1 files changed, 264 insertions, 0 deletions
diff --git a/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactConvexMesh.cpp b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactConvexMesh.cpp
new file mode 100644
index 00000000..d739b6dc
--- /dev/null
+++ b/PhysX_3.4/Source/GeomUtils/src/pcm/GuPCMContactConvexMesh.cpp
@@ -0,0 +1,264 @@
+// 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 "GuVecBox.h"
+#include "GuVecConvexHull.h"
+#include "GuVecConvexHullNoScale.h"
+#include "GuVecTriangle.h"
+#include "GuGeometryUnion.h"
+
+#include "GuContactMethodImpl.h"
+#include "GuPCMShapeConvex.h"
+#include "GuConvexUtilsInternal.h"
+#include "PxTriangleMesh.h"
+#include "GuContactBuffer.h"
+#include "GuPCMContactConvexCommon.h"
+#include "GuPCMContactMeshCallback.h"
+#include "GuIntersectionTriangleBox.h"
+#include "GuBox.h"
+
+using namespace physx;
+using namespace Gu;
+using namespace physx::shdfnd::aos;
+
+namespace physx
+{
+
+struct PCMConvexVsMeshContactGenerationCallback : PCMMeshContactGenerationCallback<PCMConvexVsMeshContactGenerationCallback>
+{
+	PCMConvexVsMeshContactGenerationCallback& operator=(const PCMConvexVsMeshContactGenerationCallback&);
+public:
+	PCMConvexVsMeshContactGeneration	mGeneration;
+	const BoxPadded&					mBox;
+
+	PCMConvexVsMeshContactGenerationCallback(
+		const Ps::aos::FloatVArg				contactDistance,
+		const Ps::aos::FloatVArg				replaceBreakingThreshold,
+		const PsTransformV&						convexTransform, 
+		const PsTransformV&						meshTransform,
+		MultiplePersistentContactManifold&		multiManifold,
+		ContactBuffer&							contactBuffer,
+		const PolygonalData&					polyData,
+		SupportLocal*							polyMap,
+		Ps::InlineArray<PxU32,LOCAL_CONTACTS_SIZE>&	delayedContacts,
+		const Cm::FastVertex2ShapeScaling&		convexScaling,
+		bool									idtConvexScale,
+		const Cm::FastVertex2ShapeScaling&		meshScaling,
+		const PxU8*								extraTriData,
+		bool									idtMeshScale,
+		const BoxPadded&						box,
+		Cm::RenderOutput*						renderOutput = NULL
+		
+	) :
+		PCMMeshContactGenerationCallback<PCMConvexVsMeshContactGenerationCallback>(meshScaling, extraTriData, idtMeshScale),
+		mGeneration(contactDistance, replaceBreakingThreshold, convexTransform, meshTransform, multiManifold, contactBuffer, polyData, polyMap, delayedContacts, convexScaling, idtConvexScale, renderOutput),
+		mBox(box)
+	{
+	}
+
+	PX_FORCE_INLINE Ps::IntBool doTest(const PxVec3& v0, const PxVec3& v1, const PxVec3& v2)
+	{
+		// PT: this one is safe because midphase vertices are directly passed to the function
+		return intersectTriangleBox(mBox, v0, v1, v2);
+	}
+
+	template<PxU32 CacheSize>
+	void processTriangleCache(TriangleCache<CacheSize>& cache)
+	{
+		mGeneration.processTriangleCache<CacheSize, PCMConvexVsMeshContactGeneration>(cache);
+	}
+	
+};
+
+
+bool Gu::PCMContactConvexMesh(const PolygonalData& polyData, SupportLocal* polyMap, const Ps::aos::FloatVArg minMargin, const PxBounds3& hullAABB, const PxTriangleMeshGeometryLL& shapeMesh,
+						const PxTransform& transform0, const PxTransform& transform1,
+						PxReal contactDistance, ContactBuffer& contactBuffer,
