Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 279 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/LowLevel/common/src/pipeline/PxcContactMethodImpl.cpp b/PhysX_3.4/Source/LowLevel/common/src/pipeline/PxcContactMethodImpl.cpp
new file mode 100644
index 00000000..53eb5d88
--- /dev/null
+++ b/PhysX_3.4/Source/LowLevel/common/src/pipeline/PxcContactMethodImpl.cpp
@@ -0,0 +1,279 @@
+// 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 "PxGeometry.h"
+#include "PxcContactMethodImpl.h"
+
+namespace physx
+{
+
+// PT: those prototypes shouldn't be public. Keep them here.
+
+// Sphere - other
+bool PxcContactSphereSphere				(GU_CONTACT_METHOD_ARGS);
+bool PxcContactSpherePlane				(GU_CONTACT_METHOD_ARGS);
+bool PxcContactSphereCapsule			(GU_CONTACT_METHOD_ARGS);
+bool PxcContactSphereBox				(GU_CONTACT_METHOD_ARGS);
+bool PxcContactSphereConvex				(GU_CONTACT_METHOD_ARGS);
+bool PxcContactSphereMesh				(GU_CONTACT_METHOD_ARGS);
+bool PxcContactSphereHeightField		(GU_CONTACT_METHOD_ARGS);
+
+// Plane - other
+bool PxcContactPlaneCapsule				(GU_CONTACT_METHOD_ARGS);
+bool PxcContactPlaneBox					(GU_CONTACT_METHOD_ARGS);
+bool PxcContactPlaneConvex				(GU_CONTACT_METHOD_ARGS);
+
+// Capsule - other
+bool PxcContactCapsuleCapsule			(GU_CONTACT_METHOD_ARGS);
+bool PxcContactCapsuleBox				(GU_CONTACT_METHOD_ARGS);
+bool PxcContactCapsuleConvex			(GU_CONTACT_METHOD_ARGS);
+bool PxcContactCapsuleMesh				(GU_CONTACT_METHOD_ARGS);
+bool PxcContactCapsuleHeightField		(GU_CONTACT_METHOD_ARGS);
+
+// Box - other
+bool PxcContactBoxBox					(GU_CONTACT_METHOD_ARGS);
+bool PxcContactBoxConvex				(GU_CONTACT_METHOD_ARGS);
+bool PxcContactBoxMesh					(GU_CONTACT_METHOD_ARGS);
+bool PxcContactBoxHeightField			(GU_CONTACT_METHOD_ARGS);
+
+// Convex - other
+bool PxcContactConvexConvex				(GU_CONTACT_METHOD_ARGS);
+bool PxcContactConvexMesh				(GU_CONTACT_METHOD_ARGS);
+bool PxcContactConvexHeightField		(GU_CONTACT_METHOD_ARGS);
+
+
+static bool PxcInvalidContactPair		(CONTACT_METHOD_ARGS_UNUSED)
+{
+	return false;
+}
+
+//PCM Sphere - other
+bool PxcPCMContactSphereSphere			(GU_CONTACT_METHOD_ARGS);
+bool PxcPCMContactSpherePlane			(GU_CONTACT_METHOD_ARGS);
+bool PxcPCMContactSphereBox				(GU_CONTACT_METHOD_ARGS);
+bool PxcPCMContactSphereCapsule			(GU_CONTACT_METHOD_ARGS);
+bool PxcPCMContactSphereConvex			(GU_CONTACT_METHOD_ARGS);
+bool PxcPCMContactSphereMesh			(GU_CONTACT_METHOD_ARGS);
+bool PxcPCMContactSphereHeightField		(GU_CONTACT_METHOD_ARGS);
+
+// Plane - other
+bool PxcPCMContactPlaneCapsule			(GU_CONTACT_METHOD_ARGS);
+bool PxcPCMContactPlaneBox				(GU_CONTACT_METHOD_ARGS);
+bool PxcPCMContactPlaneConvex			(GU_CONTACT_METHOD_ARGS);
+
+//PCM Capsule - other
+bool PxcPCMContactCapsuleCapsule		(GU_CONTACT_METHOD_ARGS);
+bool PxcPCMContactCapsuleBox			(GU_CONTACT_METHOD_ARGS);
+bool PxcPCMContactCapsuleConvex			(GU_CONTACT_METHOD_ARGS);
+bool PxcPCMContactCapsuleMesh			(GU_CONTACT_METHOD_ARGS);
+bool PxcPCMContactCapsuleHeightField	(GU_CONTACT_METHOD_ARGS);
+
+//PCM Box - other
+bool PxcPCMContactBoxBox				(GU_CONTACT_METHOD_ARGS);
+bool PxcPCMContactBoxConvex				(GU_CONTACT_METHOD_ARGS);
+bool PxcPCMContactBoxMesh				(GU_CONTACT_METHOD_ARGS);
+bool PxcPCMContactBoxHeightField		(GU_CONTACT_METHOD_ARGS);
+
+//PCM Convex
+bool PxcPCMContactConvexConvex			(GU_CONTACT_METHOD_ARGS);
+bool PxcPCMContactConvexMesh			(GU_CONTACT_METHOD_ARGS);
+bool PxcPCMContactConvexHeightField		(GU_CONTACT_METHOD_ARGS);
