Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 197 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/PhysXCharacterKinematic/src/CctBoxController.cpp b/PhysX_3.4/Source/PhysXCharacterKinematic/src/CctBoxController.cpp
new file mode 100644
index 00000000..02122c89
--- /dev/null
+++ b/PhysX_3.4/Source/PhysXCharacterKinematic/src/CctBoxController.cpp
@@ -0,0 +1,197 @@
+// 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 "PxController.h"
+#include "CctBoxController.h"
+#include "CctCharacterControllerManager.h"
+#include "PxBoxGeometry.h"
+#include "PxRigidDynamic.h"
+#include "PxShape.h"
+
+using namespace physx;
+using namespace Cct;
+
+static PX_FORCE_INLINE PxVec3 CCTtoProxyExtents(PxF32 halfHeight, PxF32 halfSideExtent, PxF32 halfForwardExtent, PxF32 coeff)
+{
+	// PT: because we now orient the box CCT using the same quat as for capsules...
+	// i.e. the identity quat corresponds to a up dir = 1,0,0 (which is like the worst choice we could have made, of course)
+	return PxVec3(halfHeight * coeff, halfSideExtent * coeff, halfForwardExtent * coeff);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+BoxController::BoxController(const PxControllerDesc& desc, PxPhysics& sdk, PxScene* s) : Controller(desc, s)
+{
+	mType = PxControllerShapeType::eBOX;
+
+	const PxBoxControllerDesc& bc = static_cast<const PxBoxControllerDesc&>(desc);
+
+	mHalfHeight			= bc.halfHeight;
+	mHalfSideExtent		= bc.halfSideExtent;
+	mHalfForwardExtent	= bc.halfForwardExtent;
+
+	// Create kinematic actor under the hood
+	PxBoxGeometry boxGeom;
+	boxGeom.halfExtents = CCTtoProxyExtents(bc.halfHeight, bc.halfSideExtent, bc.halfForwardExtent, mProxyScaleCoeff);
+
+	createProxyActor(sdk, boxGeom, *desc.material);
+}
+
+BoxController::~BoxController()
+{
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+void BoxController::invalidateCache()
+{
+	if(mManager->mLockingEnabled)
+		mWriteLock.lock();
+
+	mCctModule.voidTestCache();
+
+	if(mManager->mLockingEnabled)
+		mWriteLock.unlock();
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+bool BoxController::getWorldBox(PxExtendedBounds3& box) const
+{
+	setCenterExtents(box, mPosition, PxVec3(mHalfHeight, mHalfSideExtent, mHalfForwardExtent));
+	return true;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+PxF32 BoxController::getHalfHeight() const
+{
+	return mHalfHeight;
+}
+
+PxF32 BoxController::getHalfSideExtent() const
+{
+	return mHalfSideExtent;
+}
+
+PxF32 BoxController::getHalfForwardExtent() const
+{
+	return mHalfForwardExtent;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+bool BoxController::updateKinematicProxy()
+{
+	// Set extents for kinematic proxy
+	if(mKineActor)
+	{
+		PxShape* shape = getKineShape();
+
+		PX_ASSERT(shape->getGeometryType() == PxGeometryType::eBOX);
+		PxBoxGeometry bg;
+		shape->getBoxGeometry(bg);
+
+		bg.halfExtents = CCTtoProxyExtents(mHalfHeight, mHalfSideExtent, mHalfForwardExtent, mProxyScaleCoeff);
+		shape->setGeometry(bg);
+	}
+	return true;
+}
+
+bool BoxController::setHalfHeight(PxF32 halfHeight)
+{
+	if(halfHeight<=0.0f)
+		return false;
+
+	mHalfHeight = halfHeight;
+	return updateKinematicProxy();
+}
+
+bool BoxController::setHalfSideExtent(PxF32 halfSideExtent)
+{
+	if(halfSideExtent<=0.0f)
+		return false;
+
+	mHalfSideExtent = halfSideExtent;
+	return updateKinematicProxy();
+}
+
+bool BoxController::setHalfForwardExtent(PxF32 halfForwardExtent)
+{
+	if(halfForwardExtent<=0.0f)
+		return false;
+
+	mHalfForwardExtent = halfForwardExtent;
+	return updateKinematicProxy();
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+PxExtendedVec3 BoxController::getFootPosition() const
+{
+	PxExtendedVec3 groundPosition = mPosition;													// Middle of the CCT
+	groundPosition -= mUserParams.mUpDirection * (mHalfHeight + mUserParams.mContactOffset);	// Ground
+	return groundPosition;
+}
+
+bool BoxController::setFootPosition(const PxExtendedVec3& position)
+{
+	PxExtendedVec3 centerPosition = position;
+	centerPosition += mUserParams.mUpDirection * (mHalfHeight + mUserParams.mContactOffset);
+	return setPosition(centerPosition);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+void BoxController::getOBB(PxExtendedBox& obb) const
+{
+	// PT: TODO: optimize this
+	PxExtendedBounds3 worldBox;
+	getWorldBox(worldBox);
+
+	getCenter(worldBox, obb.center);
+	getExtents(worldBox, obb.extents);
+	obb.rot = mUserParams.mQuatFromUp;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+void BoxController::resize(PxReal height)
+{
+	const float oldHeight = getHalfHeight();
+	setHalfHeight(height);
+
+	const float delta = height - oldHeight;
+	PxExtendedVec3 pos = getPosition();
+	pos += mUserParams.mUpDirection * delta;
+	setPosition(pos);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+