+						const Cm::FastVertex2ShapeScaling& convexScaling, const Cm::FastVertex2ShapeScaling& meshScaling,
+						bool idtConvexScale, bool idtMeshScale, Gu::MultiplePersistentContactManifold& multiManifold,
+						Cm::RenderOutput* renderOutput)
+
+{
+	using namespace Ps::aos;
+
+	const QuatV q0 = QuatVLoadA(&transform0.q.x);
+	const Vec3V p0 = V3LoadA(&transform0.p.x);
+
+	const QuatV q1 = QuatVLoadA(&transform1.q.x);
+	const Vec3V p1 = V3LoadA(&transform1.p.x);
+
+	const FloatV contactDist = FLoad(contactDistance);
+	//Transfer A into the local space of B
+	const PsTransformV convexTransform(p0, q0);//box
+	const PsTransformV meshTransform(p1, q1);//triangleMesh  
+	const PsTransformV curTransform = meshTransform.transformInv(convexTransform);
+	
+	
+	if(multiManifold.invalidate(curTransform, minMargin))
+	{
+		const FloatV replaceBreakingThreshold = FMul(minMargin, FLoad(0.05f));
+		multiManifold.mNumManifolds = 0;
+		multiManifold.setRelativeTransform(curTransform); 
+
+	
+		////////////////////
+		const TriangleMesh* PX_RESTRICT meshData = shapeMesh.meshData;
+
+		const Cm::Matrix34 world0(transform0);
+		const Cm::Matrix34 world1(transform1);
+		BoxPadded hullOBB;
+		computeHullOBB(hullOBB, hullAABB, contactDistance, world0, world1, meshScaling, idtMeshScale);
+
+		// Setup the collider
+
+		Ps::InlineArray<PxU32,LOCAL_CONTACTS_SIZE> delayedContacts;
+		
+		const PxU8* PX_RESTRICT extraData = meshData->getExtraTrigData();
+		PCMConvexVsMeshContactGenerationCallback blockCallback(
+			contactDist, replaceBreakingThreshold, convexTransform, meshTransform, multiManifold, contactBuffer,
+			polyData, polyMap, delayedContacts, convexScaling, idtConvexScale, meshScaling, extraData, idtMeshScale, 
+			hullOBB, renderOutput);
+
+		Midphase::intersectOBB(meshData, hullOBB, blockCallback, true);
+
+		PX_ASSERT(multiManifold.mNumManifolds <= GU_MAX_MANIFOLD_SIZE);
+
+		blockCallback.flushCache();
+		//This is very important
+		blockCallback.mGeneration.generateLastContacts();
+		blockCallback.mGeneration.processContacts(GU_SINGLE_MANIFOLD_CACHE_SIZE, false);
+
+#if PCM_LOW_LEVEL_DEBUG
+		multiManifold.drawManifold(*renderOutput, transform0, transform1);
+#endif
+	}
+	else
+	{
+		const PsMatTransformV aToB(curTransform);
+		const FloatV projectBreakingThreshold = FMul(minMargin, FLoad(0.8f));
+		multiManifold.refreshManifold(aToB, projectBreakingThreshold, contactDist);
+	}
+
+	return multiManifold.addManifoldContactsToContactBuffer(contactBuffer, meshTransform);
+}
+
+bool Gu::pcmContactConvexMesh(GU_CONTACT_METHOD_ARGS)
+{
+	using namespace Ps::aos;
+	PX_UNUSED(renderOutput);
+
+	const PxConvexMeshGeometryLL& shapeConvex = shape0.get<const PxConvexMeshGeometryLL>();
+	const PxTriangleMeshGeometryLL& shapeMesh = shape1.get<const PxTriangleMeshGeometryLL>();
+
+	const ConvexHullData* hullData = shapeConvex.hullData;
+	MultiplePersistentContactManifold& multiManifold = cache.getMultipleManifold();
+
+	const PsTransformV convexTransform = loadTransformA(transform0);
+
+	const bool idtScaleMesh = shapeMesh.scale.isIdentity();
+
+	Cm::FastVertex2ShapeScaling meshScaling;
+	if(!idtScaleMesh)
+		meshScaling.init(shapeMesh.scale);
+
+	Cm::FastVertex2ShapeScaling convexScaling;
+	PxBounds3 hullAABB;
