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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.
#ifndef GU_CONTACTTRACESEGMENTCALLBACK_H
#define GU_CONTACTTRACESEGMENTCALLBACK_H
#include "CmMatrix34.h"
#include "GuGeometryUnion.h"
#include "GuHeightFieldUtil.h"
#include "CmRenderOutput.h"
#include "GuContactBuffer.h"
namespace physx
{
namespace Gu
{
#define DISTANCE_BASED_TEST
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
struct GuContactTraceSegmentCallback
{
PxVec3 mLine;
ContactBuffer& mContactBuffer;
Cm::Matrix34 mTransform;
PxReal mContactDistance;
PxU32 mPrevTriangleIndex; // currently only used to indicate first callback
// Cm::RenderOutput& mRO;
PX_INLINE GuContactTraceSegmentCallback(
const PxVec3& line, Gu::ContactBuffer& contactBuffer,
Cm::Matrix34 transform, PxReal contactDistance
/*, Cm::RenderOutput& ro*/)
: mLine(line), mContactBuffer(contactBuffer), mTransform(transform),
mContactDistance(contactDistance), mPrevTriangleIndex(0xFFFFffff)//, mRO(ro)
{
}
bool onEvent(PxU32 , PxU32* )
{
return true;
}
PX_INLINE bool faceHit(const Gu::HeightFieldUtil& /*hfUtil*/, const PxVec3& /*hitPoint*/, PxU32 /*triangleIndex*/, PxReal, PxReal) { return true; }
// x,z is the point of projected face entry intercept in hf coords, rayHeight is at that same point
PX_INLINE bool underFaceHit(
const Gu::HeightFieldUtil& hfUtil, const PxVec3& triangleNormal,
const PxVec3& crossedEdge, PxF32 x, PxF32 z, PxF32 rayHeight, PxU32 triangleIndex)
{
if (mPrevTriangleIndex == 0xFFFFffff) // we only record under-edge contacts so we need at least 2 face hits to have the edge
{
mPrevTriangleIndex = triangleIndex;
//mPrevTriangleNormal = hfUtil.getTriangleNormal(triangleIndex);
return true;
}
const Gu::HeightField& hf = hfUtil.getHeightField();
PxF32 y = hfUtil.getHeightAtShapePoint(x, z); // TODO: optmization opportunity - this can be derived cheaply inside traceSegment
PxF32 dy = rayHeight - y;
if (!hf.isDeltaHeightInsideExtent(dy, mContactDistance))
return true;
// add contact
PxVec3 n = crossedEdge.cross(mLine);
if (n.y < 0) // Make sure cross product is facing correctly before clipping
n = -n;
if (n.y < 0) // degenerate case
return true;
const PxReal ll = n.magnitudeSquared();
if (ll > 0) // normalize
n *= PxRecipSqrt(ll);
else // degenerate case
return true;
// Scale delta height so it becomes the "penetration" along the normal
dy *= n.y;
if (hf.getThicknessFast() > 0)
{
n = -n;
dy = -dy;
}
// compute the contact point
const PxVec3 point(x, rayHeight, z);
//mRO << PxVec3(1,0,0) << Gu::Debug::convertToPxMat44(mTransform)
// << Cm::RenderOutput::LINES << point << point + triangleNormal;
#ifdef DISTANCE_BASED_TEST
mContactBuffer.contact(
mTransform.transform(point), mTransform.rotate(triangleNormal), dy, triangleIndex);
#else
// add gContactDistance to compensate for fact that we don't support dist based contacts in box/convex-hf!
// See comment at start of those functs.
mContactBuffer.contact(
mTransform.transform(point), mTransform.rotate(triangleNormal),
dy + mContactDistance, PXC_CONTACT_NO_FACE_INDEX, triangleIndex);
#endif
mPrevTriangleIndex = triangleIndex;
//mPrevTriangleNormal = triangleNormal;
return true;
}
private:
GuContactTraceSegmentCallback& operator=(const GuContactTraceSegmentCallback&);
};
class GuContactHeightfieldTraceSegmentHelper
{
PX_NOCOPY(GuContactHeightfieldTraceSegmentHelper)
public:
GuContactHeightfieldTraceSegmentHelper(const HeightFieldTraceUtil& hfUtil) : mHfUtil(hfUtil)
{
mHfUtil.computeLocalBounds(mLocalBounds);
}
PX_INLINE void traceSegment(const PxVec3& aP0, const PxVec3& aP1, GuContactTraceSegmentCallback* aCallback) const
{
mHfUtil.traceSegment<GuContactTraceSegmentCallback, true, false>(aP0, aP1 - aP0, 1.0f, aCallback, mLocalBounds, true, NULL);
}
private:
const HeightFieldTraceUtil& mHfUtil;
PxBounds3 mLocalBounds;
};
}//Gu
}//physx
#endif
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