Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 215 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/sweep/GuSweepCapsuleBox.cpp b/PhysX_3.4/Source/GeomUtils/src/sweep/GuSweepCapsuleBox.cpp
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+++ b/PhysX_3.4/Source/GeomUtils/src/sweep/GuSweepCapsuleBox.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 "foundation/PxBounds3.h"
+#include "foundation/PxTransform.h"
+#include "GuSweepCapsuleBox.h"
+#include "GuSweepSphereTriangle.h"
+#include "GuCapsule.h"
+#include "PxTriangle.h"
+#include "GuDistanceSegmentBox.h"
+#include "GuInternal.h"
+#include "PsAlloca.h"
+#include "GuSIMDHelpers.h"
+
+using namespace physx;
+using namespace Gu;
+
+namespace
+{
+/**
+*	Returns triangles.
+*	\return		36 indices (12 triangles) indexing the list returned by ComputePoints()
+*/
+static const PxU8* getBoxTriangles()
+{
+	static PxU8 Indices[] = {
+		0,2,1,	0,3,2,
+		1,6,5,	1,2,6,
+		5,7,4,	5,6,7,
+		4,3,0,	4,7,3,
+		3,6,2,	3,7,6,
+		5,0,1,	5,4,0
+	};
+	return Indices;
+}
+}
+
+#define OUTPUT_TRI(t, p0, p1, p2){	\
+t->verts[0] = p0;					\
+t->verts[1] = p1;					\
+t->verts[2] = p2;					\
+t++;}
+
+#define OUTPUT_TRI2(t, p0, p1, p2, d){		\
+t->verts[0] = p0;							\
+t->verts[1] = p1;							\
+t->verts[2] = p2;							\
+t->denormalizedNormal(denormalizedNormal);	\
+if((denormalizedNormal.dot(d))>0.0f) {		\
+PxVec3 Tmp = t->verts[1];					\
+t->verts[1] = t->verts[2];					\
+t->verts[2] = Tmp;							\
+}											\
+t++; *ids++ = i; }
+
+static PxU32 extrudeMesh(	PxU32 nbTris, const PxTriangle* triangles,
+							const PxVec3& extrusionDir, PxTriangle* tris, PxU32* ids, const PxVec3& dir)
+{
+	const PxU32* base = ids;
+
+	for(PxU32 i=0; i<nbTris; i++)
+	{
+		const PxTriangle& currentTriangle = triangles[i];
+
+		// Create triangle normal
+		PxVec3 denormalizedNormal;
+		currentTriangle.denormalizedNormal(denormalizedNormal);
+
+		// Backface culling
+		const bool culled = (denormalizedNormal.dot(dir)) > 0.0f;
+		if(culled)	continue;
+
+		PxVec3 p0 = currentTriangle.verts[0];
+		PxVec3 p1 = currentTriangle.verts[1];
+		PxVec3 p2 = currentTriangle.verts[2];
+
+		PxVec3 p0b = p0 + extrusionDir;
+		PxVec3 p1b = p1 + extrusionDir;
+		PxVec3 p2b = p2 + extrusionDir;
+
+		p0 -= extrusionDir;
+		p1 -= extrusionDir;
+		p2 -= extrusionDir;
+
+		if(denormalizedNormal.dot(extrusionDir) >= 0.0f)	OUTPUT_TRI(tris, p0b, p1b, p2b)
+		else												OUTPUT_TRI(tris, p0, p1, p2)
+		*ids++ = i;
+
+		// ### it's probably useless to extrude all the shared edges !!!!!
