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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 "GuContactMethodImpl.h"
#include "GuContactBuffer.h"
#include "GuGeometryUnion.h"
#include "CmMatrix34.h"
#include "PsUtilities.h"
#include "foundation/PxUnionCast.h"
namespace physx
{
namespace Gu
{
bool contactPlaneBox(GU_CONTACT_METHOD_ARGS)
{
PX_UNUSED(renderOutput);
PX_UNUSED(cache);
PX_UNUSED(shape0);
// Get actual shape data
//const PxPlaneGeometry& shapePlane = shape.get<const PxPlaneGeometry>();
const PxBoxGeometry& shapeBox = shape1.get<const PxBoxGeometry>();
const PxVec3 negPlaneNormal = -transform0.q.getBasisVector0();
//Make sure we have a normalized plane
//PX_ASSERT(PxAbs(shape0.mNormal.magnitudeSquared() - 1.0f) < 0.000001f);
Cm::Matrix34 boxMatrix(transform1);
Cm::Matrix34 boxToPlane(transform0.transformInv(transform1));
PxVec3 point;
PX_ASSERT(contactBuffer.count==0);
/* for(int vx=-1; vx<=1; vx+=2)
for(int vy=-1; vy<=1; vy+=2)
for(int vz=-1; vz<=1; vz+=2)
{
//point = boxToPlane.transform(PxVec3(shapeBox.halfExtents.x*vx, shapeBox.halfExtents.y*vy, shapeBox.halfExtents.z*vz));
//PxReal planeEq = point.x;
//Optimized a bit
point.set(shapeBox.halfExtents.x*vx, shapeBox.halfExtents.y*vy, shapeBox.halfExtents.z*vz);
const PxReal planeEq = boxToPlane.m.column0.x*point.x + boxToPlane.m.column1.x*point.y + boxToPlane.m.column2.x*point.z + boxToPlane.p.x;
if(planeEq <= contactDistance)
{
contactBuffer.contact(boxMatrix.transform(point), negPlaneNormal, planeEq);
//no point in making more than 4 contacts.
if (contactBuffer.count >= 6) //was: 4) actually, with strong interpenetration more than just the bottom surface goes through,
//and we want to find the *deepest* 4 vertices, really.
return true;
}
}*/
// PT: the above code is shock full of LHS/FCMPs. And there's no point in limiting the number of contacts to 6 when the max possible is 8.
const PxReal limit = params.mContactDistance - boxToPlane.p.x;
const PxReal dx = shapeBox.halfExtents.x;
const PxReal dy = shapeBox.halfExtents.y;
const PxReal dz = shapeBox.halfExtents.z;
const PxReal bxdx = boxToPlane.m.column0.x * dx;
const PxReal bxdy = boxToPlane.m.column1.x * dy;
const PxReal bxdz = boxToPlane.m.column2.x * dz;
PxReal depths[8];
depths[0] = bxdx + bxdy + bxdz - limit;
depths[1] = bxdx + bxdy - bxdz - limit;
depths[2] = bxdx - bxdy + bxdz - limit;
depths[3] = bxdx - bxdy - bxdz - limit;
depths[4] = - bxdx + bxdy + bxdz - limit;
depths[5] = - bxdx + bxdy - bxdz - limit;
depths[6] = - bxdx - bxdy + bxdz - limit;
depths[7] = - bxdx - bxdy - bxdz - limit;
//const PxU32* binary = reinterpret_cast<const PxU32*>(depths);
const PxU32* binary = PxUnionCast<PxU32*, PxF32*>(depths);
if(binary[0] & PX_SIGN_BITMASK)
contactBuffer.contact(boxMatrix.transform(PxVec3(dx, dy, dz)), negPlaneNormal, depths[0] + params.mContactDistance);
if(binary[1] & PX_SIGN_BITMASK)
contactBuffer.contact(boxMatrix.transform(PxVec3(dx, dy, -dz)), negPlaneNormal, depths[1] + params.mContactDistance);
if(binary[2] & PX_SIGN_BITMASK)
contactBuffer.contact(boxMatrix.transform(PxVec3(dx, -dy, dz)), negPlaneNormal, depths[2] + params.mContactDistance);
if(binary[3] & PX_SIGN_BITMASK)
contactBuffer.contact(boxMatrix.transform(PxVec3(dx, -dy, -dz)), negPlaneNormal, depths[3] + params.mContactDistance);
if(binary[4] & PX_SIGN_BITMASK)
contactBuffer.contact(boxMatrix.transform(PxVec3(-dx, dy, dz)), negPlaneNormal, depths[4] + params.mContactDistance);
if(binary[5] & PX_SIGN_BITMASK)
contactBuffer.contact(boxMatrix.transform(PxVec3(-dx, dy, -dz)), negPlaneNormal, depths[5] + params.mContactDistance);
if(binary[6] & PX_SIGN_BITMASK)
contactBuffer.contact(boxMatrix.transform(PxVec3(-dx, -dy, dz)), negPlaneNormal, depths[6] + params.mContactDistance);
if(binary[7] & PX_SIGN_BITMASK)
contactBuffer.contact(boxMatrix.transform(PxVec3(-dx, -dy, -dz)), negPlaneNormal, depths[7] + params.mContactDistance);
return contactBuffer.count > 0;
}
}//Gu
}//physx
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