Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 223 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/sweep/GuSweepTriangleUtils.cpp b/PhysX_3.4/Source/GeomUtils/src/sweep/GuSweepTriangleUtils.cpp
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+++ b/PhysX_3.4/Source/GeomUtils/src/sweep/GuSweepTriangleUtils.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 "GuSweepTriangleUtils.h"
+#include "GuDistancePointTriangle.h"
+#include "GuVecTriangle.h"
+#include "GuVecBox.h"
+#include "GuSweepBoxTriangle_FeatureBased.h"
+#include "GuInternal.h"
+#include "GuGJK.h"
+
+using namespace physx;
+using namespace Gu;
+using namespace physx::shdfnd::aos;
+
+#define GU_SAFE_DISTANCE_FOR_NORMAL_COMPUTATION 0.1f
+
+void Gu::computeSphereTriImpactData(PxVec3& hit, PxVec3& normal, const PxVec3& center, const PxVec3& dir, float t, const PxTriangle& tri)
+{
+	const PxVec3 newSphereCenter = center + dir*t;
+
+	// We need the impact point, not computed by the new code
+	PxReal u_unused, v_unused;
+	const PxVec3 localHit = closestPtPointTriangle(newSphereCenter, tri.verts[0], tri.verts[1], tri.verts[2], u_unused, v_unused);
+	PX_UNUSED(u_unused);
+	PX_UNUSED(v_unused);
+
+	// This is responsible for the cap-vs-box stuck while jumping. However it's needed to slide on box corners!
+	// PT: this one is also dubious since the sphere/capsule center can be far away from the hit point when the radius is big!
+	PxVec3 localNormal = newSphereCenter - localHit;
+	const PxReal m = localNormal.normalize();
+	if(m<1e-3f)
+		tri.normal(localNormal);
+
+	hit = localHit;
+	normal = localNormal;
+}
+
+// PT: not inlining this rarely-run function makes the benchmark ~500.000 cycles faster...
+// PT: using this version all the time makes the benchmark ~300.000 cycles slower. So we just use it as a backup.
+static bool runBackupProcedure(PxVec3& hit, PxVec3& normal, const PxVec3& localMotion, const PxVec3& boxExtents, const PxTriangle& triInBoxSpace)
+{
+	const Vec3V v0 = V3LoadU(triInBoxSpace.verts[0]);
+	const Vec3V v1 = V3LoadU(triInBoxSpace.verts[1]);
+	const Vec3V v2 = V3LoadU(triInBoxSpace.verts[2]);
+
+	const TriangleV triangleV(v0, v1, v2);
+
+	// PT: the box is in the triangle's space already
+	//BoxV boxV(V3LoadU(PxVec3(0.0f)), V3LoadU(boxExtents), 
+	//				V3LoadU(PxVec3(1.0f, 0.0f, 0.0f)), V3LoadU(PxVec3(0.0f, 1.0f, 0.0f)), V3LoadU(PxVec3(0.0f, 0.0f, 1.0f)));
+
+	const BoxV boxV(V3Zero(), V3LoadU(boxExtents));
+
+	Vec3V closestA;
+	Vec3V closestB;
+	Vec3V normalV;
+	FloatV distV;
+	LocalConvex<TriangleV> convexA(triangleV);
+	LocalConvex<BoxV> convexB(boxV);
+	const Vec3V initialSearchDir = V3Sub(triangleV.getCenter(), boxV.getCenter());
+	const FloatV contactDist = FMax();
+	GjkStatus status_ = gjk<LocalConvex<TriangleV>, LocalConvex<BoxV> >(convexA, convexB, initialSearchDir, contactDist, closestA, closestB, normalV, distV);
+
+	if(status_==GJK_CONTACT)
+		return false;
+
+	PxVec3 ml_closestB;
+	PxVec3 ml_normal;
+	V3StoreU(closestB, ml_closestB);
+	V3StoreU(normalV, ml_normal);
+
+	hit = ml_closestB + localMotion;
+//	normal = -ml_normal;
+	if((ml_normal.dot(localMotion))>0.0f)
+		ml_normal = -ml_normal;
+	normal = ml_normal;
+	return true;
+}
+
+void Gu::computeBoxTriImpactData(PxVec3& hit, PxVec3& normal, const PxVec3& boxExtents, const PxVec3& localDir, const PxTriangle& triInBoxSpace, PxReal impactDist)
+{
+	// PT: the triangle is in "box space", i.e. the box can be seen as an AABB centered around the origin.
+
+	// PT: compute impact point/normal in a second pass. Here we simply re-sweep the box against the best triangle,
+	// using the feature-based code (which computes impact point and normal). This is not great because:
+	// - we know there's an impact so why do all tests again?
+	// - the SAT test & the feature-based tests could return different results because of FPU accuracy.
+	// The backup procedure makes sure we compute a proper answer even when the SAT and feature-based versions differ.
