Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 234 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/SceneQuery/src/SqAABBTreeQuery.h b/PhysX_3.4/Source/SceneQuery/src/SqAABBTreeQuery.h
new file mode 100644
index 00000000..299d8993
--- /dev/null
+++ b/PhysX_3.4/Source/SceneQuery/src/SqAABBTreeQuery.h
@@ -0,0 +1,234 @@
+// 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.  
+
+#ifndef SQ_AABBTREEQUERY_H
+#define SQ_AABBTREEQUERY_H
+
+#include "SqAABBTree.h"
+#include "SqPrunerTestsSIMD.h"
+
+namespace physx
+{
+	namespace Sq
+	{
+		#define RAW_TRAVERSAL_STACK_SIZE 256
+
+		//////////////////////////////////////////////////////////////////////////
+
+		static PX_FORCE_INLINE void getBoundsTimesTwo(Vec4V& center, Vec4V& extents, const PxBounds3* boxes, PoolIndex poolIndex)
+		{
+			const PxBounds3* objectBounds = boxes + poolIndex;
+
+			const Vec4V minV = V4LoadU(&objectBounds->minimum.x);
+			const Vec4V maxV = V4LoadU(&objectBounds->maximum.x);
+
+			center = V4Add(maxV, minV);
+			extents = V4Sub(maxV, minV);
+		}
+
+		//////////////////////////////////////////////////////////////////////////
+
+		template<typename Test>
+		class AABBTreeOverlap
+		{
+		public:
+			bool operator()(const PrunerPayload* objects, const PxBounds3* boxes, const AABBTree& tree, const Test& test, PrunerCallback& visitor)
+			{
+				using namespace Cm;
+
+				const AABBTreeRuntimeNode* stack[RAW_TRAVERSAL_STACK_SIZE];
+				const AABBTreeRuntimeNode* const nodeBase = tree.getNodes();
+				stack[0] = nodeBase;
+				PxU32 stackIndex = 1;
+
+				while (stackIndex > 0)
+				{
+					const AABBTreeRuntimeNode* node = stack[--stackIndex];
+					Vec3V center, extents;
+					node->getAABBCenterExtentsV(&center, &extents);
+					while (test(center, extents))
+					{
+						if (node->isLeaf())
+						{
+							PxU32 nbPrims = node->getNbPrimitives();
+							const bool doBoxTest = nbPrims > 1;
+							const PxU32* prims = node->getPrimitives(tree.getIndices());
+							while (nbPrims--)
+							{
+								const PxU32* prunableIndex = prims;
+								prims++;
+
+								const PoolIndex poolIndex = *prunableIndex;
+								if (doBoxTest)
+								{
+									Vec4V center2, extents2;
+									getBoundsTimesTwo(center2, extents2, boxes, poolIndex);
+
+									const float half = 0.5f;
+									const FloatV halfV = FLoad(half);
+
+									const Vec4V extents_ = V4Scale(extents2, halfV);
+									const Vec4V center_ = V4Scale(center2, halfV);
+
+									if (!test(Vec3V_From_Vec4V(center_), Vec3V_From_Vec4V(extents_)))
+										continue;
+								}
+
+								PxReal unusedDistance;
+								if (!visitor.invoke(unusedDistance, objects[poolIndex]))
+									return false;
+							}
+							break;
+						}
+
+						const AABBTreeRuntimeNode* children = node->getPos(nodeBase);
+
+						node = children;
+						stack[stackIndex++] = children + 1;
+						PX_ASSERT(stackIndex < RAW_TRAVERSAL_STACK_SIZE);
+						node->getAABBCenterExtentsV(&center, &extents);
+					}
+				}
+				return true;
+			}
+		};
+
+		//////////////////////////////////////////////////////////////////////////
+
+		template <bool tInflate> // use inflate=true for sweeps, inflate=false for raycasts
+		static PX_FORCE_INLINE bool doLeafTest(const AABBTreeRuntimeNode* node, Gu::RayAABBTest& test, PxReal& md, PxReal oldMaxDist,
+			const PrunerPayload* objects, const PxBounds3* boxes, const AABBTree& tree,
