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// This code contains NVIDIA Confidential Information and is disclosed to you
// under a form of NVIDIA software license agreement provided separately to you.
//
// Notice
// NVIDIA Corporation and its licensors retain all intellectual property and
// proprietary rights in and to this software and related documentation and
// any modifications thereto. Any use, reproduction, disclosure, or
// distribution of this software and related documentation without an express
// license agreement from NVIDIA Corporation is strictly prohibited.
//
// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
//
// Information and code furnished is believed to be accurate and reliable.
// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
// information or for any infringement of patents or other rights of third parties that may
// result from its use. No license is granted by implication or otherwise under any patent
// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
// This code supersedes and replaces all information previously supplied.
// NVIDIA Corporation products are not authorized for use as critical
// components in life support devices or systems without express written approval of
// NVIDIA Corporation.
//
// Copyright (c) 2008-2017 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 "GuVecBox.h"
#include "GuVecCapsule.h"
#include "GuGeometryUnion.h"
#include "GuContactMethodImpl.h"
#include "GuContactBuffer.h"
#include "GuPCMContactGen.h"
#include "GuPCMShapeConvex.h"
#include "GuGJKPenetration.h"
#include "GuEPA.h"
namespace physx
{
using namespace Ps::aos;
namespace Gu
{
static bool fullContactsGenerationCapsuleBox(const CapsuleV& capsule, const BoxV& box, const PxVec3 halfExtents, const PsMatTransformV& aToB, const PsTransformV& transf0, const PsTransformV& transf1,
PersistentContact* manifoldContacts, PxU32& numContacts, ContactBuffer& contactBuffer, PersistentContactManifold& manifold, Vec3V& normal, const Vec3VArg closest,
const FloatVArg boxMargin, const FloatVArg contactDist, const bool doOverlapTest, const FloatVArg toleranceScale)
{
PolygonalData polyData;
PCMPolygonalBox polyBox(halfExtents);
polyBox.getPolygonalData(&polyData);
Mat33V identity = M33Identity();
SupportLocalImpl<BoxV> map(box, transf1, identity, identity);
PxU32 origContacts = numContacts;
if (generateCapsuleBoxFullContactManifold(capsule, polyData, &map, aToB, manifoldContacts, numContacts, contactDist, normal, closest, boxMargin, doOverlapTest, toleranceScale))
{
//EPA has contacts and we have new contacts, we discard the EPA contacts
if(origContacts != 0 && numContacts != origContacts)
{
numContacts--;
manifoldContacts++;
}
manifold.addBatchManifoldContacts2(manifoldContacts, numContacts);
normal = transf1.rotate(normal);
manifold.addManifoldContactsToContactBuffer(contactBuffer, normal, transf0, capsule.radius, contactDist);
return true;
}
return false;
}
bool pcmContactCapsuleBox(GU_CONTACT_METHOD_ARGS)
{
PX_UNUSED(renderOutput);
PersistentContactManifold& manifold = cache.getManifold();
Ps::prefetchLine(&manifold, 256);
const PxCapsuleGeometry& shapeCapsule = shape0.get<const PxCapsuleGeometry>();
const PxBoxGeometry& shapeBox = shape1.get<const PxBoxGeometry>();
PX_ASSERT(transform1.q.isSane());
PX_ASSERT(transform0.q.isSane());
const Vec3V zeroV = V3Zero();
const Vec3V boxExtents = V3LoadU(shapeBox.halfExtents);
const FloatV contactDist = FLoad(params.mContactDistance);
const PsTransformV transf0 = loadTransformA(transform0);
const PsTransformV transf1 = loadTransformA(transform1);
const PsTransformV curRTrans = transf1.transformInv(transf0);
const PsMatTransformV aToB_(curRTrans);
const FloatV capsuleRadius = FLoad(shapeCapsule.radius);
const FloatV capsuleHalfHeight = FLoad(shapeCapsule.halfHeight);
const PxU32 initialContacts = manifold.mNumContacts;
const FloatV boxMargin = Gu::CalculatePCMBoxMargin(boxExtents);
