Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 192 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/PhysXCharacterKinematic/src/CctCapsuleController.cpp b/PhysX_3.4/Source/PhysXCharacterKinematic/src/CctCapsuleController.cpp
new file mode 100644
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+++ b/PhysX_3.4/Source/PhysXCharacterKinematic/src/CctCapsuleController.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 "PxController.h"
+#include "CctCapsuleController.h"
+#include "CctCharacterControllerManager.h"
+#include "PxCapsuleGeometry.h"
+#include "PxRigidDynamic.h"
+#include "PxShape.h"
+
+using namespace physx;
+using namespace Cct;
+
+static PX_FORCE_INLINE float CCTtoProxyRadius(float r, PxF32 coeff)	{ return r * coeff;			}
+static PX_FORCE_INLINE float CCTtoProxyHeight(float h, PxF32 coeff)	{ return 0.5f * h * coeff;	}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+CapsuleController::CapsuleController(const PxControllerDesc& desc, PxPhysics& sdk, PxScene* s) : Controller(desc, s)
+{
+	mType = PxControllerShapeType::eCAPSULE;
+
+	const PxCapsuleControllerDesc& cc = static_cast<const PxCapsuleControllerDesc&>(desc);
+
+	mRadius			= cc.radius;
+	mHeight			= cc.height;
+	mClimbingMode	= cc.climbingMode;
+
+	// Create kinematic actor under the hood
+	PxCapsuleGeometry capsGeom;
+	capsGeom.radius		= CCTtoProxyRadius(cc.radius, mProxyScaleCoeff);
+	capsGeom.halfHeight	= CCTtoProxyHeight(cc.height, mProxyScaleCoeff);
+
+	createProxyActor(sdk, capsGeom, *desc.material);
+}
+
+CapsuleController::~CapsuleController()
+{
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+void CapsuleController::invalidateCache()
+{
+	if(mManager->mLockingEnabled)
+		mWriteLock.lock();
+
+	mCctModule.voidTestCache();
+
+	if(mManager->mLockingEnabled)
+		mWriteLock.unlock();
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+bool CapsuleController::getWorldBox(PxExtendedBounds3& box) const
+{
+	setCenterExtents(box, mPosition, PxVec3(mRadius, mRadius+mHeight*0.5f, mRadius));
+	return true;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+bool CapsuleController::setRadius(PxF32 r)
+{
+	// Set radius for CCT volume
+	mRadius = r;
+
+	// Set radius for kinematic proxy
+	if(mKineActor)
+	{
+		PxShape* shape = getKineShape();
+
+		PX_ASSERT(shape->getGeometryType() == PxGeometryType::eCAPSULE);
+		PxCapsuleGeometry cg;
+		shape->getCapsuleGeometry(cg);
+
+		cg.radius = CCTtoProxyRadius(r, mProxyScaleCoeff);
+		shape->setGeometry(cg);
+	}
+	return true;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+bool CapsuleController::setHeight(PxF32 h)
+{
+	// Set height for CCT volume
+	mHeight = h;
+
+	// Set height for kinematic proxy
+	if(mKineActor)
+	{
+		PxShape* shape = getKineShape();
+
+		PX_ASSERT(shape->getGeometryType() == PxGeometryType::eCAPSULE);
+		PxCapsuleGeometry cg;
+		shape->getCapsuleGeometry(cg);
+
+		cg.halfHeight = CCTtoProxyHeight(h, mProxyScaleCoeff);
+		shape->setGeometry(cg);
+	}
+	return true;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+PxCapsuleClimbingMode::Enum CapsuleController::getClimbingMode() const
+{
+	return mClimbingMode;
+}
+
+bool CapsuleController::setClimbingMode(PxCapsuleClimbingMode::Enum mode)
+{
+	if(mode>=PxCapsuleClimbingMode::eLAST)
+		return false;
+	mClimbingMode = mode;
+	return true;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+PxExtendedVec3 CapsuleController::getFootPosition() const
+{
+	PxExtendedVec3 groundPosition = mPosition;														// Middle of the CCT
+	groundPosition -= mUserParams.mUpDirection * (mUserParams.mContactOffset+mRadius+mHeight*0.5f);	// Ground
+	return groundPosition;
+}
+
+bool CapsuleController::setFootPosition(const PxExtendedVec3& position)
+{
+	PxExtendedVec3 centerPosition = position;
+	centerPosition += mUserParams.mUpDirection * (mUserParams.mContactOffset+mRadius+mHeight*0.5f);
+	return setPosition(centerPosition);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+void CapsuleController::getCapsule(PxExtendedCapsule& capsule) const
+{
+	// PT: TODO: optimize this
+	PxExtendedVec3 p0 = mPosition;
+	PxExtendedVec3 p1 = mPosition;
+	const PxVec3 extents = mUserParams.mUpDirection*mHeight*0.5f;
+	p0 -= extents;
+	p1 += extents;
+
+	capsule.p0		= p0;
+	capsule.p1		= p1;
+	capsule.radius	= mRadius;
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+void CapsuleController::resize(PxReal height)
+{
+	const float oldHeight = getHeight();
+	setHeight(height);
+
+	const float delta = height - oldHeight;
+	PxExtendedVec3 pos = getPosition();
+	pos += mUserParams.mUpDirection * delta * 0.5f;
+	setPosition(pos);
+}
+
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////