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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 "GuConvexMeshData.h"
#include "GuContactMethodImpl.h"
#include "GuContactBuffer.h"
#include "GuGeometryUnion.h"
#include "CmScaling.h"
namespace physx
{
namespace Gu
{
bool contactPlaneConvex(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 PxConvexMeshGeometryLL& shapeConvex = shape1.get<const PxConvexMeshGeometryLL>();
const PxVec3* PX_RESTRICT hullVertices = shapeConvex.hullData->getHullVertices();
PxU32 numHullVertices = shapeConvex.hullData->mNbHullVertices;
// Ps::prefetch128(hullVertices);
// Plane is implicitly <1,0,0> 0 in localspace
Cm::Matrix34 convexToPlane (transform0.transformInv(transform1));
PxMat33 convexToPlane_rot(convexToPlane[0], convexToPlane[1], convexToPlane[2] );
bool idtScale = shapeConvex.scale.isIdentity();
Cm::FastVertex2ShapeScaling convexScaling; // PT: TODO: remove default ctor
if(!idtScale)
convexScaling.init(shapeConvex.scale);
convexToPlane = Cm::Matrix34( convexToPlane_rot * convexScaling.getVertex2ShapeSkew(), convexToPlane[3] );
//convexToPlane = context.mVertex2ShapeSkew[1].getVertex2WorldSkew(convexToPlane);
const Cm::Matrix34 planeToW (transform0);
// This is rather brute-force
bool status = false;
const PxVec3 contactNormal = -planeToW.m.column0;
while(numHullVertices--)
{
const PxVec3& vertex = *hullVertices++;
// if(numHullVertices)
// Ps::prefetch128(hullVertices);
const PxVec3 pointInPlane = convexToPlane.transform(vertex); //TODO: this multiply could be factored out!
if(pointInPlane.x <= params.mContactDistance)
{
// const PxVec3 pointInW = planeToW.transform(pointInPlane);
// contactBuffer.contact(pointInW, -planeToW.m.column0, pointInPlane.x);
status = true;
Gu::ContactPoint* PX_RESTRICT pt = contactBuffer.contact();
if(pt)
{
pt->normal = contactNormal;
pt->point = planeToW.transform(pointInPlane);
pt->separation = pointInPlane.x;
pt->internalFaceIndex1 = PXC_CONTACT_NO_FACE_INDEX;
}
}
}
return status;
}
}//Gu
}//physx
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