const FloatV minMargin = FMin(boxMargin, capsuleRadius);
const FloatV projectBreakingThreshold = FMul(minMargin, FLoad(0.8f));
const FloatV refreshDist = FAdd(contactDist, capsuleRadius);
//refreshContactPoints remove invalid contacts from the manifold and update the number correspondingly
manifold.refreshContactPoints(aToB_, projectBreakingThreshold, refreshDist);
const bool bLostContacts = (manifold.mNumContacts != initialContacts);
PX_UNUSED(bLostContacts);
if(bLostContacts || manifold.invalidate_SphereCapsule(curRTrans, minMargin))
{
GjkStatus status = manifold.mNumContacts > 0 ? GJK_UNDEFINED : GJK_NON_INTERSECT;
Vec3V closestA(zeroV), closestB(zeroV);
Vec3V normal(zeroV); // from a to b
const FloatV zero = FZero();
FloatV penDep = zero;
manifold.setRelativeTransform(curRTrans);
const PsMatTransformV aToB(curRTrans);
BoxV box(transf1.p, boxExtents);
box.setMargin(zero);
//transform capsule into the local space of box
CapsuleV capsule(aToB.p, aToB.rotate(V3Scale(V3UnitX(), capsuleHalfHeight)), capsuleRadius);
LocalConvex<CapsuleV> convexA(capsule);
LocalConvex<BoxV> convexB(box);
const Vec3V initialSearchDir = V3Sub(capsule.getCenter(), box.getCenter());
status = gjkPenetration<LocalConvex<CapsuleV>, LocalConvex<BoxV> >(convexA, convexB, initialSearchDir, contactDist, closestA, closestB, normal, penDep,
manifold.mAIndice, manifold.mBIndice, manifold.mNumWarmStartPoints, true);
PersistentContact* manifoldContacts = PX_CP_TO_PCP(contactBuffer.contacts);
PxU32 numContacts = 0;
bool doOverlapTest = false;
if(status == GJK_NON_INTERSECT)
{
return false;
}
else if(status == GJK_DEGENERATE)
{
return fullContactsGenerationCapsuleBox(capsule, box, shapeBox.halfExtents, aToB, transf0, transf1, manifoldContacts, numContacts, contactBuffer,
manifold, normal, closestB, box.getMargin(), contactDist, true, FLoad(params.mToleranceLength));
}
else
{
if(status == GJK_CONTACT)
{
const Vec3V localPointA = aToB.transformInv(closestA);//curRTrans.transformInv(closestA);
const Vec4V localNormalPen = V4SetW(Vec4V_From_Vec3V(normal), penDep);
//Add contact to contact stream
manifoldContacts[numContacts].mLocalPointA = localPointA;
manifoldContacts[numContacts].mLocalPointB = closestB;
manifoldContacts[numContacts++].mLocalNormalPen = localNormalPen;
}
else
{
PX_ASSERT(status == EPA_CONTACT);
status= epaPenetration(convexA, convexB, manifold.mAIndice, manifold.mBIndice, manifold.mNumWarmStartPoints,
closestA, closestB, normal, penDep, true);
if(status == EPA_CONTACT)
{
const Vec3V localPointA = aToB.transformInv(closestA);//curRTrans.transformInv(closestA);
const Vec4V localNormalPen = V4SetW(Vec4V_From_Vec3V(normal), penDep);
//Add contact to contact stream
manifoldContacts[numContacts].mLocalPointA = localPointA;
manifoldContacts[numContacts].mLocalPointB = closestB;
manifoldContacts[numContacts++].mLocalNormalPen = localNormalPen;
}
else
{
doOverlapTest = true;
}
}
if(initialContacts == 0 || bLostContacts || doOverlapTest)
{
return fullContactsGenerationCapsuleBox(capsule, box, shapeBox.halfExtents, aToB, transf0, transf1, manifoldContacts, numContacts, contactBuffer, manifold, normal,
closestB, box.getMargin(), contactDist, doOverlapTest, FLoad(params.mToleranceLength));
}
else
{
//The contacts is either come from GJK or EPA
const FloatV replaceBreakingThreshold = FMul(minMargin, FLoad(0.1f));
const Vec4V localNormalPen = V4SetW(Vec4V_From_Vec3V(normal), penDep);
manifold.addManifoldPoint2(curRTrans.transformInv(closestA), closestB, localNormalPen, replaceBreakingThreshold);
normal = transf1.rotate(normal);
manifold.addManifoldContactsToContactBuffer(contactBuffer, normal, transf0, capsuleRadius, contactDist);
return true;
}
}
}
else if(manifold.getNumContacts() > 0)
{
const Vec3V worldNormal = manifold.getWorldNormal(transf1);
manifold.addManifoldContactsToContactBuffer(contactBuffer, worldNormal, transf0, capsuleRadius, contactDist);
return true;
}
return false;
}
}
}
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