Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 183 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/PhysXExtensions/src/ExtTriangleMeshExt.cpp b/PhysX_3.4/Source/PhysXExtensions/src/ExtTriangleMeshExt.cpp
new file mode 100644
index 00000000..92702047
--- /dev/null
+++ b/PhysX_3.4/Source/PhysXExtensions/src/ExtTriangleMeshExt.cpp
@@ -0,0 +1,183 @@
+// 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 "PxTriangleMeshExt.h"
+#include "PxMeshQuery.h"
+#include "PxGeometryQuery.h"
+#include "PxTriangleMeshGeometry.h"
+#include "PxHeightFieldGeometry.h"
+#include "PxTriangleMesh.h"
+#include "PsAllocator.h"
+
+using namespace physx;
+
+PxMeshOverlapUtil::PxMeshOverlapUtil() : mResultsMemory(mResults), mNbResults(0), mMaxNbResults(256)
+{
+}
+
+PxMeshOverlapUtil::~PxMeshOverlapUtil()
+{
+	if(mResultsMemory != mResults)
+		PX_FREE(mResultsMemory);
+}
+
+PxU32 PxMeshOverlapUtil::findOverlap(const PxGeometry& geom, const PxTransform& geomPose, const PxTriangleMeshGeometry& meshGeom, const PxTransform& meshPose)
+{
+	bool overflow;
+	PxU32 nbTouchedTris = PxMeshQuery::findOverlapTriangleMesh(geom, geomPose, meshGeom, meshPose, mResultsMemory, mMaxNbResults, 0, overflow);
+
+	if(overflow)
+	{
+		const PxU32 maxNbTris = meshGeom.triangleMesh->getNbTriangles();
+		if(!maxNbTris)
+		{
+			mNbResults = 0;
+			return 0;
+		}
+
+		if(mMaxNbResults<maxNbTris)
+		{
+			if(mResultsMemory != mResults)
+				PX_FREE(mResultsMemory);
+
+			mResultsMemory = reinterpret_cast<PxU32*>(PX_ALLOC(sizeof(PxU32)*maxNbTris, "PxMeshOverlapUtil::findOverlap"));
+			mMaxNbResults = maxNbTris;
+		}
+		nbTouchedTris = PxMeshQuery::findOverlapTriangleMesh(geom, geomPose, meshGeom, meshPose, mResultsMemory, mMaxNbResults, 0, overflow);
+		PX_ASSERT(nbTouchedTris);
+		PX_ASSERT(!overflow);
+	}
+	mNbResults = nbTouchedTris;
+	return nbTouchedTris;
+}
+
+PxU32 PxMeshOverlapUtil::findOverlap(const PxGeometry& geom, const PxTransform& geomPose, const PxHeightFieldGeometry& hfGeom, const PxTransform& hfPose)
+{
+	bool overflow = true;
+	PxU32 nbTouchedTris = 0;
+	do
+	{
+		nbTouchedTris = PxMeshQuery::findOverlapHeightField(geom, geomPose, hfGeom, hfPose, mResultsMemory, mMaxNbResults, 0, overflow);
+		if(overflow)
+		{
+			const PxU32 maxNbTris = mMaxNbResults * 2;
+
+			if(mResultsMemory != mResults)
+				PX_FREE(mResultsMemory);
+
+			mResultsMemory = reinterpret_cast<PxU32*>(PX_ALLOC(sizeof(PxU32)*maxNbTris, "PxMeshOverlapUtil::findOverlap"));
+			mMaxNbResults = maxNbTris;
+		}
+	}while(overflow);
+
+	mNbResults = nbTouchedTris;
+	return nbTouchedTris;
+}
+namespace
+{
+template<typename MeshGeometry>
+bool computeMeshPenetrationT(PxVec3& direction, 
+						     PxReal& depth,
+							 const PxGeometry& geom, 
+							 const PxTransform& geomPose, 
+							 const MeshGeometry& meshGeom, 
+							 const PxTransform& meshPose, 
+							 PxU32 maxIter,
+							 PxU32* nbIterOut)
+{
+	PxU32 nbIter = 0;
+	PxTransform pose = geomPose;
+	for (;  nbIter < maxIter; nbIter++)
+	{
+		PxVec3 currentDir;
+		PxF32 currentDepth;
+
+		if (!PxGeometryQuery::computePenetration(currentDir, currentDepth, geom, pose, meshGeom, meshPose))
+			break;
+
+		pose.p += currentDir * currentDepth;
+	}
+
+	if(nbIterOut)
+		*nbIterOut = nbIter;
+
+	PxVec3 diff = pose.p - geomPose.p;
+	depth = diff.magnitude();	
+
+	if (depth>0)
+		direction = diff / depth;
+
+	return nbIter!=0;
+}
+}
+
+bool physx::PxComputeTriangleMeshPenetration(PxVec3& direction, 
+											PxReal& depth,
+											const PxGeometry& geom, 
+											const PxTransform& geomPose, 
+											const PxTriangleMeshGeometry& meshGeom, 
+											const PxTransform& meshPose, 
+											PxU32 maxIter,
+											PxU32* nbIter)
+{
+	return computeMeshPenetrationT(direction, depth, geom, geomPose, meshGeom, meshPose, maxIter, nbIter);
+}
+
+
+PxVec3 physx::PxComputeMeshPenetration(PxU32 maxIter, const PxGeometry& geom, const PxTransform& geomPose, const PxTriangleMeshGeometry& meshGeom, const PxTransform& meshPose, PxU32& nb)
+{
+	PxVec3 direction;
+	PxReal depth;
+	computeMeshPenetrationT(direction, depth, geom, geomPose, meshGeom, meshPose, maxIter, &nb);
+	return direction * depth;
+}
+
+
+bool physx::PxComputeHeightFieldPenetration(PxVec3& direction, 
+										    PxReal& depth,
+											const PxGeometry& geom, 
+											const PxTransform& geomPose, 
+											const PxHeightFieldGeometry& hfGeom, 
+											const PxTransform& meshPose, 
+											PxU32 maxIter,
+											PxU32* nbIter)
+{
+	return computeMeshPenetrationT(direction, depth, geom, geomPose, hfGeom, meshPose, maxIter, nbIter);
+}
+
+
+PxVec3 physx::PxComputeHeightFieldPenetration(PxU32 maxIter, const PxGeometry& geom, const PxTransform& geomPose, const PxHeightFieldGeometry& meshGeom, const PxTransform& meshPose, PxU32& nb)
+{
+	PxVec3 direction;
+	PxReal depth;
+	computeMeshPenetrationT(direction, depth, geom, geomPose, meshGeom, meshPose, maxIter, &nb);
+	return direction * depth;
+}
+