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//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
// * Neither the name of NVIDIA CORPORATION nor the names of its
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2018 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 "Ps.h"
#include "GuVecCapsule.h"
#include "GuVecBox.h"
#include "GuVecConvexHull.h"
#include "GuVecTriangle.h"
#include "GuVecShrunkConvexHull.h"
#include "GuVecShrunkBox.h"
#include "GuGJKRaycast.h"
#include "GuCCDSweepConvexMesh.h"
#include "GuGJKType.h"
namespace physx
{
namespace Gu
{
using namespace Ps::aos;
template<typename Geom> PX_FORCE_INLINE PxReal getRadius(const PxGeometry&)
{
return 0;
}
template<> PX_FORCE_INLINE PxReal getRadius<CapsuleV>(const PxGeometry& g)
{
PX_ASSERT(g.getType() == PxGeometryType::eCAPSULE || g.getType() == PxGeometryType::eSPHERE);
PX_COMPILE_TIME_ASSERT(PX_OFFSET_OF(PxSphereGeometry, radius) == PX_OFFSET_OF(PxCapsuleGeometry, radius));
return static_cast<const PxSphereGeometry&>(g).radius;
}
template<class ConvexA, class ConvexB>
static PxReal CCDSweep(ConvexA& a, ConvexB& b, const PxTransform& transform0, const PxTransform& transform1, const PxTransform& lastTm0, const PxTransform& lastTm1,
const Ps::aos::FloatV& toiEstimate, PxVec3& worldPoint, PxVec3& worldNormal, PxReal inflation = 0.f)
{
PX_UNUSED(toiEstimate); //KS - TODO - can we use this again?
using namespace Ps::aos;
const Vec3V zero = V3Zero();
const QuatV q0 = QuatVLoadA(&transform0.q.x);
const Vec3V p0 = V3LoadA(&lastTm0.p.x);
const QuatV q1 = QuatVLoadA(&transform1.q.x);
const Vec3V p1 = V3LoadA(&lastTm1.p.x);
const PsTransformV tr0(p0, q0);
const PsTransformV tr1(p1, q1);
const PsMatTransformV aToB(tr1.transformInv(tr0));
const Vec3V trans0p = V3LoadU(transform0.p);
const Vec3V trans1p = V3LoadU(transform1.p);
const Vec3V trA = V3Sub(trans0p, p0);
const Vec3V trB = V3Sub(trans1p, p1);
const Vec3V relTr = tr1.rotateInv(V3Sub(trB, trA));
FloatV lambda;
Vec3V closestA, normal;
const FloatV initialLambda = FZero();
const RelativeConvex<ConvexA> convexA(a, aToB);
const LocalConvex<ConvexB> convexB(b);
if(gjkRaycastPenetration<RelativeConvex<ConvexA>, LocalConvex<ConvexB> >(convexA, convexB, aToB.p, initialLambda, zero, relTr, lambda, normal, closestA, inflation, true))
{
//Adjust closestA because it will be on the surface of convex a in its initial position (s). If the TOI > 0, we need to move
//the point along the sweep direction to get the world-space hit position.
