Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 235 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/sweep/GuSweepBoxTriangle_SAT.h b/PhysX_3.4/Source/GeomUtils/src/sweep/GuSweepBoxTriangle_SAT.h
new file mode 100644
index 00000000..c0c172f0
--- /dev/null
+++ b/PhysX_3.4/Source/GeomUtils/src/sweep/GuSweepBoxTriangle_SAT.h
@@ -0,0 +1,235 @@
+// 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.  
+
+#ifndef GU_SWEEP_BOX_TRIANGLE_SAT_H
+#define GU_SWEEP_BOX_TRIANGLE_SAT_H
+
+#include "GuSweepSharedTests.h"
+#include "PxTriangle.h"
+
+	#define	RetType	int
+	#define	MTDType	bool
+
+namespace physx
+{
+namespace Gu
+{
+
+// We have separation if one of those conditions is true:
+//     -BoxExt > TriMax (box strictly to the right of the triangle)
+//      BoxExt < TriMin (box strictly to the left of the triangle
+// <=>  d0 = -BoxExt - TriMax > 0
+//      d1 = BoxExt - TriMin < 0
+// Hence we have overlap if d0 <= 0 and d1 >= 0
+// overlap = (d0<=0.0f && d1>=0.0f)
+#define TEST_OVERLAP									\
+	const float d0 = -BoxExt - TriMax;					\
+	const float d1 = BoxExt - TriMin;					\
+	const bool bIntersect = (d0<=0.0f && d1>=0.0f);		\
+	bValidMTD &= bIntersect;
+
+	// PT: inlining this one is important. Returning floats looks bad but is faster on Xbox.
+	static PX_FORCE_INLINE RetType testAxis(const PxTriangle& tri, const PxVec3& extents, const PxVec3& dir, const PxVec3& axis, MTDType& bValidMTD, float& tfirst, float& tlast)
+	{
+		const float d0t = tri.verts[0].dot(axis);
+		const float d1t = tri.verts[1].dot(axis);
+		const float d2t = tri.verts[2].dot(axis);
+
+		float TriMin = PxMin(d0t, d1t);
+		float TriMax = PxMax(d0t, d1t);
+		TriMin = PxMin(TriMin, d2t);
+		TriMax = PxMax(TriMax, d2t);
+
+		////////
+
+		const float BoxExt = PxAbs(axis.x)*extents.x + PxAbs(axis.y)*extents.y + PxAbs(axis.z)*extents.z;
+		TEST_OVERLAP
+
+		const float v = dir.dot(axis);
+		if(PxAbs(v) < 1.0E-6f)
+			return bIntersect;
+		const float oneOverV = -1.0f / v;
+
+	//	float t0 = d0 * oneOverV;
+	//	float t1 = d1 * oneOverV;
+	//	if(t0 > t1)	TSwap(t0, t1);
+		const float t0_ = d0 * oneOverV;
+		const float t1_ = d1 * oneOverV;
+		float t0 = PxMin(t0_, t1_);
+		float t1 = PxMax(t0_, t1_);
+
+		if(t0 > tlast)	return false;
+		if(t1 < tfirst)	return false;
+
+	//	if(t1 < tlast)	tlast = t1;
+		tlast = PxMin(t1, tlast);
+
+	//	if(t0 > tfirst)	tfirst = t0;
+		tfirst = PxMax(t0, tfirst);
+
+		return true;
+	}
+
+	template<const int XYZ>
+	static PX_FORCE_INLINE RetType testAxisXYZ(const PxTriangle& tri, const PxVec3& extents, const PxVec3& dir, float oneOverDir, MTDType& bValidMTD, float& tfirst, float& tlast)
+	{
+		const float d0t = tri.verts[0][XYZ];
+		const float d1t = tri.verts[1][XYZ];
+		const float d2t = tri.verts[2][XYZ];
+
+		float TriMin = PxMin(d0t, d1t);
+		float TriMax = PxMax(d0t, d1t);
+		TriMin = PxMin(TriMin, d2t);
+		TriMax = PxMax(TriMax, d2t);
+
+		////////
+
+		const float BoxExt = extents[XYZ];
+		TEST_OVERLAP
+
+		const float v = dir[XYZ];
+		if(PxAbs(v) < 1.0E-6f)
+			return bIntersect;
+
+		const float oneOverV = -oneOverDir;
+
+	//	float t0 = d0 * oneOverV;
+	//	float t1 = d1 * oneOverV;
+	//	if(t0 > t1)	TSwap(t0, t1);
+		const float t0_ = d0 * oneOverV;
+		const float t1_ = d1 * oneOverV;
+		float t0 = PxMin(t0_, t1_);
+		float t1 = PxMax(t0_, t1_);
+
+		if(t0 > tlast)	return false;
+		if(t1 < tfirst)	return false;
+
+	//	if(t1 < tlast)	tlast = t1;