+
+
+#define DYNAMIC_CONTACT_REGISTRATION(x) PxcInvalidContactPair
+//#define DYNAMIC_CONTACT_REGISTRATION(x) x
+
+//Table of contact methods for different shape-type combinations
+PxcContactMethod g_ContactMethodTable[][PxGeometryType::eGEOMETRY_COUNT] = 
+{
+	//PxGeometryType::eSPHERE
+	{
+		PxcContactSphereSphere,			//PxGeometryType::eSPHERE
+		PxcContactSpherePlane,			//PxGeometryType::ePLANE
+		PxcContactSphereCapsule,		//PxGeometryType::eCAPSULE
+		PxcContactSphereBox,			//PxGeometryType::eBOX
+		PxcContactSphereConvex,			//PxGeometryType::eCONVEXMESH
+		PxcContactSphereMesh,			//PxGeometryType::eTRIANGLEMESH
+		DYNAMIC_CONTACT_REGISTRATION(PxcContactSphereHeightField),	//PxGeometryType::eHEIGHTFIELD	//TODO: make HF midphase that will mask this
+		
+	},
+
+	//PxGeometryType::ePLANE
+	{
+		0,								//PxGeometryType::eSPHERE
+		PxcInvalidContactPair,			//PxGeometryType::ePLANE
+		PxcContactPlaneCapsule,			//PxGeometryType::eCAPSULE
+		PxcContactPlaneBox,				//PxGeometryType::eBOX
+		PxcContactPlaneConvex,			//PxGeometryType::eCONVEXMESH
+		PxcInvalidContactPair,			//PxGeometryType::eTRIANGLEMESH
+		PxcInvalidContactPair,			//PxGeometryType::eHEIGHTFIELD
+	},
+
+	//PxGeometryType::eCAPSULE
+	{
+		0,								//PxGeometryType::eSPHERE
+		0,								//PxGeometryType::ePLANE
+		PxcContactCapsuleCapsule,		//PxGeometryType::eCAPSULE
+		PxcContactCapsuleBox,			//PxGeometryType::eBOX
+		PxcContactCapsuleConvex,		//PxGeometryType::eCONVEXMESH
+		PxcContactCapsuleMesh,			//PxGeometryType::eTRIANGLEMESH
+		DYNAMIC_CONTACT_REGISTRATION(PxcContactCapsuleHeightField),	//PxGeometryType::eHEIGHTFIELD		//TODO: make HF midphase that will mask this
+	},
+
+	//PxGeometryType::eBOX
+	{
+		0,								//PxGeometryType::eSPHERE
+		0,								//PxGeometryType::ePLANE
+		0,								//PxGeometryType::eCAPSULE
+		PxcContactBoxBox,				//PxGeometryType::eBOX
+		PxcContactBoxConvex,			//PxGeometryType::eCONVEXMESH
+		PxcContactBoxMesh,				//PxGeometryType::eTRIANGLEMESH
+		DYNAMIC_CONTACT_REGISTRATION(PxcContactBoxHeightField),		//PxGeometryType::eHEIGHTFIELD		//TODO: make HF midphase that will mask this
+	},
+
+	//PxGeometryType::eCONVEXMESH
+	{
+		0,								//PxGeometryType::eSPHERE
+		0,								//PxGeometryType::ePLANE
+		0,								//PxGeometryType::eCAPSULE
+		0,								//PxGeometryType::eBOX
+		PxcContactConvexConvex,			//PxGeometryType::eCONVEXMESH
+		PxcContactConvexMesh,			//PxGeometryType::eTRIANGLEMESH
+		DYNAMIC_CONTACT_REGISTRATION(PxcContactConvexHeightField),	//PxGeometryType::eHEIGHTFIELD		//TODO: make HF midphase that will mask this
+	},
+
+	//PxGeometryType::eTRIANGLEMESH
+	{
+		0,								//PxGeometryType::eSPHERE
+		0,								//PxGeometryType::ePLANE
+		0,								//PxGeometryType::eCAPSULE
+		0,								//PxGeometryType::eBOX
+		0,								//PxGeometryType::eCONVEXMESH
+		PxcInvalidContactPair,			//PxGeometryType::eTRIANGLEMESH
+		PxcInvalidContactPair,			//PxGeometryType::eHEIGHTFIELD
+	},
+
+	//PxGeometryType::eHEIGHTFIELD
+	{
+		0,								//PxGeometryType::eSPHERE
+		0,								//PxGeometryType::ePLANE
+		0,								//PxGeometryType::eCAPSULE
+		0,								//PxGeometryType::eBOX
+		0,								//PxGeometryType::eCONVEXMESH
+		0,								//PxGeometryType::eTRIANGLEMESH
+		PxcInvalidContactPair,			//PxGeometryType::eHEIGHTFIELD
+	},
+};
+
+
+//#if	PERSISTENT_CONTACT_MANIFOLD
+//Table of contact methods for different shape-type combinations
+PxcContactMethod g_PCMContactMethodTable[][PxGeometryType::eGEOMETRY_COUNT] = 
