From 3dfe2108cfab31ba3ee5527e217d0d8e99a51162 Mon Sep 17 00:00:00 2001
From: git perforce import user <a@b>
Date: Tue, 25 Oct 2016 12:29:14 -0600
Subject: Initial commit: PhysX 3.4.0 Update @ 21294896 APEX 1.4.0 Update @
 21275617

[CL 21300167]
---
 .../PhysXExtensions/src/ExtConvexMeshExt.cpp       | 91 ++++++++++++++++++++++
 1 file changed, 91 insertions(+)
 create mode 100644 PhysX_3.4/Source/PhysXExtensions/src/ExtConvexMeshExt.cpp

(limited to 'PhysX_3.4/Source/PhysXExtensions/src/ExtConvexMeshExt.cpp')

diff --git a/PhysX_3.4/Source/PhysXExtensions/src/ExtConvexMeshExt.cpp b/PhysX_3.4/Source/PhysXExtensions/src/ExtConvexMeshExt.cpp
new file mode 100644
index 00000000..ef0aab39
--- /dev/null
+++ b/PhysX_3.4/Source/PhysXExtensions/src/ExtConvexMeshExt.cpp
@@ -0,0 +1,91 @@
+// 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 "PxConvexMeshExt.h"
+#include "PxConvexMeshGeometry.h"
+#include "PxConvexMesh.h"
+#include "foundation/PxTransform.h"
+
+using namespace physx;
+
+static const PxReal gEpsilon = .01f;
+
+PxU32 physx::PxFindFaceIndex(const PxConvexMeshGeometry& convexGeom, const PxTransform& pose, 
+	const PxVec3& impactPos, const PxVec3& unitDir)
+{
+	PX_ASSERT(unitDir.isFinite());
+	PX_ASSERT(unitDir.isNormalized());
+	PX_ASSERT(impactPos.isFinite());
+	PX_ASSERT(pose.isFinite());
+
+	const PxVec3 impact = impactPos - unitDir * gEpsilon;
+
+	const PxVec3 localPoint = pose.transformInv(impact);
+	const PxVec3 localDir = pose.rotateInv(unitDir);
+
+	// Create shape to vertex scale transformation matrix
+	const PxMeshScale& meshScale = convexGeom.scale;
+	const PxMat33 rot(meshScale.rotation);
+	PxMat33 shape2VertexSkew = rot.getTranspose();
+	const PxMat33 diagonal = PxMat33::createDiagonal(PxVec3(1.0f / meshScale.scale.x, 1.0f / meshScale.scale.y, 1.0f / meshScale.scale.z));
+	shape2VertexSkew = shape2VertexSkew * diagonal;
+	shape2VertexSkew = shape2VertexSkew * rot;
+
+	const PxU32 nbPolys = convexGeom.convexMesh->getNbPolygons();
+	PxU32 minIndex = 0;
+	PxReal minD = PX_MAX_REAL;
+	for (PxU32 j = 0; j < nbPolys; j++)
+	{
+		PxHullPolygon hullPolygon;
+		convexGeom.convexMesh->getPolygonData(j, hullPolygon);
+		
+		// transform hull plane into shape space
+		PxPlane plane;
+		const PxVec3 tmp = shape2VertexSkew.transformTranspose(PxVec3(hullPolygon.mPlane[0],hullPolygon.mPlane[1],hullPolygon.mPlane[2]));
+		const PxReal denom = 1.0f / tmp.magnitude();
+		plane.n = tmp * denom;
+		plane.d = hullPolygon.mPlane[3] * denom;
+
+		PxReal d = plane.distance(localPoint);
+		if (d < 0.0f)
+			continue;
+
+		const PxReal tweak = plane.n.dot(localDir) * gEpsilon;
+		d += tweak;
+
+		if (d < minD)
+		{
+			minIndex = j;
+			minD = d;
+		}
+	}
+	return minIndex;
+}
+
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