PhysX 3.4, APEX 1.4 patch release @23576764

7 files changed, 54 insertions, 28 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/GuRaycastTests.cpp b/PhysX_3.4/Source/GeomUtils/src/GuRaycastTests.cpp
index fa7056ad..086d4ca2 100644
--- a/PhysX_3.4/Source/GeomUtils/src/GuRaycastTests.cpp
+++ b/PhysX_3.4/Source/GeomUtils/src/GuRaycastTests.cpp
@@ -487,6 +487,12 @@ PxU32 raycast_heightField(GU_RAY_FUNC_PARAMS)
 	PxBounds3 hfLocalBounds;
 	hfUtil.computeLocalBounds(hfLocalBounds);
 
+	// PT: inflate the bounds like we do in the scene-tree (see PX-1179)
+	const PxVec3 center = hfLocalBounds.getCenter();
+	const PxVec3 extents = hfLocalBounds.getExtents() * 1.01f;	//SQ_PRUNER_INFLATION;
+	hfLocalBounds.minimum = center - extents;
+	hfLocalBounds.maximum = center + extents;
+
 	PxVec3 localImpact;
 	PxReal t;	// closest intersection, t==0 hit inside
 	PxU32 rval = rayAABBIntersect2(hfLocalBounds.minimum, hfLocalBounds.maximum, localRayOrig, localRayDir, localImpact, t);
diff --git a/PhysX_3.4/Source/GeomUtils/src/convex/GuConvexEdgeFlags.h b/PhysX_3.4/Source/GeomUtils/src/convex/GuConvexEdgeFlags.h
index 71f2a761..d8fffd52 100644
--- a/PhysX_3.4/Source/GeomUtils/src/convex/GuConvexEdgeFlags.h
+++ b/PhysX_3.4/Source/GeomUtils/src/convex/GuConvexEdgeFlags.h
@@ -38,6 +38,9 @@ namespace Gu
 {
 	enum ExtraTrigDataFlag
 	{
+		ETD_SILHOUETTE_EDGE_01 = (1 << 0),	//First edge is a silhouette edge
+		ETD_SILHOUETTE_EDGE_12 = (1 << 1),	//Second edge is a silhouette edge
+		ETD_SILHOUETTE_EDGE_20 = (1 << 2),	//Third edge is a silhouette edge
 		ETD_CONVEX_EDGE_01	= (1<<3),	// PT: important value, don't change
 		ETD_CONVEX_EDGE_12	= (1<<4),	// PT: important value, don't change
 		ETD_CONVEX_EDGE_20	= (1<<5),	// PT: important value, don't change
diff --git a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactConvexCommon.h b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactConvexCommon.h
index cae46bdd..215c2c11 100644
--- a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactConvexCommon.h
+++ b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactConvexCommon.h
@@ -281,6 +281,7 @@ public:
 	SupportLocal*										mPolyMap;
 	const Cm::FastVertex2ShapeScaling&					mConvexScaling;  
 	bool												mIdtConvexScale;
+	bool												mSilhouetteEdgesAreActive;
 	Cm::RenderOutput*									mRenderOutput;
 	
 				
@@ -297,6 +298,7 @@ public:
 		Ps::InlineArray<PxU32,LOCAL_CONTACTS_SIZE>*		delayedContacts,
 		const Cm::FastVertex2ShapeScaling&				convexScaling,
 		bool											idtConvexScale,
+		bool											silhouetteEdgesAreActive,
 		Cm::RenderOutput*								renderOutput
 		
 	) : PCMMeshContactGeneration(contactDistance, replaceBreakingThreshold, convexTransform, meshTransform, multiManifold, contactBuffer, 
@@ -305,7 +307,9 @@ public:
 		mPolyMap(polyMap),
 		mConvexScaling(convexScaling),
 		mIdtConvexScale(idtConvexScale),
+		mSilhouetteEdgesAreActive(silhouetteEdgesAreActive),
 		mRenderOutput(renderOutput)
+		
 	{
 		using namespace Ps::aos;
 	
diff --git a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactConvexHeightField.cpp b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactConvexHeightField.cpp
index 6901a5c3..45bec74c 100644
--- a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactConvexHeightField.cpp
+++ b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactConvexHeightField.cpp
@@ -75,12 +75,13 @@ public:
 		Gu::ContactBuffer&							contactBuffer,
 		Gu::HeightFieldUtil&						hfUtil,
 		Ps::InlineArray<PxU32,LOCAL_CONTACTS_SIZE>*	delayedContacts,
+		bool										silhouetteEdgesAreActive,
 		Cm::RenderOutput*							renderOutput = NULL
 		
