Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 116 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/sweep/GuSweepSphereSphere.cpp b/PhysX_3.4/Source/GeomUtils/src/sweep/GuSweepSphereSphere.cpp
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+++ b/PhysX_3.4/Source/GeomUtils/src/sweep/GuSweepSphereSphere.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 "GuSweepSphereSphere.h"
+#include "PsUtilities.h"
+
+using namespace physx;
+using namespace Gu;
+
+// Adapted from Gamasutra (Gomez article)
+// Return true if r1 and r2 are real
+static PX_FORCE_INLINE bool quadraticFormula(const PxReal a, const PxReal b, const PxReal c, PxReal& r1, PxReal& r2)
+{
+	const PxReal q = b*b - 4*a*c; 
+	if(q>=0.0f)
+	{
+		PX_ASSERT(a!=0.0f);
+		const PxReal sq = PxSqrt(q);
+		const PxReal d = 1.0f / (2.0f*a);
+		r1 = (-b + sq) * d;
+		r2 = (-b - sq) * d;
+		return true;//real roots
+	}
+	else
+	{
+		return false;//complex roots
+	}
+}
+
+static bool sphereSphereSweep(	const PxReal ra, //radius of sphere A
+								const PxVec3& A0, //previous position of sphere A
+								const PxVec3& A1, //current position of sphere A
+								const PxReal rb, //radius of sphere B
+								const PxVec3& B0, //previous position of sphere B
+								const PxVec3& B1, //current position of sphere B
+								PxReal& u0, //normalized time of first collision
+								PxReal& u1 //normalized time of second collision
+								)
+{
+	const PxVec3 va = A1 - A0;
+	const PxVec3 vb = B1 - B0;
+	const PxVec3 AB = B0 - A0;
+	const PxVec3 vab = vb - va;	// relative velocity (in normalized time)
+	const PxReal rab = ra + rb;
+
+	const PxReal a = vab.dot(vab);		//u*u coefficient
+	const PxReal b = 2.0f*(vab.dot(AB));	//u coefficient
+
+	const PxReal c = (AB.dot(AB)) - rab*rab;	//constant term
+
+	//check if they're currently overlapping
+	if(c<=0.0f || a==0.0f)
+	{
+		u0 = 0.0f;
+		u1 = 0.0f;
+		return true;
+	}
+
+	//check if they hit each other during the frame
+	if(quadraticFormula(a, b, c, u0, u1))
+	{
+		if(u0>u1)
+			Ps::swap(u0, u1);
+
+		// u0<u1
+//		if(u0<0.0f || u1>1.0f)	return false;
+		if(u1<0.0f || u0>1.0f)	return false;
+
+		return true;
+	}
+	return false;
+}
+
+bool Gu::sweepSphereSphere(const PxVec3& center0, PxReal radius0, const PxVec3& center1, PxReal radius1, const PxVec3& motion, PxReal& d, PxVec3& nrm)
+{
+	const PxVec3 movedCenter = center1 + motion;
+
+	PxReal tmp;
+	if(!sphereSphereSweep(radius0, center0, center0, radius1, center1, movedCenter, d, tmp))
+		return false;
+
+	// Compute normal
+	// PT: if spheres initially overlap, the convention is that returned normal = -sweep direction
+	if(d==0.0f)
+		nrm = -motion;
+	else
+		nrm = (center1 + d * motion) - center0;
+	nrm.normalize();
+	return true;
+}