+		//if(CurrentFlags & TriangleCollisionFlag::eACTIVE_EDGE12)
+		{
+			OUTPUT_TRI2(tris, p1, p1b, p2b, dir)
+			OUTPUT_TRI2(tris, p1, p2b, p2, dir)
+		}
+		//if(CurrentFlags & TriangleCollisionFlag::eACTIVE_EDGE20)
+		{
+			OUTPUT_TRI2(tris, p0, p2, p2b, dir)
+			OUTPUT_TRI2(tris, p0, p2b, p0b, dir)
+		}
+		//if(CurrentFlags & TriangleCollisionFlag::eACTIVE_EDGE01)
+		{
+			OUTPUT_TRI2(tris, p0b, p1b, p1, dir)
+			OUTPUT_TRI2(tris, p0b, p1, p0, dir)
+		}
+	}
+	return PxU32(ids-base);
+}
+
+static PxU32 extrudeBox(const PxBounds3& localBox, const PxTransform* world, const PxVec3& extrusionDir, PxTriangle* tris, const PxVec3& dir)
+{
+	// Handle the box as a mesh
+
+	PxTriangle boxTris[12];
+
+	PxVec3 p[8];
+	computeBoxPoints(localBox, p);
+
+	const PxU8* PX_RESTRICT indices = getBoxTriangles();
+
+	for(PxU32 i=0; i<12; i++)
+	{
+		const PxU8 VRef0 = indices[i*3+0];
+		const PxU8 VRef1 = indices[i*3+1];
+		const PxU8 VRef2 = indices[i*3+2];
+
+		PxVec3 p0 = p[VRef0];
+		PxVec3 p1 = p[VRef1];
+		PxVec3 p2 = p[VRef2];
+		if(world)
+		{
+			p0 = world->transform(p0);
+			p1 = world->transform(p1);
+			p2 = world->transform(p2);
+		}
+
+		boxTris[i].verts[0] = p0;
+		boxTris[i].verts[1] = p1;
+		boxTris[i].verts[2] = p2;
+	}
+	PxU32 fakeIDs[12*7];
+	return extrudeMesh(12, boxTris, extrusionDir, tris, fakeIDs, dir);
+}
+
+//
+// The problem of testing a swept capsule against a box is transformed into sweeping a sphere (lying at the center
+// of the capsule) against the extruded triangles of the box. The box triangles are extruded along the
+// capsule segment axis.
+//
+bool Gu::sweepCapsuleBox(const Capsule& capsule, const PxTransform& boxWorldPose, const PxVec3& boxDim, const PxVec3& dir, PxReal length, PxVec3& hit, PxReal& min_dist, PxVec3& normal, PxHitFlags hitFlags)
+{
+	if(!(hitFlags & PxHitFlag::eASSUME_NO_INITIAL_OVERLAP))
+	{
+		// PT: test if shapes initially overlap
+		if(distanceSegmentBoxSquared(capsule.p0, capsule.p1, boxWorldPose.p, boxDim, PxMat33Padded(boxWorldPose.q)) < capsule.radius*capsule.radius)
+		{
+			min_dist	= 0.0f;
+			normal		= -dir;
+			return true;
+		}
+	}
+
+	// Extrusion dir = capsule segment
+	const PxVec3 extrusionDir = (capsule.p1 - capsule.p0)*0.5f;
+
+	// Extrude box
+	PxReal MinDist = length;
+	bool Status = false;
+	{
+		const PxBounds3 aabb(-boxDim, boxDim);
+
+		PX_ALLOCA(triangles, PxTriangle, 12*7);
+		const PxU32 nbTris = extrudeBox(aabb, &boxWorldPose, extrusionDir, triangles, dir);
+		PX_ASSERT(nbTris<=12*7);
+
+		// Sweep sphere vs extruded box
+		PxSweepHit h;	// PT: TODO: ctor!
+		PxVec3 bestNormal;
+		if(sweepSphereTriangles(nbTris, triangles, capsule.computeCenter(), capsule.radius, dir, length, NULL, h, bestNormal, false, false, false, false))
+		{
+			hit = h.position;
+			MinDist = h.distance;
+			normal = h.normal;
+			Status = true;
+		}
+	}
+
+	min_dist = MinDist;
+	return Status;
+}