Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 156 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/sweep/GuSweepSphereTriangle.h b/PhysX_3.4/Source/GeomUtils/src/sweep/GuSweepSphereTriangle.h
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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.  
+
+#ifndef GU_SWEEP_SPHERE_TRIANGLE_H
+#define GU_SWEEP_SPHERE_TRIANGLE_H
+
+#include "GuSweepTriangleUtils.h"
+
+namespace physx
+{
+
+namespace Gu
+{
+	/**
+	Sweeps a sphere against a triangle.
+
+	All input parameters (sphere, triangle, sweep direction) must be in the same space. Sweep length is assumed to be infinite.
+
+	By default, 'testInitialOverlap' must be set to true to properly handle the case where the sphere already overlaps the triangle
+	at the start of the sweep. In such a case, returned impact distance is exactly 0.0f. If it is known ahead of time that the sphere
+	cannot overlap the triangle at t=0.0, then 'testInitialOverlap' can be set to false to skip the initial overlap test and make the
+	function run faster.
+
+	If the ray defined by the sphere's center and the unit direction directly intersects the triangle-related part of the TSS (*) (i.e.
+	the prism from the Minkowski sum of the inflated triangle) then 'directHit' is set to true. Otherwise it is set to false.
+
+	(*) For Triangle Swept Sphere, see http://gamma.cs.unc.edu/SSV/ssv.pdf for the origin of these names.
+
+	\param triVerts				[in] triangle vertices
+	\param triUnitNormal		[in] triangle's normalized normal
+	\param sphereCenter			[in] sphere's center
+	\param sphereRadius			[in] sphere's radius
+	\param unitDir				[in] normalized sweep direction.
+	\param impactDistance		[out] impact distance, if a hit has been found. Does not need to be initialized before calling the function.
+	\param directHit			[out] true if a direct hit has been found, see comments above.
+	\param testInitialOverlap	[in] true if an initial sphere-vs-triangle overlap test must be performed, see comments above.
+
+	\return	true if an impact has been found (in which case returned result values are valid)
+	*/
+	bool sweepSphereVSTri(	const PxVec3* PX_RESTRICT triVerts, const PxVec3& triUnitNormal,// Triangle data	
+							const PxVec3& sphereCenter, PxReal sphereRadius,				// Sphere data	
+							const PxVec3& unitDir,											// Ray data	
+							PxReal& impactDistance, bool& directHit,						// Results
+							bool testInitialOverlap);										// Query modifier
+
+	/**
+	Sweeps a sphere against a quad.
+
+	All input parameters (sphere, quad, sweep direction) must be in the same space. Sweep length is assumed to be infinite.
+
+	Quad must be formed by 2 tris like this:
+
+	p0___p2
+	|   /|
+	|  / |
+	| /  |
+	|/   |
+	p1---p3
+
+	\param quadVerts			[in] quad vertices
+	\param quadUnitNormal		[in] quad's normalized normal
+	\param sphereCenter			[in] sphere's center
+	\param sphereRadius			[in] sphere's radius
+	\param unitDir				[in] normalized sweep direction.
+	\param impactDistance		[out] impact distance, if a hit has been found. Does not need to be initialized before calling the function.
+
+	\return	true if an impact has been found (in which case returned result values are valid)
+	*/
+	bool sweepSphereVSQuad(	const PxVec3* PX_RESTRICT quadVerts, const PxVec3& quadUnitNormal,	// Quad data
+							const PxVec3& sphereCenter, float sphereRadius,						// Sphere data
+							const PxVec3& unitDir,												// Ray data
+							float& impactDistance);												// Results
+
+
+	// PT: computes proper impact data for sphere-sweep-vs-tri, after the closest tri has been found
+	PX_FORCE_INLINE bool computeSphereTriangleImpactData(PxSweepHit& h, PxVec3& triNormalOut, PxU32 index, PxReal curT, 
+														 const PxVec3& center, const PxVec3& unitDir, const PxVec3& bestTriNormal,
+														 const PxTriangle* PX_RESTRICT triangles,
+														 bool isDoubleSided, bool meshBothSides)
+	{
+		if(index==PX_INVALID_U32)
+			return false;	// We didn't touch any triangle
+
+		// Compute impact data only once, using best triangle
+		PxVec3 hitPos, normal;
+		computeSphereTriImpactData(hitPos, normal, center, unitDir, curT, triangles[index]);
+
+		// PT: by design, returned normal is opposed to the sweep direction.
+		if(shouldFlipNormal(normal, meshBothSides, isDoubleSided, bestTriNormal, unitDir))
+			normal = -normal;
+
+		h.position	= hitPos;
+		h.normal	= normal;
+		h.distance	= curT;
+		h.faceIndex	= index;
+		h.flags		= PxHitFlag::eDISTANCE|PxHitFlag::eNORMAL|PxHitFlag::ePOSITION;
+		triNormalOut = bestTriNormal;
+		return true;
+	}
+
+	/**
+	Sweeps a sphere against a set of triangles.
+
+	\param nbTris				[in] number of triangles in input array
+	\param triangles			[in] array of input triangles
+	\param center				[in] sphere's center
+	\param radius				[in] sphere's radius
+	\param unitDir				[in] sweep's unit direcion
+	\param distance				[in] sweep's length
+	\param cachedIndex			[in] cached triangle index, or NULL. Cached triangle will be tested first.
+	\param hit					[out] results
+	\param triNormalOut			[out] triangle normal
+	\param isDoubleSided		[in] true if input triangles are double-sided
+	\param meshBothSides		[in] true if PxHitFlag::eMESH_BOTH_SIDES is used
+	\param anyHit				[in] true if PxHitFlag::eMESH_ANY is used
+	\param testInitialOverlap	[in] true if PxHitFlag::eASSUME_NO_INITIAL_OVERLAP is not used
+	\return	true if an impact has been found
+	*/
+	bool sweepSphereTriangles(	PxU32 nbTris, const PxTriangle* PX_RESTRICT triangles,							// Triangle data
+								const PxVec3& center, const PxReal radius,										// Sphere data
+								const PxVec3& unitDir, PxReal distance,											// Ray data
+								const PxU32* PX_RESTRICT cachedIndex,											// Cache data
+								PxSweepHit& hit, PxVec3& triNormalOut,											// Results
+								bool isDoubleSided, bool meshBothSides, bool anyHit, bool testInitialOverlap);	// Query modifiers
+
+} // namespace Gu
+
+}
+
+#endif