1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
|
//
// 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_VEC_BOX_H
#define GU_VEC_BOX_H
/** \addtogroup geomutils
@{
*/
#include "foundation/PxTransform.h"
#include "PxPhysXCommonConfig.h"
#include "GuVecConvex.h"
#include "PsVecTransform.h"
#include "GuConvexSupportTable.h"
#include "PxBoxGeometry.h"
namespace physx
{
PX_PHYSX_COMMON_API extern const Ps::aos::BoolV boxVertexTable[8];
namespace Gu
{
#define BOX_MARGIN_RATIO 0.15f
#define BOX_MIN_MARGIN_RATIO 0.05f
#define BOX_SWEEP_MARGIN_RATIO 0.05f
#define BOX_MARGIN_CCD_RATIO 0.01f
#define BOX_MIN_MARGIN_CCD_RATIO 0.005f
class CapsuleV;
PX_FORCE_INLINE void CalculateBoxMargin(const Ps::aos::Vec3VArg extent, PxReal& minExtent, PxReal& minMargin, PxReal& sweepMargin,
const PxReal minMarginR = BOX_MIN_MARGIN_RATIO)
{
using namespace Ps::aos;
const FloatV min = V3ExtractMin(extent);
FStore(min, &minExtent);
minMargin = minExtent * minMarginR;
sweepMargin = minExtent * BOX_SWEEP_MARGIN_RATIO;
}
PX_FORCE_INLINE Ps::aos::FloatV CalculateBoxTolerance(const Ps::aos::Vec3VArg extent)
{
using namespace Ps::aos;
const FloatV r0 = FLoad(0.01f);
const FloatV min = V3ExtractMin(extent);//FMin(V3GetX(extent), FMin(V3GetY(extent), V3GetZ(extent)));
return FMul(min, r0);
}
//This method is called in the PCM contact gen for the refreshing contacts
PX_FORCE_INLINE Ps::aos::FloatV CalculatePCMBoxMargin(const Ps::aos::Vec3VArg extent, const PxReal toleranceLength, const PxReal toleranceMarginRatio = BOX_MARGIN_RATIO)
{
using namespace Ps::aos;
const FloatV min = V3ExtractMin(extent);//FMin(V3GetX(extent), FMin(V3GetY(extent), V3GetZ(extent)));
const FloatV toleranceMargin = FLoad(toleranceLength * toleranceMarginRatio);
return FMin(FMul(min, FLoad(BOX_MARGIN_RATIO)), toleranceMargin);
}
PX_FORCE_INLINE Ps::aos::FloatV CalculateMTDBoxMargin(const Ps::aos::Vec3VArg extent)
{
using namespace Ps::aos;
const FloatV min = V3ExtractMin(extent);//FMin(V3GetX(extent), FMin(V3GetY(extent), V3GetZ(extent)));
return FMul(min, FLoad(BOX_MARGIN_RATIO));
}
class BoxV : public ConvexV
{
public:
/**
\brief Constructor
*/
PX_INLINE BoxV() : ConvexV(ConvexType::eBOX)
{
}
PX_FORCE_INLINE BoxV(const Ps::aos::Vec3VArg origin, const Ps::aos::Vec3VArg extent) :
ConvexV(ConvexType::eBOX, origin), extents(extent)
{
CalculateBoxMargin(extent, minExtent, minMargin, sweepMargin);
marginDif = Ps::aos::FZero();
margin = 0.f;
}
//this constructor is used by the CCD system
PX_FORCE_INLINE BoxV(const PxGeometry& geom) : ConvexV(ConvexType::eBOX, Ps::aos::V3Zero())
{
using namespace Ps::aos;
const PxBoxGeometry& boxGeom = static_cast<const PxBoxGeometry&>(geom);
const Vec3V extent = Ps::aos::V3LoadU(boxGeom.halfExtents);
extents = extent;
CalculateBoxMargin(extent, minExtent, minMargin, sweepMargin, BOX_MIN_MARGIN_CCD_RATIO);
marginDif = Ps::aos::FZero();
margin = 0.f;
}
/**
\brief Destructor
*/
PX_INLINE ~BoxV()
{
}
PX_FORCE_INLINE void resetMargin(const PxReal toleranceLength)
{
minMargin = PxMin(toleranceLength * BOX_MIN_MARGIN_RATIO, minMargin);
