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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 "GuBV4.h"
#include "GuSweepSphereTriangle.h"
using namespace physx;
using namespace Gu;
#if PX_INTEL_FAMILY && !defined(PX_SIMD_DISABLED)
#include "PsVecMath.h"
using namespace physx::shdfnd::aos;
#include "GuSIMDHelpers.h"
#include "GuInternal.h"
#include "GuBV4_BoxOverlap_Internal.h"
#include "GuBV4_BoxSweep_Params.h"
namespace
{
struct CapsuleSweepParams : BoxSweepParams
{
Capsule mLocalCapsule;
PxVec3 mCapsuleCenter;
PxVec3 mExtrusionDir;
float mBestAlignmentValue;
float mBestDistance;
float mMaxDist;
};
}
#include "GuBV4_CapsuleSweep_Internal.h"
#include "GuBV4_Internal.h"
#include "GuBV4_BoxBoxOverlapTest.h"
#ifdef GU_BV4_USE_SLABS
#include "GuBV4_Slabs.h"
#endif
#include "GuBV4_ProcessStreamOrdered_OBBOBB.h"
#include "GuBV4_ProcessStreamNoOrder_OBBOBB.h"
#ifdef GU_BV4_USE_SLABS
#include "GuBV4_Slabs_SwizzledNoOrder.h"
#include "GuBV4_Slabs_SwizzledOrdered.h"
#endif
Ps::IntBool BV4_CapsuleSweepSingle(const Capsule& capsule, const PxVec3& dir, float maxDist, const BV4Tree& tree, SweepHit* PX_RESTRICT hit, PxU32 flags)
{
const SourceMesh* PX_RESTRICT mesh = tree.mMeshInterface;
CapsuleSweepParams Params;
setupCapsuleParams(&Params, capsule, dir, maxDist, &tree, mesh, flags);
if(tree.mNodes)
{
if(Params.mEarlyExit)
processStreamNoOrder<LeafFunction_CapsuleSweepAny>(tree.mNodes, tree.mInitData, &Params);
else
processStreamOrdered<LeafFunction_CapsuleSweepClosest>(tree.mNodes, tree.mInitData, &Params);
}
else
doBruteForceTests<LeafFunction_CapsuleSweepAny, LeafFunction_CapsuleSweepClosest>(mesh->getNbTriangles(), &Params);
return computeImpactDataT<ImpactFunctionCapsule>(capsule, dir, hit, &Params, NULL, (flags & QUERY_MODIFIER_DOUBLE_SIDED)!=0, (flags & QUERY_MODIFIER_MESH_BOTH_SIDES)!=0);
}
// PT: capsule sweep callback version - currently not used
namespace
{
struct CapsuleSweepParamsCB : CapsuleSweepParams
{
// PT: these new members are only here to call computeImpactDataT during traversal :(
// PT: TODO: most of them may not be needed
// PT: TODO: for example mCapsuleCB probably dup of mLocalCapsule
Capsule mCapsuleCB; // Capsule in original space (maybe not local/mesh space)
PxVec3 mDirCB; // Dir in original space (maybe not local/mesh space)
const PxMat44* mWorldm_Aligned;
PxU32 mFlags;
SweepUnlimitedCallback mCallback;
void* mUserData;
bool mNodeSorting;
};
class LeafFunction_CapsuleSweepCB
{
public:
static PX_FORCE_INLINE Ps::IntBool doLeafTest(CapsuleSweepParamsCB* PX_RESTRICT params, PxU32 primIndex)
{
PxU32 nbToGo = getNbPrimitives(primIndex);
do
{
if(triCapsuleSweep(params, primIndex, params->mNodeSorting))
{
// PT: TODO: in this version we must compute the impact data immediately,
// which is a terrible idea in general, but I'm not sure what else I can do.
SweepHit hit;
const bool b = computeImpactDataT<ImpactFunctionCapsule>(params->mCapsuleCB, params->mDirCB, &hit, params, params->mWorldm_Aligned, (params->mFlags & QUERY_MODIFIER_DOUBLE_SIDED)!=0, (params->mFlags & QUERY_MODIFIER_MESH_BOTH_SIDES)!=0);
PX_ASSERT(b);
PX_UNUSED(b);
reportUnlimitedCallbackHit(params, hit);
}
primIndex++;
}while(nbToGo--);
return 0;
}
};
}
// PT: for design decisions in this function, refer to the comments of BV4_GenericSweepCB().
void BV4_CapsuleSweepCB(const Capsule& capsule, const PxVec3& dir, float maxDist, const BV4Tree& tree, const PxMat44* PX_RESTRICT worldm_Aligned, SweepUnlimitedCallback callback, void* userData, PxU32 flags, bool nodeSorting)
{
const SourceMesh* PX_RESTRICT mesh = tree.mMeshInterface;
CapsuleSweepParamsCB Params;
Params.mCapsuleCB = capsule;
Params.mDirCB = dir;
Params.mWorldm_Aligned = worldm_Aligned;
Params.mFlags = flags;
Params.mCallback = callback;
Params.mUserData = userData;
Params.mMaxDist = maxDist;
Params.mNodeSorting = nodeSorting;
setupCapsuleParams(&Params, capsule, dir, maxDist, &tree, mesh, flags);
PX_ASSERT(!Params.mEarlyExit);
if(tree.mNodes)
{
if(nodeSorting)
processStreamOrdered<LeafFunction_CapsuleSweepCB>(tree.mNodes, tree.mInitData, &Params);
else
processStreamNoOrder<LeafFunction_CapsuleSweepCB>(tree.mNodes, tree.mInitData, &Params);
}
else
doBruteForceTests<LeafFunction_CapsuleSweepCB, LeafFunction_CapsuleSweepCB>(mesh->getNbTriangles(), &Params);
}
#endif
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