+	const PxBounds3 aabb(-boxExtents, boxExtents);
+
+	const PxVec3 oneOverDir(
+		localDir.x!=0.0f ? 1.0f/localDir.x : 0.0f,
+		localDir.y!=0.0f ? 1.0f/localDir.y : 0.0f,
+		localDir.z!=0.0f ? 1.0f/localDir.z : 0.0f);
+
+	// PT: TODO: this is the only place left using sweepBoxTriangle()
+	// Backface culling could be removed here since we know we want a hit no matter what. Plus, it's sometimes
+	// incorrectly culled and we hit the backup procedure for no reason. On Win32Modern for unknown reasons
+	// returned normal is sometimes (0,0,0). In these cases we also switch to the backup procedure.
+	float t = PX_MAX_F32;	// PT: no need to initialize with best dist here since we want a hit no matter what
+	if(!sweepBoxTriangle(triInBoxSpace, aabb, localDir, oneOverDir, hit, normal, t) || normal.isZero())
+	{
+		// PT: move triangle close to box
+		const PxVec3 localMotion = localDir*impactDist;
+
+		const PxVec3 delta = localMotion - localDir*GU_SAFE_DISTANCE_FOR_NORMAL_COMPUTATION;
+		const PxTriangle movedTriangle(
+			triInBoxSpace.verts[0] - delta,
+			triInBoxSpace.verts[1] - delta,
+			triInBoxSpace.verts[2] - delta);
+
+		if(!runBackupProcedure(hit, normal, localMotion, boxExtents, movedTriangle))
+		{
+			// PT: if the backup procedure fails, we give up
+			hit = PxVec3(0.0f);
+			normal = -localDir;
+		}
+	}
+}
+
+// PT: copy where we know that input vectors are not zero
+static PX_FORCE_INLINE void edgeEdgeDistNoZeroVector(	PxVec3& x, PxVec3& y,				// closest points
+														const PxVec3& p, const PxVec3& a,	// seg 1 origin, vector
+														const PxVec3& q, const PxVec3& b)	// seg 2 origin, vector
+{
+	const PxVec3 T = q - p;
+	const PxReal ADotA = a.dot(a);
+	const PxReal BDotB = b.dot(b);
+	PX_ASSERT(ADotA!=0.0f);
+	PX_ASSERT(BDotB!=0.0f);
+	const PxReal ADotB = a.dot(b);
+	const PxReal ADotT = a.dot(T);
+	const PxReal BDotT = b.dot(T);
+
+	// t parameterizes ray (p, a)
+	// u parameterizes ray (q, b)
+
+	// Compute t for the closest point on ray (p, a) to ray (q, b)
+	const PxReal Denom = ADotA*BDotB - ADotB*ADotB;
+
+	PxReal t;
+	if(Denom!=0.0f)	
+	{
+		t = (ADotT*BDotB - BDotT*ADotB) / Denom;
+
+		// Clamp result so t is on the segment (p, a)
+				if(t<0.0f)	t = 0.0f;
+		else	if(t>1.0f)	t = 1.0f;
+	}
+	else
+	{
+		t = 0.0f;
+	}
+
+	// find u for point on ray (q, b) closest to point at t
+	PxReal u;
+	{
+		u = (t*ADotB - BDotT) / BDotB;
+
+		// if u is on segment (q, b), t and u correspond to closest points, otherwise, clamp u, recompute and clamp t
+		if(u<0.0f)
+		{
+			u = 0.0f;
+			t = ADotT / ADotA;
+
+					if(t<0.0f)	t = 0.0f;
+			else	if(t>1.0f)	t = 1.0f;
+		}
+		else if(u > 1.0f)
+		{
+			u = 1.0f;
+			t = (ADotB + ADotT) / ADotA;
+
+					if(t<0.0f)	t = 0.0f;
+			else	if(t>1.0f)	t = 1.0f;
+		}
+	}
+
+	x = p + a * t;
+	y = q + b * u;
+}
+
+void Gu::computeEdgeEdgeNormal(PxVec3& normal, const PxVec3& p1, const PxVec3& p2_p1, const PxVec3& p3, const PxVec3& p4_p3, const PxVec3& dir, float d)
+{
+	// PT: cross-product doesn't produce nice normals so we use an edge-edge distance function itself
+
+	// PT: move the edges "0.1" units from each other before the computation. If the edges are too far
+	// away, computed normal tend to align itself with the swept direction. If the edges are too close,
+	// closest points x and y become identical and we can't compute a proper normal.
+	const PxVec3 p1s = p1 + dir*(d-GU_SAFE_DISTANCE_FOR_NORMAL_COMPUTATION);
+
+	PxVec3 x, y;
+	edgeEdgeDistNoZeroVector(x, y, p1s, p2_p1, p3, p4_p3);
+	normal = x - y;
+}