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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"
using namespace physx;
//This version is ported 1:1 from novodex
static PX_FORCE_INLINE bool ContactSphereBox(const PxVec3& sphereOrigin,
PxReal sphereRadius,
const PxVec3& boxExtents,
// const PxcCachedTransforms& boxCacheTransform,
const PxTransform& boxTransform,
PxVec3& point,
PxVec3& normal,
PxReal& separation,
PxReal contactDistance)
{
// const PxTransform& boxTransform = boxCacheTransform.getShapeToWorld();
//returns true on contact
const PxVec3 delta = sphereOrigin - boxTransform.p; // s1.center - s2.center;
PxVec3 dRot = boxTransform.rotateInv(delta); //transform delta into OBB body coords.
//check if delta is outside ABB - and clip the vector to the ABB.
bool outside = false;
if (dRot.x < -boxExtents.x)
{
outside = true;
dRot.x = -boxExtents.x;
}
else if (dRot.x > boxExtents.x)
{
outside = true;
dRot.x = boxExtents.x;
}
if (dRot.y < -boxExtents.y)
{
outside = true;
dRot.y = -boxExtents.y;
}
else if (dRot.y > boxExtents.y)
{
outside = true;
dRot.y = boxExtents.y;
}
if (dRot.z < -boxExtents.z)
{
outside = true;
dRot.z =-boxExtents.z;
}
else if (dRot.z > boxExtents.z)
{
outside = true;
dRot.z = boxExtents.z;
}
if (outside) //if clipping was done, sphere center is outside of box.
{
point = boxTransform.rotate(dRot); //get clipped delta back in world coords.
normal = delta - point; //what we clipped away.
const PxReal lenSquared = normal.magnitudeSquared();
const PxReal inflatedDist = sphereRadius + contactDistance;
if (lenSquared > inflatedDist * inflatedDist)
return false; //disjoint
//normalize to make it into the normal:
separation = PxRecipSqrt(lenSquared);
normal *= separation;
separation *= lenSquared;
//any plane that touches the sphere is tangential, so a vector from contact point to sphere center defines normal.
//we could also use point here, which has same direction.
//this is either a faceFace or a vertexFace contact depending on whether the box's face or vertex collides, but we did not distinguish.
//We'll just use vertex face for now, this info isn't really being used anyway.
//contact point is point on surface of cube closest to sphere center.
point += boxTransform.p;
separation -= sphereRadius;
return true;
}
else
{
//center is in box, we definitely have a contact.
PxVec3 locNorm; //local coords contact normal
/*const*/ PxVec3 absdRot;
absdRot = PxVec3(PxAbs(dRot.x), PxAbs(dRot.y), PxAbs(dRot.z));
/*const*/ PxVec3 distToSurface = boxExtents - absdRot; //dist from embedded center to box surface along 3 dimensions.
//find smallest element of distToSurface
if (distToSurface.y < distToSurface.x)
{
if (distToSurface.y < distToSurface.z)
{
//y
locNorm = PxVec3(0.0f, dRot.y > 0.0f ? 1.0f : -1.0f, 0.0f);
separation = -distToSurface.y;
}
else
{
//z
locNorm = PxVec3(0.0f,0.0f, dRot.z > 0.0f ? 1.0f : -1.0f);
separation = -distToSurface.z;
}
}
else
{
if (distToSurface.x < distToSurface.z)
{
//x
locNorm = PxVec3(dRot.x > 0.0f ? 1.0f : -1.0f, 0.0f, 0.0f);
separation = -distToSurface.x;
}
else
{
//z
locNorm = PxVec3(0.0f,0.0f, dRot.z > 0.0f ? 1.0f : -1.0f);
separation = -distToSurface.z;
}
}
//separation so far is just the embedding of the center point; we still have to push out all of the radius.
point = sphereOrigin;
normal = boxTransform.rotate(locNorm);
separation -= sphereRadius;
return true;
}
}
namespace physx
{
namespace Gu
{
bool contactSphereBox(GU_CONTACT_METHOD_ARGS)
{
PX_UNUSED(renderOutput);
PX_UNUSED(cache);
const PxSphereGeometry& sphereGeom = shape0.get<const PxSphereGeometry>();
const PxBoxGeometry& boxGeom = shape1.get<const PxBoxGeometry>();
PxVec3 normal;
PxVec3 point;
PxReal separation;
if(!ContactSphereBox(transform0.p, sphereGeom.radius, boxGeom.halfExtents, transform1, point, normal, separation, params.mContactDistance))
return false;
contactBuffer.contact(point, normal, separation);
return true;
}
}//Gu
}//physx
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