 1.0f, 0.0f),
+	PxVec3(0.0f, 0.0f, 1.0f),
+	PxVec3(-1.0f, 0.0f, 0.0f),
+	PxVec3(0.0f, -1.0f, 0.0f),
+	PxVec3(0.0f, 0.0f, -1.0f)
+};
+
+}
+
+bool Gu::sweepBoxSphere(const Box& box, PxReal sphereRadius, const PxVec3& spherePos, const PxVec3& dir, PxReal length, PxReal& min_dist, PxVec3& normal, PxHitFlags hitFlags)
+{
+	if(!(hitFlags & PxHitFlag::eASSUME_NO_INITIAL_OVERLAP))
+	{
+		// PT: test if shapes initially overlap
+		if(intersectSphereBox(Sphere(spherePos, sphereRadius), box))
+		{
+			// Overlap
+			min_dist	= 0.0f;
+			normal		= -dir;
+			return true;
+		}
+	}
+
+	PxVec3 boxPts[8];
+	box.computeBoxPoints(boxPts);
+	const PxU8* PX_RESTRICT edges = getBoxEdges();
+	PxReal MinDist = length;
+	bool Status = false;
+	for(PxU32 i=0; i<12; i++)
+	{
+		const PxU8 e0 = *edges++;
+		const PxU8 e1 = *edges++;
+		const Capsule capsule(boxPts[e0], boxPts[e1], sphereRadius);
+
+		PxReal t;
+		if(intersectRayCapsule(spherePos, dir, capsule, t))
+		{
+			if(t>=0.0f && t<=MinDist)
+			{
+				MinDist = t;
+
+				const PxVec3 ip = spherePos + t*dir;
+				distancePointSegmentSquared(capsule, ip, &t);
+
+				PxVec3 ip2;
+				capsule.computePoint(ip2, t);
+
+				normal = (ip2 - ip);
+				normal.normalize();
+				Status = true;
+			}
+		}
+	}
+
+	PxVec3 localPt;
+	{
+		Matrix34 M2;
+		buildMatrixFromBox(M2, box);
+
+		localPt = M2.rotateTranspose(spherePos - M2.p);
+	}
+
+	const PxVec3* boxNormals = gNearPlaneNormal;
+
+	const PxVec3 localDir = box.rotateInv(dir);
+
+	// PT: when the box exactly touches the sphere, the test for initial overlap can fail on some platforms.
+	// In this case we reach the sweep code below, which may return a slightly negative time of impact (it should be 0.0
+	// but it ends up a bit negative because of limited FPU accuracy). The epsilon ensures that we correctly detect a hit
+	// in this case.
+	const PxReal epsilon = -1e-5f;
+
+	PxReal tnear, tfar;
+
+	PxVec3 extents = box.extents;
+	extents.x += sphereRadius;
+	int plane = intersectRayAABB(-extents, extents, localPt, localDir, tnear, tfar);
+	if(plane!=-1 && tnear>=epsilon && tnear <= MinDist)
+	{
+		MinDist = PxMax(tnear, 0.0f);
+		normal = box.rotate(boxNormals[plane]);
+		Status = true;
+	}
+
+	extents = box.extents;
+	extents.y += sphereRadius;
+	plane = intersectRayAABB(-extents, extents, localPt, localDir, tnear, tfar);
+	if(plane!=-1 && tnear>=epsilon && tnear <= MinDist)
+	{
+		MinDist = PxMax(tnear, 0.0f);
+		normal = box.rotate(boxNormals[plane]);
+		Status = true;
+	}
+
+	extents = box.extents;
+	extents.z += sphereRadius;
+	plane = intersectRayAABB(-extents, extents, localPt, localDir, tnear, tfar);
+	if(plane!=-1 && tnear>=epsilon && tnear <= MinDist)
+	{
+		MinDist = PxMax(tnear, 0.0f);
+		normal = box.rotate(boxNormals[plane]);
+		Status = true;
+	}
+
+	min_dist = MinDist;
+
+	return Status;
+}