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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 "GuDistancePointSegment.h"
#include "GuContactMethodImpl.h"
#include "GuContactBuffer.h"
#include "GuInternal.h"
#include "GuGeometryUnion.h"
namespace physx
{
namespace Gu
{
bool contactSphereCapsule(GU_CONTACT_METHOD_ARGS)
{
PX_UNUSED(renderOutput);
PX_UNUSED(cache);
const PxSphereGeometry& sphereGeom = shape0.get<const PxSphereGeometry>();
const PxCapsuleGeometry& capsuleGeom = shape1.get<const PxCapsuleGeometry>();
// PT: get capsule in local space
const PxVec3 capsuleLocalSegment = getCapsuleHalfHeightVector(transform1, capsuleGeom);
const Segment localSegment(capsuleLocalSegment, -capsuleLocalSegment);
// PT: get sphere in capsule space
const PxVec3 sphereCenterInCapsuleSpace = transform0.p - transform1.p;
const PxReal radiusSum = sphereGeom.radius + capsuleGeom.radius;
const PxReal inflatedSum = radiusSum + params.mContactDistance;
// PT: compute distance between sphere center & capsule's segment
PxReal u;
const PxReal squareDist = distancePointSegmentSquared(localSegment, sphereCenterInCapsuleSpace, &u);
if(squareDist >= inflatedSum*inflatedSum)
return false;
// PT: compute contact normal
PxVec3 normal = sphereCenterInCapsuleSpace - localSegment.getPointAt(u);
// We do a *manual* normalization to check for singularity condition
const PxReal lenSq = normal.magnitudeSquared();
if(lenSq==0.0f)
normal = PxVec3(1.0f, 0.0f, 0.0f); // PT: zero normal => pick up random one
else
normal *= PxRecipSqrt(lenSq);
// PT: compute contact point
const PxVec3 point = sphereCenterInCapsuleSpace + transform1.p - normal * sphereGeom.radius;
// PT: output unique contact
contactBuffer.contact(point, normal, PxSqrt(squareDist) - radiusSum);
return true;
}
}//Gu
}//physx
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