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-rw-r--r--PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactConvexCommon.h157
1 files changed, 88 insertions, 69 deletions
diff --git a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactConvexCommon.h b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactConvexCommon.h
index 5c372914..cae46bdd 100644
--- a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactConvexCommon.h
+++ b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactConvexCommon.h
@@ -44,27 +44,32 @@ namespace physx
namespace Gu
{
+#define MAX_CACHE_SIZE 128
+
class PCMMeshContactGeneration
{
PX_NOCOPY(PCMMeshContactGeneration)
public:
- PCMContactPatch mContactPatch[PCM_MAX_CONTACTPATCH_SIZE];
- PCMContactPatch* mContactPatchPtr[PCM_MAX_CONTACTPATCH_SIZE];
- const Ps::aos::FloatV mContactDist;
- const Ps::aos::FloatV mReplaceBreakingThreshold;
- const Ps::aos::PsTransformV& mConvexTransform;
- const Ps::aos::PsTransformV& mMeshTransform;
- Gu::MultiplePersistentContactManifold& mMultiManifold;
- Gu::ContactBuffer& mContactBuffer;
-
- Ps::aos::FloatV mAcceptanceEpsilon;
- Ps::aos::FloatV mSqReplaceBreakingThreshold;
- Ps::aos::PsMatTransformV mMeshToConvex;
- Gu::MeshPersistentContact* mManifoldContacts;
- PxU32 mNumContacts;
- PxU32 mNumContactPatch;
- PxU32 mNumCalls;
- Cm::RenderOutput* mRenderOutput;
+ PCMContactPatch mContactPatch[PCM_MAX_CONTACTPATCH_SIZE];
+ PCMContactPatch* mContactPatchPtr[PCM_MAX_CONTACTPATCH_SIZE];
+ const Ps::aos::FloatV mContactDist;
+ const Ps::aos::FloatV mReplaceBreakingThreshold;
+ const Ps::aos::PsTransformV& mConvexTransform;
+ const Ps::aos::PsTransformV& mMeshTransform;
+ Gu::MultiplePersistentContactManifold& mMultiManifold;
+ Gu::ContactBuffer& mContactBuffer;
+
+ Ps::aos::FloatV mAcceptanceEpsilon;
+ Ps::aos::FloatV mSqReplaceBreakingThreshold;
+ Ps::aos::PsMatTransformV mMeshToConvex;
+ Gu::MeshPersistentContact* mManifoldContacts;
+ PxU32 mNumContacts;
+ PxU32 mNumContactPatch;
+ PxU32 mNumCalls;
+ Gu::CacheMap<Gu::CachedEdge, MAX_CACHE_SIZE> mEdgeCache;
+ Ps::InlineArray<PxU32, LOCAL_CONTACTS_SIZE>* mDeferredContacts;
+ Cm::RenderOutput* mRenderOutput;
+
PCMMeshContactGeneration(
const Ps::aos::FloatVArg contactDist,
@@ -73,6 +78,7 @@ public:
const Ps::aos::PsTransformV& meshTransform,
Gu::MultiplePersistentContactManifold& multiManifold,
Gu::ContactBuffer& contactBuffer,
+ Ps::InlineArray<PxU32, LOCAL_CONTACTS_SIZE>* deferredContacts,
Cm::RenderOutput* renderOutput
) :
@@ -82,6 +88,7 @@ public:
mMeshTransform(meshTransform),
mMultiManifold(multiManifold),
mContactBuffer(contactBuffer),
+ mDeferredContacts(deferredContacts),
mRenderOutput(renderOutput)
{
@@ -257,8 +264,6 @@ public:
PxU8 triFlags; //57
};
-#define MAX_CACHE_SIZE 128
-
#if PX_VC
#pragma warning(push)
#pragma warning( disable : 4324 ) // Padding was added at the end of a structure because of a __declspec(align) value.
