From 3dfe2108cfab31ba3ee5527e217d0d8e99a51162 Mon Sep 17 00:00:00 2001 From: git perforce import user 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/ExtTriangleMeshExt.cpp | 183 +++++++++++++++++++++ 1 file changed, 183 insertions(+) create mode 100644 PhysX_3.4/Source/PhysXExtensions/src/ExtTriangleMeshExt.cpp (limited to 'PhysX_3.4/Source/PhysXExtensions/src/ExtTriangleMeshExt.cpp') 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(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(PX_ALLOC(sizeof(PxU32)*maxNbTris, "PxMeshOverlapUtil::findOverlap")); + mMaxNbResults = maxNbTris; + } + }while(overflow); + + mNbResults = nbTouchedTris; + return nbTouchedTris; +} +namespace +{ +template +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; +} + -- cgit v1.2.3