PxF32 res;
FStore(lambda, &res);
closestA = V3ScaleAdd(trA, FMax(lambda, FZero()), tr1.transform(closestA));
normal = tr1.rotate(normal);
V3StoreU(normal, worldNormal);
V3StoreU(closestA, worldPoint);
return res;
}
return PX_MAX_REAL;
}
//
// lookup table for geometry-vs-geometry sweeps
//
PxReal UnimplementedSweep (GU_SWEEP_METHOD_ARGS_UNUSED)
{
return PX_MAX_REAL; //no impact
}
template<typename Geom0, typename Geom1>
PxReal SweepGeomGeom(GU_SWEEP_METHOD_ARGS)
{
PX_UNUSED(outCCDFaceIndex);
PX_UNUSED(fastMovingThreshold);
const PxGeometry& g0 = shape0.mGeometry->getGeometry();
const PxGeometry& g1 = shape1.mGeometry->getGeometry();
//Geom0 geom0(g0);
//Geom1 geom1(g1);
typename Shrink<Geom0>::Type geom0(g0);
typename Shrink<Geom1>::Type geom1(g1);
return CCDSweep(geom0, geom1, transform0, transform1, lastTm0, lastTm1, FLoad(toiEstimate), worldPoint, worldNormal, restDistance+getRadius<Geom0>(g0)+getRadius<Geom1>(g1) );
}
typedef PxReal (*SweepMethod) (GU_SWEEP_METHOD_ARGS);
PxReal SweepAnyShapeHeightfield(GU_SWEEP_METHOD_ARGS);
PxReal SweepAnyShapeMesh(GU_SWEEP_METHOD_ARGS);
SweepMethod g_SweepMethodTable[PxGeometryType::eGEOMETRY_COUNT][PxGeometryType::eGEOMETRY_COUNT] =
{
//PxGeometryType::eSPHERE
{
SweepGeomGeom<CapsuleV, CapsuleV>, //PxGeometryType::eSPHERE
UnimplementedSweep, //PxGeometryType::ePLANE
SweepGeomGeom<CapsuleV, CapsuleV>, //PxGeometryType::eCAPSULE
SweepGeomGeom<CapsuleV, BoxV>, //PxGeometryType::eBOX
SweepGeomGeom<CapsuleV, ConvexHullV>, //PxGeometryType::eCONVEXMESH
SweepAnyShapeMesh, //PxGeometryType::eTRIANGLEMESH
SweepAnyShapeHeightfield, //PxGeometryType::eHEIGHTFIELD //TODO
},
//PxGeometryType::ePLANE
{
0, //PxGeometryType::eSPHERE
UnimplementedSweep, //PxGeometryType::ePLANE
UnimplementedSweep, //PxGeometryType::eCAPSULE
UnimplementedSweep, //PxGeometryType::eBOX
UnimplementedSweep, //PxGeometryType::eCONVEXMESH
UnimplementedSweep, //PxGeometryType::eTRIANGLEMESH
UnimplementedSweep, //PxGeometryType::eHEIGHTFIELD
},
//PxGeometryType::eCAPSULE
{
0, //PxGeometryType::eSPHERE
0, //PxGeometryType::ePLANE
SweepGeomGeom<CapsuleV, CapsuleV>, //PxGeometryType::eCAPSULE
SweepGeomGeom<CapsuleV, BoxV>, //PxGeometryType::eBOX
SweepGeomGeom<CapsuleV, ConvexHullV>, //PxGeometryType::eCONVEXMESH
SweepAnyShapeMesh, //PxGeometryType::eTRIANGLEMESH
SweepAnyShapeHeightfield, //PxGeometryType::eHEIGHTFIELD
},
//PxGeometryType::eBOX
{
0, //PxGeometryType::eSPHERE
0, //PxGeometryType::ePLANE
0, //PxGeometryType::eCAPSULE
SweepGeomGeom<BoxV, BoxV>, //PxGeometryType::eBOX
SweepGeomGeom<BoxV, ConvexHullV>, //PxGeometryType::eCONVEXMESH
SweepAnyShapeMesh, //PxGeometryType::eTRIANGLEMESH
SweepAnyShapeHeightfield, //PxGeometryType::eHEIGHTFIELD
},
//PxGeometryType::eCONVEXMESH
{
0, //PxGeometryType::eSPHERE
0, //PxGeometryType::ePLANE
0, //PxGeometryType::eCAPSULE
0, //PxGeometryType::eBOX