+			PxReal& maxDist, PrunerCallback& pcb)
+		{
+			PxU32 nbPrims = node->getNbPrimitives();
+			const bool doBoxTest = nbPrims > 1;
+			const PxU32* prims = node->getPrimitives(tree.getIndices());
+			while (nbPrims--)
+			{
+				const PxU32* prunableIndex = prims;
+				prims++;
+
+				const PoolIndex poolIndex = *prunableIndex;
+				if (doBoxTest)
+				{
+					Vec4V center_, extents_;
+					getBoundsTimesTwo(center_, extents_, boxes, poolIndex);
+
+					if (!test.check<tInflate>(Vec3V_From_Vec4V(center_), Vec3V_From_Vec4V(extents_)))
+						continue;
+				}
+
+				if (!pcb.invoke(md, objects[poolIndex]))
+					return false;
+
+				if (md < oldMaxDist)
+				{
+					maxDist = md;
+					test.setDistance(md);
+				}
+			}
+			return true;
+		}
+
+		//////////////////////////////////////////////////////////////////////////
+
+		template <bool tInflate> // use inflate=true for sweeps, inflate=false for raycasts
+		class AABBTreeRaycast
+		{
+		public:
+			bool operator()(
+				const PrunerPayload* objects, const PxBounds3* boxes, const AABBTree& tree,
+				const PxVec3& origin, const PxVec3& unitDir, PxReal& maxDist, const PxVec3& inflation,
+				PrunerCallback& pcb)
+			{
+				using namespace Cm;
+
+				// PT: we will pass center*2 and extents*2 to the ray-box code, to save some work per-box
+				// So we initialize the test with values multiplied by 2 as well, to get correct results
+				Gu::RayAABBTest test(origin*2.0f, unitDir*2.0f, maxDist, inflation*2.0f);
+
+				const AABBTreeRuntimeNode* stack[RAW_TRAVERSAL_STACK_SIZE]; // stack always contains PPU addresses
+				const AABBTreeRuntimeNode* const nodeBase = tree.getNodes();
+				stack[0] = nodeBase;
+				PxU32 stackIndex = 1;
+
+				PxReal oldMaxDist;
+				while (stackIndex--)
+				{
+					const AABBTreeRuntimeNode* node = stack[stackIndex];
+					Vec3V center, extents;
+					node->getAABBCenterExtentsV2(&center, &extents);
+					if (test.check<tInflate>(center, extents))	// TODO: try timestamp ray shortening to skip this
+					{
+						PxReal md = maxDist; // has to be before the goto below to avoid compile error
+						while (!node->isLeaf())
+						{
+							const AABBTreeRuntimeNode* children = node->getPos(nodeBase);
+
+							Vec3V c0, e0;
+							children[0].getAABBCenterExtentsV2(&c0, &e0);
+							const PxU32 b0 = test.check<tInflate>(c0, e0);
+
+							Vec3V c1, e1;
+							children[1].getAABBCenterExtentsV2(&c1, &e1);
+							const PxU32 b1 = test.check<tInflate>(c1, e1);
+
+							if (b0 && b1)	// if both intersect, push the one with the further center on the stack for later
+							{
+								// & 1 because FAllGrtr behavior differs across platforms
+								const PxU32 bit = FAllGrtr(V3Dot(V3Sub(c1, c0), test.mDir), FZero()) & 1;
+								stack[stackIndex++] = children + bit;
+								node = children + (1 - bit);
+								PX_ASSERT(stackIndex < RAW_TRAVERSAL_STACK_SIZE);
+							}
+							else if (b0)
+								node = children;
+							else if (b1)
+								node = children + 1;
+							else
+								goto skip_leaf_code;
+						}
+
+						oldMaxDist = maxDist; // we copy since maxDist can be updated in the callback and md<maxDist test below can fail
+
+						if (!doLeafTest<tInflate>(node, test, md, oldMaxDist,
+							objects, boxes, tree,
+							maxDist,
+							pcb))
+							return false;
+					skip_leaf_code:;
+					}
+				}
+				return true;
+			}
+		};
+	}
+}
+
+#endif   // SQ_AABBTREEQUERY_H