+	PolygonalData polyData;
+	const bool idtScaleConvex = getPCMConvexData(shape0, convexScaling, hullAABB, polyData);
+
+	const Vec3V vScale = V3LoadU_SafeReadW(shapeConvex.scale.scale);	// PT: safe because 'rotation' follows 'scale' in PxMeshScale
+	const FloatV convexMargin = CalculatePCMConvexMargin(hullData, vScale);
+	const QuatV vQuat = QuatVLoadU(&shapeConvex.scale.rotation.x);
+
+	const FloatV epsilon = FLoad(GU_PCM_MESH_MANIFOLD_EPSILON);
+	const FloatV toleranceLength = FLoad(params.mToleranceLength);
+	const FloatV toleranceMargin = FMul(epsilon, toleranceLength);
+	const FloatV minMargin = FMin(convexMargin, toleranceMargin);
+	
+	ConvexHullV convexHull(hullData, V3Zero(), vScale, vQuat, idtScaleConvex);
+
+
+	if(idtScaleConvex)
+	{
+		SupportLocalImpl<Gu::ConvexHullNoScaleV> convexMap(static_cast<ConvexHullNoScaleV&>(convexHull), convexTransform, convexHull.vertex2Shape, convexHull.shape2Vertex, true);
+		return Gu::PCMContactConvexMesh(polyData, &convexMap, minMargin, hullAABB, shapeMesh,transform0,transform1, params.mContactDistance, contactBuffer, convexScaling,  
+			meshScaling, idtScaleConvex, idtScaleMesh, multiManifold, renderOutput);
+	}
+	else
+	{
+		SupportLocalImpl<Gu::ConvexHullV> convexMap(convexHull, convexTransform, convexHull.vertex2Shape, convexHull.shape2Vertex, false);
+		return Gu::PCMContactConvexMesh(polyData, &convexMap, minMargin, hullAABB, shapeMesh,transform0,transform1, params.mContactDistance, contactBuffer, convexScaling,  
+			meshScaling, idtScaleConvex, idtScaleMesh, multiManifold, renderOutput);
+	}
+}
+
+bool Gu::pcmContactBoxMesh(GU_CONTACT_METHOD_ARGS)
+{
+	using namespace Ps::aos;
+	PX_UNUSED(renderOutput);
+
+	MultiplePersistentContactManifold& multiManifold = cache.getMultipleManifold();
+
+	const PxBoxGeometry& shapeBox = shape0.get<const PxBoxGeometry>();
+	const PxTriangleMeshGeometryLL& shapeMesh = shape1.get<const PxTriangleMeshGeometryLL>();
+
+	const PxBounds3 hullAABB(-shapeBox.halfExtents, shapeBox.halfExtents);  
+
+	const bool idtMeshScale = shapeMesh.scale.isIdentity();
+
+	Cm::FastVertex2ShapeScaling meshScaling;
+	if(!idtMeshScale)
+		meshScaling.init(shapeMesh.scale);
+
+	Cm::FastVertex2ShapeScaling idtScaling;
+
+	const Vec3V boxExtents = V3LoadU(shapeBox.halfExtents);
+	const FloatV boxMargin = Gu::CalculatePCMBoxMargin(boxExtents);
+	const FloatV epsilon = FLoad(GU_PCM_MESH_MANIFOLD_EPSILON);
+	const FloatV toleranceLength = FLoad(params.mToleranceLength);
+	const FloatV toleranceMargin = FMul(epsilon, toleranceLength);
+	const FloatV minMargin = FMin(boxMargin, toleranceMargin);
+
+	BoxV boxV(V3Zero(), boxExtents);
+
+	const PsTransformV boxTransform = loadTransformA(transform0);//box
+
+	PolygonalData polyData;
+	PCMPolygonalBox polyBox(shapeBox.halfExtents);
+	polyBox.getPolygonalData(&polyData);
+
+	Mat33V identity =  M33Identity();
+	SupportLocalImpl<BoxV> boxMap(boxV, boxTransform, identity, identity, true);
+
+	return Gu::PCMContactConvexMesh(polyData, &boxMap, minMargin, hullAABB, shapeMesh,transform0,transform1, params.mContactDistance, contactBuffer, idtScaling,  meshScaling, 
+		true, idtMeshScale, multiManifold, renderOutput);
+}
+
+}