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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 "foundation/PxVec3.h"
#include "foundation/PxAssert.h"
#include "PsUserAllocated.h"
#include "CmPhysXCommon.h"
#include "GuHillClimbing.h"
#include "GuBigConvexData2.h"
namespace physx
{
void localSearch(PxU32& id, const PxVec3& dir, const PxVec3* verts, const Gu::BigConvexRawData* val)
{
// WARNING: there is a problem on x86 with a naive version of this code, where truncation
// of values from 80 bits to 32 bits as they're stored in memory means that iteratively moving to
// an adjacent vertex of greater support can go into an infinite loop. So we use a version which
// never visits a vertex twice. Note - this might not be enough for GJK, since local
// termination of the support function might not be enough to ensure convergence of GJK itself.
// if we got here, we'd better have vertices and valencies
PX_ASSERT(verts && val);
class TinyBitMap
{
public:
PxU32 m[8];
PX_FORCE_INLINE TinyBitMap() { m[0] = m[1] = m[2] = m[3] = m[4] = m[5] = m[6] = m[7] = 0; }
PX_FORCE_INLINE void set(PxU8 v) { m[v>>5] |= 1<<(v&31); }
PX_FORCE_INLINE bool get(PxU8 v) const { return (m[v>>5] & 1<<(v&31)) != 0; }
};
TinyBitMap visited;
const Gu::Valency* Valencies = val->mValencies;
const PxU8* Adj = val->mAdjacentVerts;
PX_ASSERT(Valencies && Adj);
// Get the initial value and the initial vertex
float MaxVal = dir.dot(verts[id]);
PxU32 NextVtx = id;
do
{
PxU16 NbNeighbors = Valencies[NextVtx].mCount;
const PxU8* Run = Adj + Valencies[NextVtx].mOffset;
id = NextVtx;
while(NbNeighbors--)
{
const PxU8 Neighbor = *Run++;
if(!visited.get(Neighbor))
{
visited.set(Neighbor);
const float CurVal = dir.dot(verts[Neighbor]);
if(CurVal>MaxVal)
{
MaxVal = CurVal;
NextVtx = Neighbor;
}
}
}
} while(NextVtx!=id);
}
}
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