+{
+	//PxGeometryType::eSPHERE
+	{
+		PxcPCMContactSphereSphere,										//PxGeometryType::eSPHERE
+		PxcPCMContactSpherePlane,										//PxGeometryType::ePLANE
+		PxcPCMContactSphereCapsule,										//PxGeometryType::eCAPSULE
+		PxcPCMContactSphereBox,											//PxGeometryType::eBOX
+		PxcPCMContactSphereConvex,										//PxGeometryType::eCONVEXMESH
+		PxcPCMContactSphereMesh,										//PxGeometryType::eTRIANGLEMESH
+		DYNAMIC_CONTACT_REGISTRATION(PxcPCMContactSphereHeightField),	//PxGeometryType::eHEIGHTFIELD	//TODO: make HF midphase that will mask this	
+	},
+
+	//PxGeometryType::ePLANE
+	{
+		0,															//PxGeometryType::eSPHERE
+		PxcInvalidContactPair,										//PxGeometryType::ePLANE
+		PxcPCMContactPlaneCapsule,									//PxGeometryType::eCAPSULE
+		PxcPCMContactPlaneBox,										//PxGeometryType::eBOX  
+		PxcPCMContactPlaneConvex,										//PxGeometryType::eCONVEXMESH
+		PxcInvalidContactPair,										//PxGeometryType::eTRIANGLEMESH
+		PxcInvalidContactPair,										//PxGeometryType::eHEIGHTFIELD
+	},  
+
+	//PxGeometryType::eCAPSULE
+	{
+		0,																//PxGeometryType::eSPHERE
+		0,																//PxGeometryType::ePLANE
+		PxcPCMContactCapsuleCapsule,									//PxGeometryType::eCAPSULE
+		PxcPCMContactCapsuleBox,										//PxGeometryType::eBOX
+		PxcPCMContactCapsuleConvex,										//PxGeometryType::eCONVEXMESH
+		PxcPCMContactCapsuleMesh,										//PxGeometryType::eTRIANGLEMESH	
+		DYNAMIC_CONTACT_REGISTRATION(PxcPCMContactCapsuleHeightField),	//PxGeometryType::eHEIGHTFIELD		//TODO: make HF midphase that will mask this
+	},
+
+	//PxGeometryType::eBOX
+	{
+		0,																//PxGeometryType::eSPHERE
+		0,																//PxGeometryType::ePLANE
+		0,																//PxGeometryType::eCAPSULE
+		PxcPCMContactBoxBox,											//PxGeometryType::eBOX
+		PxcPCMContactBoxConvex,											//PxGeometryType::eCONVEXMESH
+		PxcPCMContactBoxMesh,											//PxGeometryType::eTRIANGLEMESH
+		DYNAMIC_CONTACT_REGISTRATION(PxcPCMContactBoxHeightField),		//PxGeometryType::eHEIGHTFIELD		//TODO: make HF midphase that will mask this
+
+	},
+
+	//PxGeometryType::eCONVEXMESH
+	{
+		0,																	//PxGeometryType::eSPHERE
+		0,																	//PxGeometryType::ePLANE
+		0,																	//PxGeometryType::eCAPSULE
+		0,																	//PxGeometryType::eBOX
+		PxcPCMContactConvexConvex,											//PxGeometryType::eCONVEXMESH
+		PxcPCMContactConvexMesh,											//PxGeometryType::eTRIANGLEMESH
+		DYNAMIC_CONTACT_REGISTRATION(PxcPCMContactConvexHeightField),		//PxGeometryType::eHEIGHTFIELD		//TODO: make HF midphase that will mask this
+	},
+
+	//PxGeometryType::eTRIANGLEMESH
+	{
+		0,																//PxGeometryType::eSPHERE
+		0,																//PxGeometryType::ePLANE
+		0,																//PxGeometryType::eCAPSULE
+		0,																//PxGeometryType::eBOX
+		0,																//PxGeometryType::eCONVEXMESH
+		PxcInvalidContactPair,											//PxGeometryType::eTRIANGLEMESH
+		PxcInvalidContactPair,											//PxGeometryType::eHEIGHTFIELD
+	},   
+
+	//PxGeometryType::eHEIGHTFIELD
+	{
+		0,																//PxGeometryType::eSPHERE
+		0,																//PxGeometryType::ePLANE
+		0,																//PxGeometryType::eCAPSULE
+		0,																//PxGeometryType::eBOX
+		0,																//PxGeometryType::eCONVEXMESH
+		0,																//PxGeometryType::eTRIANGLEMESH
+		PxcInvalidContactPair,											//PxGeometryType::eHEIGHTFIELD
+	},
+
+};
+}