@@ -269,36 +274,33 @@ class PCMConvexVsMeshContactGeneration : public PCMMeshContactGeneration
PCMConvexVsMeshContactGeneration &operator=(PCMConvexVsMeshContactGeneration &);
public:
-
- Gu::CacheMap<Gu::CachedEdge, MAX_CACHE_SIZE> mEdgeCache;
- Gu::CacheMap<Gu::CachedVertex, MAX_CACHE_SIZE> mVertexCache;
- Ps::aos::Vec3V mHullCenterMesh;
-
- Ps::InlineArray<PxU32,LOCAL_CONTACTS_SIZE>& mDeferredContacts;
- const Gu::PolygonalData& mPolyData;
- SupportLocal* mPolyMap;
- const Cm::FastVertex2ShapeScaling& mConvexScaling;
- bool mIdtConvexScale;
- Cm::RenderOutput* mRenderOutput;
+ Gu::CacheMap<Gu::CachedVertex, MAX_CACHE_SIZE> mVertexCache;
+ Ps::aos::Vec3V mHullCenterMesh;
+
+ const Gu::PolygonalData& mPolyData;
+ SupportLocal* mPolyMap;
+ const Cm::FastVertex2ShapeScaling& mConvexScaling;
+ bool mIdtConvexScale;
+ Cm::RenderOutput* mRenderOutput;
PCMConvexVsMeshContactGeneration(
- const Ps::aos::FloatVArg contactDistance,
- const Ps::aos::FloatVArg replaceBreakingThreshold,
- const Ps::aos::PsTransformV& convexTransform,
- const Ps::aos::PsTransformV& meshTransform,
- Gu::MultiplePersistentContactManifold& multiManifold,
- Gu::ContactBuffer& contactBuffer,
-
- const Gu::PolygonalData& polyData,
- SupportLocal* polyMap,
- Ps::InlineArray<PxU32,LOCAL_CONTACTS_SIZE>& delayedContacts,
- const Cm::FastVertex2ShapeScaling& convexScaling,
- bool idtConvexScale,
- Cm::RenderOutput* renderOutput
+ const Ps::aos::FloatVArg contactDistance,
+ const Ps::aos::FloatVArg replaceBreakingThreshold,
+ const Ps::aos::PsTransformV& convexTransform,
+ const Ps::aos::PsTransformV& meshTransform,
+ Gu::MultiplePersistentContactManifold& multiManifold,
+ Gu::ContactBuffer& contactBuffer,
+
+ const Gu::PolygonalData& polyData,
+ SupportLocal* polyMap,
+ Ps::InlineArray<PxU32,LOCAL_CONTACTS_SIZE>* delayedContacts,
+ const Cm::FastVertex2ShapeScaling& convexScaling,
+ bool idtConvexScale,
+ Cm::RenderOutput* renderOutput
- ) : PCMMeshContactGeneration(contactDistance, replaceBreakingThreshold, convexTransform, meshTransform, multiManifold, contactBuffer, renderOutput),
- mDeferredContacts(delayedContacts),
+ ) : PCMMeshContactGeneration(contactDistance, replaceBreakingThreshold, convexTransform, meshTransform, multiManifold, contactBuffer,
+ delayedContacts, renderOutput),
mPolyData(polyData),
mPolyMap(polyMap),
mConvexScaling(convexScaling),
@@ -334,26 +336,39 @@ public:
#pragma warning(pop)
#endif
+struct SortedTriangle
+{
+ Ps::aos::FloatV mSquareDist;
+ PxU32 mIndex;
+
+ PX_FORCE_INLINE bool operator < (const SortedTriangle& data) const
+ {
+ return Ps::aos::FAllGrtrOrEq(mSquareDist, data.mSquareDist) ==0;
+ }
+};
+
class PCMSphereVsMeshContactGeneration : public PCMMeshContactGeneration
{
public:
- Ps::aos::Vec3V mSphereCenter;
- Ps::aos::FloatV mSphereRadius;
- Ps::aos::FloatV mSqInflatedSphereRadius;
+ Ps::aos::Vec3V mSphereCenter;
+ Ps::aos::FloatV mSphereRadius;
+ Ps::aos::FloatV mSqInflatedSphereRadius;
