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
|
//
// 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 "GuBV4_Common.h"
#include "GuInternal.h"
#define SWEEP_AABB_IMPL
// PT: TODO: refactor structure (TA34704)
struct RayParams
{
#ifdef GU_BV4_QUANTIZED_TREE
BV4_ALIGN16(Vec3p mCenterOrMinCoeff_PaddedAligned);
BV4_ALIGN16(Vec3p mExtentsOrMaxCoeff_PaddedAligned);
#endif
#ifndef GU_BV4_USE_SLABS
BV4_ALIGN16(Vec3p mData2_PaddedAligned);
BV4_ALIGN16(Vec3p mFDir_PaddedAligned);
BV4_ALIGN16(Vec3p mData_PaddedAligned);
BV4_ALIGN16(Vec3p mLocalDir_PaddedAligned);
#endif
BV4_ALIGN16(Vec3p mOrigin_Padded); // PT: TODO: this one could be switched to PaddedAligned & V4LoadA (TA34704)
};
#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_AABBAABBSweepTest.h"
#ifdef GU_BV4_USE_SLABS
#include "GuBV4_Slabs.h"
#endif
#include "GuBV4_ProcessStreamOrdered_SegmentAABB_Inflated.h"
#include "GuBV4_ProcessStreamNoOrder_SegmentAABB_Inflated.h"
#ifdef GU_BV4_USE_SLABS
#include "GuBV4_Slabs_KajiyaNoOrder.h"
#include "GuBV4_Slabs_KajiyaOrdered.h"
#endif
Ps::IntBool BV4_CapsuleSweepSingleAA(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)
processStreamRayNoOrder(1, LeafFunction_CapsuleSweepAny)(tree.mNodes, tree.mInitData, &Params);
else
processStreamRayOrdered(1, 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);
}
#endif
|