SweepGeomGeom<ConvexHullV, ConvexHullV>, //PxGeometryType::eCONVEXMESH
SweepAnyShapeMesh, //PxGeometryType::eTRIANGLEMESH
SweepAnyShapeHeightfield, //PxGeometryType::eHEIGHTFIELD
},
//PxGeometryType::eTRIANGLEMESH
{
0, //PxGeometryType::eSPHERE
0, //PxGeometryType::ePLANE
0, //PxGeometryType::eCAPSULE
0, //PxGeometryType::eBOX
0, //PxGeometryType::eCONVEXMESH
UnimplementedSweep, //PxGeometryType::eTRIANGLEMESH
UnimplementedSweep, //PxGeometryType::eHEIGHTFIELD
},
//PxGeometryType::eHEIGHTFIELD
{
0, //PxGeometryType::eSPHERE
0, //PxGeometryType::ePLANE
0, //PxGeometryType::eCAPSULE
0, //PxGeometryType::eBOX
0, //PxGeometryType::eCONVEXMESH
0, //PxGeometryType::eTRIANGLEMESH
UnimplementedSweep, //PxGeometryType::eHEIGHTFIELD
},
};
PxReal SweepShapeShape(GU_SWEEP_METHOD_ARGS)
{
PxGeometryType::Enum type0 = shape0.mGeometry->getType();
PxGeometryType::Enum type1 = shape1.mGeometry->getType();
return g_SweepMethodTable[type0][type1](shape0, shape1, transform0, transform1, lastTm0, lastTm1,
restDistance, worldNormal, worldPoint, toiEstimate, outCCDFaceIndex, fastMovingThreshold);
}
//
// lookup table for sweeps agains triangles
//
PxReal UnimplementedTriangleSweep(GU_TRIANGLE_SWEEP_METHOD_ARGS)
{
PX_UNUSED(shape0);
PX_UNUSED(shape1);
PX_UNUSED(transform0);
PX_UNUSED(transform1);
PX_UNUSED(lastTm0);
PX_UNUSED(lastTm1);
PX_UNUSED(restDistance);
PX_UNUSED(worldNormal);
PX_UNUSED(worldPoint);
PX_UNUSED(meshScaling);
PX_UNUSED(triangle);
PX_UNUSED(toiEstimate);
return 1e10f; //no impact
}
template<typename Geom>
PxReal SweepGeomTriangles(GU_TRIANGLE_SWEEP_METHOD_ARGS)
{
PX_UNUSED(meshScaling);
PX_UNUSED(shape1);
const PxGeometry& g = shape0.getGeometry();
//Geom geom(g);
typename Shrink<Geom>::Type geom(g);
return CCDSweep<TriangleV, Geom>(triangle, geom, transform1, transform0, lastTm1, lastTm0, FLoad(toiEstimate), worldPoint, worldNormal, restDistance+getRadius<Geom>(g) );
}
typedef PxReal (*TriangleSweepMethod) (GU_TRIANGLE_SWEEP_METHOD_ARGS);
TriangleSweepMethod g_TriangleSweepMethodTable[PxGeometryType::eGEOMETRY_COUNT] =
{
SweepGeomTriangles<CapsuleV>, //PxGeometryType::eSPHERE
UnimplementedTriangleSweep, //PxGeometryType::ePLANE
SweepGeomTriangles<CapsuleV>, //PxGeometryType::eCAPSULE
SweepGeomTriangles<BoxV>, //PxGeometryType::eBOX
SweepGeomTriangles<ConvexHullV>, //PxGeometryType::eCONVEXMESH
UnimplementedTriangleSweep, //PxGeometryType::eTRIANGLEMESH
UnimplementedTriangleSweep, //PxGeometryType::eHEIGHTFIELD
};
PxReal SweepShapeTriangle(GU_TRIANGLE_SWEEP_METHOD_ARGS)
{
const PxGeometryType::Enum type0 = shape0.getType();
TriangleSweepMethod method = g_TriangleSweepMethodTable[type0];
return method(shape0, shape1, transform0, transform1, lastTm0, lastTm1, restDistance, worldNormal, worldPoint, meshScaling, triangle, toiEstimate);
}
}
}
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