Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 103 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/sweep/GuSweepSphereCapsule.cpp b/PhysX_3.4/Source/GeomUtils/src/sweep/GuSweepSphereCapsule.cpp
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+++ b/PhysX_3.4/Source/GeomUtils/src/sweep/GuSweepSphereCapsule.cpp
@@ -0,0 +1,103 @@
+// 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 "GuSweepSphereCapsule.h"
+#include "GuSphere.h"
+#include "GuCapsule.h"
+#include "GuDistancePointSegment.h"
+#include "GuSweepSphereSphere.h"
+#include "GuIntersectionRayCapsule.h"
+
+using namespace physx;
+using namespace Gu;
+
+bool Gu::sweepSphereCapsule(const Sphere& sphere, const Capsule& lss, const PxVec3& dir, PxReal length, PxReal& d, PxVec3& ip, PxVec3& nrm, PxHitFlags hitFlags)
+{
+	const PxReal radiusSum = lss.radius + sphere.radius;
+
+	if(!(hitFlags & PxHitFlag::eASSUME_NO_INITIAL_OVERLAP))
+	{
+		// PT: test if shapes initially overlap
+		if(distancePointSegmentSquared(lss.p0, lss.p1, sphere.center)<radiusSum*radiusSum)
+		{
+			d	= 0.0f;
+			nrm	= -dir;
+			return true;
+		}
+	}
+
+	if(lss.p0 == lss.p1)
+	{
+		// Sphere vs. sphere
+		if(sweepSphereSphere(sphere.center, sphere.radius, lss.p0, lss.radius, -dir*length, d, nrm))
+		{
+			d*=length;
+//				if(hitFlags & PxHitFlag::ePOSITION)	// PT: TODO
+				ip = sphere.center + nrm * sphere.radius;
+			return true;
+		}
+		return false;
+	}
+
+	// Create inflated capsule
+	Capsule Inflated(lss.p0, lss.p1, radiusSum);
+
+	// Raycast against it
+	PxReal t;
+	if(intersectRayCapsule(sphere.center, dir, Inflated, t))
+	{
+		if(t>=0.0f && t<=length)
+		{
+			d = t;
+
+// PT: TODO:
+//			const Ps::IntBool needsImpactPoint = hitFlags & PxHitFlag::ePOSITION;
+//			if(needsImpactPoint || hitFlags & PxHitFlag::eNORMAL)
+			{
+				// Move capsule against sphere
+				const PxVec3 tdir = t*dir;
+				Inflated.p0 -= tdir;
+				Inflated.p1 -= tdir;
+
+				// Compute closest point between moved capsule & sphere
+				distancePointSegmentSquared(Inflated, sphere.center, &t);
+				Inflated.computePoint(ip, t);
+
+				// Normal
+				nrm = (ip - sphere.center);
+				nrm.normalize();
+
+//					if(needsImpactPoint)	// PT: TODO
+					ip -= nrm * lss.radius;
+			}
+			return true;
+		}
+	}
+	return false;
+}