}
//! Assignment operator
PX_FORCE_INLINE const BoxV& operator=(const BoxV& other)
{
center = other.center;
extents = other.extents;
margin = other.margin;
minMargin = other.minMargin;
marginDif = other.marginDif;
sweepMargin = other.sweepMargin;
return *this;
}
PX_FORCE_INLINE void populateVerts(const PxU8* inds, PxU32 numInds, const PxVec3* originalVerts, Ps::aos::Vec3V* verts)const
{
using namespace Ps::aos;
for(PxU32 i=0; i<numInds; ++i)
verts[i] = V3LoadU_SafeReadW(originalVerts[inds[i]]); // PT: safe because of the way vertex memory is allocated in ConvexHullData (and 'populateVerts' is always called with polyData.mVerts)
}
PX_FORCE_INLINE Ps::aos::Vec3V supportPoint(const PxI32 index, Ps::aos::FloatV* /*marginDif*/)const
{
using namespace Ps::aos;
const BoolV con = boxVertexTable[index];
return V3Sel(con, extents, V3Neg(extents));
}
PX_FORCE_INLINE void getIndex(const Ps::aos::BoolV con, PxI32& index)const
{
using namespace Ps::aos;
index = PxI32(BGetBitMask(con) & 0x7);
}
PX_FORCE_INLINE Ps::aos::Vec3V supportLocal(const Ps::aos::Vec3VArg dir)const
{
using namespace Ps::aos;
return V3Sel(V3IsGrtr(dir, V3Zero()), extents, V3Neg(extents));
}
//this is used in the sat test for the full contact gen
PX_SUPPORT_INLINE void supportLocal(const Ps::aos::Vec3VArg dir, Ps::aos::FloatV& min, Ps::aos::FloatV& max)const
{
using namespace Ps::aos;
const Vec3V point = V3Sel(V3IsGrtr(dir, V3Zero()), extents, V3Neg(extents));
max = V3Dot(dir, point);
min = FNeg(max);
}
PX_SUPPORT_INLINE Ps::aos::Vec3V supportRelative(const Ps::aos::Vec3VArg dir, const Ps::aos::PsMatTransformV& aTob, const Ps::aos::PsMatTransformV& aTobT) const
{
//a is the current object, b is the other object, dir is in the local space of b
using namespace Ps::aos;
// const Vec3V _dir = aTob.rotateInv(dir);//relTra.rotateInv(dir);//from b to a
const Vec3V _dir = aTobT.rotate(dir);//relTra.rotateInv(dir);//from b to a
const Vec3V p = supportLocal(_dir);
//transfer p into the b space
return aTob.transform(p);//relTra.transform(p);
}
PX_SUPPORT_INLINE Ps::aos::Vec3V supportLocal(const Ps::aos::Vec3VArg dir, PxI32& index, Ps::aos::FloatV* /*marginDif_*/)const
{
using namespace Ps::aos;
const BoolV comp = V3IsGrtr(dir, V3Zero());
getIndex(comp, index);
return V3Sel(comp, extents, V3Neg(extents));
}
PX_SUPPORT_INLINE Ps::aos::Vec3V supportRelative( const Ps::aos::Vec3VArg dir, const Ps::aos::PsMatTransformV& aTob,
const Ps::aos::PsMatTransformV& aTobT, PxI32& index, Ps::aos::FloatV* marginDif_)const
{
//a is the current object, b is the other object, dir is in the local space of b
using namespace Ps::aos;
// const Vec3V _dir = aTob.rotateInv(dir);//relTra.rotateInv(dir);//from b to a
const Vec3V _dir = aTobT.rotate(dir);//relTra.rotateInv(dir);//from b to a
const Vec3V p = supportLocal(_dir, index, marginDif_);
//transfer p into the b space
return aTob.transform(p);//relTra.transform(p);
}
Ps::aos::Vec3V extents;
Ps::aos::FloatV marginDif;
PxReal minExtent;
};
} //PX_COMPILE_TIME_ASSERT(sizeof(Gu::BoxV) == 96);
}
/** @} */
#endif
|