 	) :
 		PCMHeightfieldContactGenerationCallback< PCMConvexVsHeightfieldContactGenerationCallback >(hfUtil, heightfieldTransform1),
 		mGeneration(contactDistance, replaceBreakingThreshold, convexTransform, heightfieldTransform,  multiManifold,
-			contactBuffer, polyData, polyMap, delayedContacts, convexScaling, idtConvexScale, renderOutput)
+			contactBuffer, polyData, polyMap, delayedContacts, convexScaling, idtConvexScale, silhouetteEdgesAreActive, renderOutput)
 	{
 	}
 
@@ -156,6 +157,7 @@ bool Gu::PCMContactConvexHeightfield(
 			contactBuffer,
 			hfUtil,
 			&delayedContacts,
+			!(hf.getFlags() & PxHeightFieldFlag::eNO_BOUNDARY_EDGES),
 			renderOutput
 		);
 
diff --git a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactConvexMesh.cpp b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactConvexMesh.cpp
index 2bacfb87..0f79d83b 100644
--- a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactConvexMesh.cpp
+++ b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactConvexMesh.cpp
@@ -61,24 +61,26 @@ public:
 	PCMConvexVsMeshContactGenerationCallback(
 		const Ps::aos::FloatVArg					contactDistance,
 		const Ps::aos::FloatVArg					replaceBreakingThreshold,
-		const PsTransformV&							convexTransform, 
+		const PsTransformV&							convexTransform,
 		const PsTransformV&							meshTransform,
 		MultiplePersistentContactManifold&			multiManifold,
 		ContactBuffer&								contactBuffer,
 		const PolygonalData&						polyData,
 		SupportLocal*								polyMap,
-		Ps::InlineArray<PxU32,LOCAL_CONTACTS_SIZE>*	delayedContacts,
+		Ps::InlineArray<PxU32, LOCAL_CONTACTS_SIZE>* delayedContacts,
 		const Cm::FastVertex2ShapeScaling&			convexScaling,
 		bool										idtConvexScale,
 		const Cm::FastVertex2ShapeScaling&			meshScaling,
 		const PxU8*									extraTriData,
 		bool										idtMeshScale,
+		bool										silhouetteEdgesAreActive,
 		const BoxPadded&							box,
 		Cm::RenderOutput*							renderOutput = NULL
 		
 	) :
 		PCMMeshContactGenerationCallback<PCMConvexVsMeshContactGenerationCallback>(meshScaling, extraTriData, idtMeshScale),
-		mGeneration(contactDistance, replaceBreakingThreshold, convexTransform, meshTransform, multiManifold, contactBuffer, polyData, polyMap, delayedContacts, convexScaling, idtConvexScale, renderOutput),
+		mGeneration(contactDistance, replaceBreakingThreshold, convexTransform, meshTransform, multiManifold, contactBuffer, polyData, polyMap, 
+			delayedContacts, convexScaling, idtConvexScale, silhouetteEdgesAreActive, renderOutput),
 		mBox(box)
 	{
 	}
@@ -143,7 +145,7 @@ bool Gu::PCMContactConvexMesh(const PolygonalData& polyData, SupportLocal* polyM
 		const PxU8* PX_RESTRICT extraData = meshData->getExtraTrigData();
 		PCMConvexVsMeshContactGenerationCallback blockCallback(
 			contactDist, replaceBreakingThreshold, convexTransform, meshTransform, multiManifold, contactBuffer,
-			polyData, polyMap, &delayedContacts, convexScaling, idtConvexScale, meshScaling, extraData, idtMeshScale, 
+			polyData, polyMap, &delayedContacts, convexScaling, idtConvexScale, meshScaling, extraData, idtMeshScale, true, 
 			hullOBB, renderOutput);
 
 		Midphase::intersectOBB(meshData, hullOBB, blockCallback, true);
diff --git a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactMeshCallback.h b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactMeshCallback.h
index de38099c..595c0463 100644
--- a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactMeshCallback.h
+++ b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactMeshCallback.h
@@ -111,11 +111,12 @@ struct PCMHeightfieldContactGenerationCallback : Gu::EntityReport<PxU32>
 public:
 	const Gu::HeightFieldUtil&	mHfUtil;
 	const PxTransform&			mHeightfieldTransform;
+	bool						mBoundaryCollisions;
 
 	PCMHeightfieldContactGenerationCallback(const Gu::HeightFieldUtil& hfUtil, const PxTransform& heightfieldTransform)	:
 		mHfUtil(hfUtil), mHeightfieldTransform(heightfieldTransform)
 	{
-
+		mBoundaryCollisions = !(hfUtil.getHeightField().getFlags() & PxHeightFieldFlag::eNO_BOUNDARY_EDGES);
 	}
 
 	// PT: TODO: refactor/unify with similar code in other places
@@ -153,7 +154,7 @@ public:
 				for(PxU32 a = 0; a < 3; ++a)
 				{
 
