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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 "GuInternal.h"
#include "GuSegment.h"
#include "GuGeometryUnion.h"
namespace physx
{
namespace Gu
{
bool contactPlaneCapsule(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 PxCapsuleGeometry& shapeCapsule = shape1.get<const PxCapsuleGeometry>();
const PxTransform capsuleToPlane = transform0.transformInv(transform1);
//Capsule in plane space
Segment segment;
getCapsuleSegment(capsuleToPlane, shapeCapsule, segment);
const PxVec3 negPlaneNormal = transform0.q.getBasisVector0();
bool contact = false;
const PxReal separation0 = segment.p0.x - shapeCapsule.radius;
const PxReal separation1 = segment.p1.x - shapeCapsule.radius;
if(separation0 <= params.mContactDistance)
{
const PxVec3 temp(segment.p0.x - shapeCapsule.radius, segment.p0.y, segment.p0.z);
const PxVec3 point = transform0.transform(temp);
contactBuffer.contact(point, -negPlaneNormal, separation0);
contact = true;
}
if(separation1 <= params.mContactDistance)
{
const PxVec3 temp(segment.p1.x - shapeCapsule.radius, segment.p1.y, segment.p1.z);
const PxVec3 point = transform0.transform(temp);
contactBuffer.contact(point, -negPlaneNormal, separation1);
contact = true;
}
return contact;
}
}//Gu
}//physx
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