+		tlast = PxMin(t1, tlast);
+
+	//	if(t0 > tfirst)	tfirst = t0;
+		tfirst = PxMax(t0, tfirst);
+
+		return true;
+	}
+
+	PX_FORCE_INLINE int testSeparationAxes(	const PxTriangle& tri, const PxVec3& extents,
+											const PxVec3& normal, const PxVec3& dir, const PxVec3& oneOverDir, float tmax, float& tcoll)
+	{
+		bool bValidMTD = true;
+		float tfirst = -FLT_MAX;
+		float tlast  = FLT_MAX;
+
+		// Triangle normal
+		if(!testAxis(tri, extents, dir, normal, bValidMTD, tfirst, tlast))
+			return 0;
+
+		// Box normals
+		if(!testAxisXYZ<0>(tri, extents, dir, oneOverDir.x, bValidMTD, tfirst, tlast))
+			return 0;
+		if(!testAxisXYZ<1>(tri, extents, dir, oneOverDir.y, bValidMTD, tfirst, tlast))
+			return 0;
+		if(!testAxisXYZ<2>(tri, extents, dir, oneOverDir.z, bValidMTD, tfirst, tlast))
+			return 0;
+
+		// Edges
+		for(PxU32 i=0; i<3; i++)
+		{
+			int ip1 = int(i+1);
+			if(i>=2)	ip1 = 0;
+			const PxVec3 TriEdge = tri.verts[ip1] - tri.verts[i];
+
+			{
+				const PxVec3 Sep = Ps::cross100(TriEdge);
+				if((Sep.dot(Sep))>=1.0E-6f && !testAxis(tri, extents, dir, Sep, bValidMTD, tfirst, tlast))
+					return 0;
+			}
+			{
+				const PxVec3 Sep = Ps::cross010(TriEdge);
+				if((Sep.dot(Sep))>=1.0E-6f && !testAxis(tri, extents, dir, Sep, bValidMTD, tfirst, tlast))
+					return 0;
+			}
+			{
+				const PxVec3 Sep = Ps::cross001(TriEdge);
+				if((Sep.dot(Sep))>=1.0E-6f && !testAxis(tri, extents, dir, Sep, bValidMTD, tfirst, tlast))
+					return 0;
+			}
+		}
+
+		if(tfirst > tmax || tlast < 0.0f)
+			return 0;
+
+		if(tfirst <= 0.0f)
+		{
+			if(!bValidMTD)
+				return 0;
+			tcoll = 0.0f;
+		}
+		else tcoll = tfirst;
+
+		return 1;
+	}
+
+	//! Inlined version of triBoxSweepTestBoxSpace. See that other function for comments.
+	PX_FORCE_INLINE int triBoxSweepTestBoxSpace_inlined(const PxTriangle& tri, const PxVec3& extents, const PxVec3& dir, const PxVec3& oneOverDir, float tmax, float& toi, PxU32 doBackfaceCulling)
+	{
+		// Create triangle normal
+		PxVec3 triNormal;
+		tri.denormalizedNormal(triNormal);
+
+		// Backface culling
+		if(doBackfaceCulling && (triNormal.dot(dir)) >= 0.0f)	// ">=" is important !
+			return 0;
+
+		// The SAT test will properly detect initial overlaps, no need for extra tests
+		return testSeparationAxes(tri, extents, triNormal, dir, oneOverDir, tmax, toi);
+	}
+
+	/**
+	Sweeps a box against a triangle, using a 'SAT' approach (Separating Axis Theorem).
+
+	The test is performed in box-space, i.e. the box is axis-aligned and its center is (0,0,0). In other words it is
+	defined by its extents alone. The triangle must have been transformed to this "box-space" before calling the function.
+
+	\param tri					[in] triangle in box-space
+	\param extents				[in] box extents
+	\param dir					[in] sweep direction. Does not need to be normalized.
+	\param oneOverDir			[in] precomputed inverse of sweep direction
+	\param tmax					[in] sweep length
+	\param toi					[out] time of impact/impact distance. Does not need to be initialized before calling the function.
+	\param doBackfaceCulling	[in] true to enable backface culling, false for double-sided triangles
+	\return	non-zero value if an impact has been found (in which case returned 'toi' value is valid)
+	*/
+	int triBoxSweepTestBoxSpace(const PxTriangle& tri, const PxVec3& extents, const PxVec3& dir, const PxVec3& oneOverDir, float tmax, float& toi, bool doBackfaceCulling);
+
+} // namespace Gu
+
+}
+
+#endif