-					if(adjInds[a] != 0xFFFFFFFF)
+					if (adjInds[a] != 0xFFFFFFFF)
 					{
 						PxTriangle adjTri;
 						PxU32 inds[3];
@@ -161,7 +162,7 @@ public:
 						//We now compare the triangles to see if this edge is active
 
 						PX_ASSERT(inds[0] == vertIndices[a] || inds[1] == vertIndices[a] || inds[2] == vertIndices[a]);
-						PX_ASSERT(inds[0] == vertIndices[(a+1)%3] || inds[1] == vertIndices[(a+1)%3] || inds[2] == vertIndices[(a+1)%3]);
+						PX_ASSERT(inds[0] == vertIndices[(a + 1) % 3] || inds[1] == vertIndices[(a + 1) % 3] || inds[2] == vertIndices[(a + 1) % 3]);
 
 
 						PxVec3 adjNormal;
@@ -169,20 +170,22 @@ public:
 						PxU32 otherIndex = nextInd[a];
 						PxF32 projD = adjNormal.dot(currentTriangle.verts[otherIndex] - adjTri.verts[0]);
 
-						if(projD < 0.f)
+						if (projD < 0.f)
 						{
 							adjNormal.normalize();
 
 							PxF32 proj = adjNormal.dot(normal);
 
-							if(proj < 0.997f)
+							if (proj < 0.997f)
 							{
-								triFlags |= (1 << (a+3));
+								triFlags |= (1 << (a + 3));
 							}
 						}
 					}
+					else if (mBoundaryCollisions)
+						triFlags |= (1 << (a + 3)); //Mark as boudary active edge
 					else
-						triFlags |= (1 << (a+3));
+						triFlags |= (1 << a); //Mark as silhouette edge
 				}
 
 				cache.addTriangle(currentTriangle.verts, vertIndices, triangleIndex, triFlags);
diff --git a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMTriangleContactGen.cpp b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMTriangleContactGen.cpp
index 5f0b20a2..99229dc3 100644
--- a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMTriangleContactGen.cpp
+++ b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMTriangleContactGen.cpp
@@ -32,6 +32,7 @@
 #include "GuPCMContactConvexCommon.h"
 #include "GuVecTriangle.h"
 #include "GuBarycentricCoordinates.h"
+#include "GuConvexEdgeFlags.h"
 
 #if	PCM_LOW_LEVEL_DEBUG
 #include "PxRenderBuffer.h"
@@ -1153,23 +1154,28 @@ namespace physx
 					else
 					{
 						//ML : defer the contacts generation
-						const PxU32 nb = sizeof(PCMDeferredPolyData)/sizeof(PxU32);
-						PxU32 newSize = nb + mDeferredContacts->size();
-	                    mDeferredContacts->reserve(newSize);
-						PCMDeferredPolyData* PX_RESTRICT data = reinterpret_cast<PCMDeferredPolyData*>(mDeferredContacts->end());
-	                    mDeferredContacts->forceSize_Unsafe(newSize);
-
-						data->mTriangleIndex = triangleIndex;
-						data->mFeatureIndex = feature1;
-						data->triFlags = triFlags;  
-						data->mInds[0] = triIndices[0];
-						data->mInds[1] = triIndices[1];
-						data->mInds[2] = triIndices[2];
-						V3StoreU(localTriangle.verts[0], data->mVerts[0]);
-						V3StoreU(localTriangle.verts[1], data->mVerts[1]);
-						V3StoreU(localTriangle.verts[2], data->mVerts[2]);
-						return true;
 
+						if (mSilhouetteEdgesAreActive ||
+							!(triFlags & (ETD_SILHOUETTE_EDGE_01 | ETD_SILHOUETTE_EDGE_12 | ETD_SILHOUETTE_EDGE_20)))
+						{
+							const PxU32 nb = sizeof(PCMDeferredPolyData) / sizeof(PxU32);
+							PxU32 newSize = nb + mDeferredContacts->size();
+							mDeferredContacts->reserve(newSize);
+							PCMDeferredPolyData* PX_RESTRICT data = reinterpret_cast<PCMDeferredPolyData*>(mDeferredContacts->end());
+							mDeferredContacts->forceSize_Unsafe(newSize);
+
+							data->mTriangleIndex = triangleIndex;
+							data->mFeatureIndex = feature1;
+							data->triFlags = triFlags;
+							data->mInds[0] = triIndices[0];
+							data->mInds[1] = triIndices[1];
+							data->mInds[2] = triIndices[2];
+							V3StoreU(localTriangle.verts[0], data->mVerts[0]);
+							V3StoreU(localTriangle.verts[1], data->mVerts[1]);
+							V3StoreU(localTriangle.verts[2], data->mVerts[2]);
+						}
+
+						return true;
 					}
 				}
 				else