PhysX 3.4.1, APEX 1.4.1 Release @23131702

3 files changed, 28 insertions, 3 deletions

diff --git a/PhysX_3.4/Source/LowLevelDynamics/src/DyContactPrepShared.h b/PhysX_3.4/Source/LowLevelDynamics/src/DyContactPrepShared.h
index c973f1cf..cf1705de 100644
--- a/PhysX_3.4/Source/LowLevelDynamics/src/DyContactPrepShared.h
+++ b/PhysX_3.4/Source/LowLevelDynamics/src/DyContactPrepShared.h
@@ -118,6 +118,7 @@ inline bool getFrictionPatches(CorrelationBuffer& c,
 							//Rotate the contact normal into world space
 							c.frictionPatchWorldNormal[c.frictionPatchCount] = bodyFrame0.rotate(patch.body0Normal);
 							c.frictionPatchContactCounts[c.frictionPatchCount] = 0;
+							c.patchBounds[c.frictionPatchCount].setEmpty();
 							c.correlationListHeads[c.frictionPatchCount] = CorrelationBuffer::LIST_END;
 							PxMemCopy(&c.frictionPatches[c.frictionPatchCount++], &patch, sizeof(FrictionPatch));
 						}
diff --git a/PhysX_3.4/Source/LowLevelDynamics/src/DyCorrelationBuffer.h b/PhysX_3.4/Source/LowLevelDynamics/src/DyCorrelationBuffer.h
index 23945071..9d115c36 100644
--- a/PhysX_3.4/Source/LowLevelDynamics/src/DyCorrelationBuffer.h
+++ b/PhysX_3.4/Source/LowLevelDynamics/src/DyCorrelationBuffer.h
@@ -38,6 +38,7 @@
 #include "foundation/PxTransform.h"
 #include "DyFrictionPatch.h"
 #include "GuContactBuffer.h"
+#include "foundation/PxBounds3.h"
 
 namespace physx
 {
@@ -60,13 +61,15 @@ struct CorrelationBuffer
 		PxU8 flags;
 		PxU8 count;
 		PxReal staticFriction, dynamicFriction, restitution;
+		PxBounds3 patchBounds;
 	};
 
 	// we can have as many contact patches as contacts, unfortunately
 	ContactPatchData	contactPatches[Gu::ContactBuffer::MAX_CONTACTS];
 
 	FrictionPatch	PX_ALIGN(16, frictionPatches[MAX_FRICTION_PATCHES]);
-	PxVec3				PX_ALIGN(16, frictionPatchWorldNormal[MAX_FRICTION_PATCHES]);
+	PxVec3			PX_ALIGN(16, frictionPatchWorldNormal[MAX_FRICTION_PATCHES]);
+	PxBounds3		patchBounds[MAX_FRICTION_PATCHES];
 
 	PxU32				frictionPatchContactCounts[MAX_FRICTION_PATCHES];
 	PxU32				correlationListHeads[MAX_FRICTION_PATCHES+1];
diff --git a/PhysX_3.4/Source/LowLevelDynamics/src/DyFrictionCorrelation.cpp b/PhysX_3.4/Source/LowLevelDynamics/src/DyFrictionCorrelation.cpp
index 2d0af683..75e9d0ee 100644
--- a/PhysX_3.4/Source/LowLevelDynamics/src/DyFrictionCorrelation.cpp
+++ b/PhysX_3.4/Source/LowLevelDynamics/src/DyFrictionCorrelation.cpp
@@ -89,6 +89,8 @@ bool createContactPatches(CorrelationBuffer& fb, const Gu::ContactPoint* cb, PxU
 		initContactPatch(fb.contactPatches[contactPatchCount++], Ps::to16(0), contacts[0].restitution, 
 			contacts[0].staticFriction, contacts[0].dynamicFriction, PxU8(contacts[0].materialFlags));
 
+		PxBounds3 bounds(contacts[0].point, contacts[0].point);
+
 		PxU32 patchIndex = 0;
 
 		for (PxU32 i = 1; i<contactCount; i++)
@@ -101,6 +103,7 @@ bool createContactPatches(CorrelationBuffer& fb, const Gu::ContactPoint* cb, PxU
 				&& curContact.restitution == preContact.restitution
 				&& curContact.normal.dot(preContact.normal)>=normalTolerance)
 			{
+				bounds.include(curContact.point);
 				count++;
 			}
 			else
@@ -110,14 +113,20 @@ bool createContactPatches(CorrelationBuffer& fb, const Gu::ContactPoint* cb, PxU
 				patchIndex = i;
 				currentPatchData->count = count;
 				count = 1;
+				currentPatchData->patchBounds = bounds;
 				currentPatchData = fb.contactPatches + contactPatchCount;
 
 				initContactPatch(fb.contactPatches[contactPatchCount++], Ps::to16(i), curContact.restitution,
 					curContact.staticFriction, curContact.dynamicFriction, PxU8(curContact.materialFlags));
+
+				
+				bounds = PxBounds3(curContact.point, curContact.point);
 			}
 		}
 		if(count!=1)
 			currentPatchData->count = count;
+
+		currentPatchData->patchBounds = bounds;
 	}
 	fb.contactPatchCount = contactPatchCount;
 	return true;
@@ -155,11 +164,13 @@ bool correlatePatches(CorrelationBuffer& fb,
 			fb.frictionPatchWorldNormal[j] = patchNormal;
 			fb.frictionPatchContactCounts[frictionPatchCount] = c.count;
 			fb.contactID[frictionPatchCount][0] = 0xffff;
+			fb.patchBounds[frictionPatchCount] = c.patchBounds;
 			fb.contactID[frictionPatchCount++][1] = 0xffff;
 			c.next = CorrelationBuffer::LIST_END;
 		}
 		else
 		{
+			fb.patchBounds[j].include(c.patchBounds);
 			fb.frictionPatchContactCounts[j] += c.count;
 			c.next = Ps::to16(fb.correlationListHeads[j]);
 		}
@@ -187,8 +198,18 @@ void growPatches(CorrelationBuffer& fb,
 	{
 		FrictionPatch& fp = fb.frictionPatches[i];
 
-		if(fp.anchorCount==2 || fb.correlationListHeads[i]==CorrelationBuffer::LIST_END)
-			continue;
+		if (fp.anchorCount == 2 || fb.correlationListHeads[i] == CorrelationBuffer::LIST_END)
+		{
+			const PxReal frictionPatchDiagonalSq = fb.patchBounds[i].getDimensions().magnitudeSquared();
+			const PxReal anchorSqDistance = (fp.body0Anchors[0] - fp.body0Anchors[1]).magnitudeSquared();
+
+			//If the squared distance between the anchors is more than a quarter of the patch diagonal, we can keep, 
+			//otherwise the anchors are potentially clustered around a corner so force a rebuild of the patch
+			if(fb.frictionPatchContactCounts[i] == 0 || (anchorSqDistance * 4.f) >= frictionPatchDiagonalSq)
+				continue;
+
+			fp.anchorCount = 0;
+		}
 
 		PxVec3 worldAnchors[2];
 		PxU16 anchorCount = 0;