+ Ps::InlineArray<SortedTriangle, 64> mSortedTriangle;
-
PCMSphereVsMeshContactGeneration(
- const Ps::aos::Vec3VArg sphereCenter,
- const Ps::aos::FloatVArg sphereRadius,
- const Ps::aos::FloatVArg contactDist,
- const Ps::aos::FloatVArg replaceBreakingThreshold,
- const Ps::aos::PsTransformV& sphereTransform,
- const Ps::aos::PsTransformV& meshTransform,
- Gu::MultiplePersistentContactManifold& multiManifold,
- Gu::ContactBuffer& contactBuffer,
+ const Ps::aos::Vec3VArg sphereCenter,
+ const Ps::aos::FloatVArg sphereRadius,
+ const Ps::aos::FloatVArg contactDist,
+ const Ps::aos::FloatVArg replaceBreakingThreshold,
+ const Ps::aos::PsTransformV& sphereTransform,
+ const Ps::aos::PsTransformV& meshTransform,
+ MultiplePersistentContactManifold& multiManifold,
+ ContactBuffer& contactBuffer,
+ Ps::InlineArray<PxU32, LOCAL_CONTACTS_SIZE>* deferredContacts,
Cm::RenderOutput* renderOutput = NULL
- ) : PCMMeshContactGeneration(contactDist, replaceBreakingThreshold, sphereTransform, meshTransform, multiManifold, contactBuffer, renderOutput),
+ ) : PCMMeshContactGeneration(contactDist, replaceBreakingThreshold, sphereTransform, meshTransform, multiManifold,
+ contactBuffer, deferredContacts, renderOutput),
mSphereCenter(sphereCenter),
mSphereRadius(sphereRadius)
{
@@ -362,8 +377,10 @@ public:
mSqInflatedSphereRadius = FMul(inflatedSphereRadius, inflatedSphereRadius);
}
-
bool processTriangle(const PxVec3* verts, PxU32 triangleIndex, PxU8 triFlags, const PxU32* vertInds);
+ void generateLastContacts();
+ void addToPatch(const Ps::aos::Vec3VArg contactP, const Ps::aos::Vec3VArg patchNormal,
+ const Ps::aos::FloatV pen, const PxU32 triangleIndex);
};
class PCMCapsuleVsMeshContactGeneration : public PCMMeshContactGeneration
@@ -376,16 +393,18 @@ public:
PCMCapsuleVsMeshContactGeneration(
- const CapsuleV& capsule,
- const Ps::aos::FloatVArg contactDist,
- const Ps::aos::FloatVArg replaceBreakingThreshold,
- const Ps::aos::PsTransformV& sphereTransform,
- const Ps::aos::PsTransformV& meshTransform,
- Gu::MultiplePersistentContactManifold& multiManifold,
- Gu::ContactBuffer& contactBuffer,
- Cm::RenderOutput* renderOutput = NULL
-
- ) : PCMMeshContactGeneration(contactDist, replaceBreakingThreshold, sphereTransform, meshTransform, multiManifold, contactBuffer, renderOutput),
+ const CapsuleV& capsule,
+ const Ps::aos::FloatVArg contactDist,
+ const Ps::aos::FloatVArg replaceBreakingThreshold,
+ const Ps::aos::PsTransformV& sphereTransform,
+ const Ps::aos::PsTransformV& meshTransform,
+ Gu::MultiplePersistentContactManifold& multiManifold,
+ Gu::ContactBuffer& contactBuffer,
+ Ps::InlineArray<PxU32, LOCAL_CONTACTS_SIZE>* deferredContacts,
+ Cm::RenderOutput* renderOutput = NULL
+
+ ) : PCMMeshContactGeneration(contactDist, replaceBreakingThreshold, sphereTransform, meshTransform, multiManifold, contactBuffer,
+ deferredContacts, renderOutput),
mCapsule(capsule)
{
using namespace Ps::aos;
generated by cgit v1.2.3 (git 2.25.1) at 2026-05-01 17:17:44 +0000