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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 "GuGJKPenetration.h"
#include "GuEPA.h"
#include "GuVecCapsule.h"
#include "GuVecConvexHull.h"
#include "GuVecConvexHullNoScale.h"
#include "GuGeometryUnion.h"
#include "GuContactMethodImpl.h"
#include "GuContactBuffer.h"
#include "GuPCMContactGen.h"
#include "GuPCMShapeConvex.h"
namespace physx
{
using namespace Ps::aos;
namespace Gu
{
static bool fullContactsGenerationCapsuleConvex(const CapsuleV& capsule, const ConvexHullV& convexHull, const PsMatTransformV& aToB, const PsTransformV& transf0,const PsTransformV& transf1,
PersistentContact* manifoldContacts, ContactBuffer& contactBuffer, const bool idtScale, PersistentContactManifold& manifold, Vec3VArg normal,
const Vec3VArg closest, const PxReal tolerance, const FloatVArg contactDist, const bool doOverlapTest, Cm::RenderOutput* renderOutput, const PxReal toleranceScale)
{
PX_UNUSED(renderOutput);
Gu::PolygonalData polyData;
getPCMConvexData(convexHull,idtScale, polyData);
PxU8 buff[sizeof(SupportLocalImpl<ConvexHullV>)];
SupportLocal* map = (idtScale ? static_cast<SupportLocal*>(PX_PLACEMENT_NEW(buff, SupportLocalImpl<ConvexHullNoScaleV>)(static_cast<const ConvexHullNoScaleV&>(convexHull), transf1, convexHull.vertex2Shape, convexHull.shape2Vertex, idtScale)) :
static_cast<SupportLocal*>(PX_PLACEMENT_NEW(buff, SupportLocalImpl<ConvexHullV>)(convexHull, transf1, convexHull.vertex2Shape, convexHull.shape2Vertex, idtScale)));
PxU32 numContacts = 0;
if (generateFullContactManifold(capsule, polyData, map, aToB, manifoldContacts, numContacts, contactDist, normal, closest, tolerance, doOverlapTest, toleranceScale))
{
if (numContacts > 0)
{
manifold.addBatchManifoldContacts2(manifoldContacts, numContacts);
//transform normal into the world space
normal = transf1.rotate(normal);
manifold.addManifoldContactsToContactBuffer(contactBuffer, normal, normal, transf0, capsule.radius, contactDist);
}
else
{
if (!doOverlapTest)
{
normal = transf1.rotate(normal);
manifold.addManifoldContactsToContactBuffer(contactBuffer, normal, normal, transf0, capsule.radius, contactDist);
}
}
#if PCM_LOW_LEVEL_DEBUG
manifold.drawManifold(*renderOutput, transf0, transf1);
#endif
return true;
}
return false;
}
bool pcmContactCapsuleConvex(GU_CONTACT_METHOD_ARGS)
{
PX_UNUSED(renderOutput);
const PxConvexMeshGeometryLL& shapeConvex = shape1.get<const PxConvexMeshGeometryLL>();
const PxCapsuleGeometry& shapeCapsule = shape0.get<const PxCapsuleGeometry>();
PersistentContactManifold& manifold = cache.getManifold();
Ps::prefetchLine(shapeConvex.hullData);
PX_ASSERT(transform1.q.isSane());
PX_ASSERT(transform0.q.isSane());
const Vec3V zeroV = V3Zero();
const Vec3V vScale = V3LoadU_SafeReadW(shapeConvex.scale.scale); // PT: safe because 'rotation' follows 'scale' in PxMeshScale
const FloatV contactDist = FLoad(params.mContactDistance);
const FloatV capsuleHalfHeight = FLoad(shapeCapsule.halfHeight);
const FloatV capsuleRadius = FLoad(shapeCapsule.radius);
const ConvexHullData* hullData =shapeConvex.hullData;
//Transfer A into the local space of B
const PsTransformV transf0 = loadTransformA(transform0);
const PsTransformV transf1 = loadTransformA(transform1);
const PsTransformV curRTrans(transf1.transformInv(transf0));
const PsMatTransformV aToB(curRTrans);
const PxReal toleranceLength = params.mToleranceLength ;
const FloatV convexMargin = Gu::CalculatePCMConvexMargin(hullData, vScale, toleranceLength);
const FloatV capsuleMinMargin = Gu::CalculateCapsuleMinMargin(capsuleRadius);
const FloatV minMargin = FMin(convexMargin, capsuleMinMargin);
const PxU32 initialContacts = manifold.mNumContacts;
const FloatV projectBreakingThreshold = FMul(minMargin, FLoad(1.25f));
const FloatV refreshDist = FAdd(contactDist, capsuleRadius);
manifold.refreshContactPoints(aToB, projectBreakingThreshold, refreshDist);
//ML: after refreshContactPoints, we might lose some contacts
const bool bLostContacts = (manifold.mNumContacts != initialContacts);
GjkStatus status = manifold.mNumContacts > 0 ? GJK_UNDEFINED : GJK_NON_INTERSECT;
Vec3V closestA(zeroV), closestB(zeroV), normal(zeroV); // from a to b
const FloatV zero = FZero();
FloatV penDep = zero;
PX_UNUSED(bLostContacts);
if(bLostContacts || manifold.invalidate_SphereCapsule(curRTrans, minMargin))
{
const bool idtScale = shapeConvex.scale.isIdentity();
manifold.setRelativeTransform(curRTrans);
const QuatV vQuat = QuatVLoadU(&shapeConvex.scale.rotation.x);
ConvexHullV convexHull(hullData, V3LoadU(hullData->mCenterOfMass), vScale, vQuat, idtScale);
convexHull.setMargin(0.f);
//transform capsule(a) into the local space of convexHull(b)
CapsuleV capsule(aToB.p, aToB.rotate(V3Scale(V3UnitX(), capsuleHalfHeight)), capsuleRadius);
LocalConvex<CapsuleV> convexA(capsule);
const Vec3V initialSearchDir = V3Sub(capsule.getCenter(), convexHull.getCenter());
if(idtScale)
{
LocalConvex<ConvexHullNoScaleV> convexB(*PX_CONVEX_TO_NOSCALECONVEX(&convexHull));
status = gjkPenetration<LocalConvex<CapsuleV>, LocalConvex<ConvexHullNoScaleV> >(convexA, convexB, initialSearchDir, contactDist, closestA, closestB, normal, penDep,
manifold.mAIndice, manifold.mBIndice, manifold.mNumWarmStartPoints, true);
}
else
{
LocalConvex<ConvexHullV> convexB(convexHull);
status = gjkPenetration<LocalConvex<CapsuleV>, LocalConvex<ConvexHullV> >(convexA, convexB, initialSearchDir, contactDist, closestA, closestB, normal, penDep,
manifold.mAIndice, manifold.mBIndice, manifold.mNumWarmStartPoints, true);
}
Gu::PersistentContact* manifoldContacts = PX_CP_TO_PCP(contactBuffer.contacts);
bool doOverlapTest = false;
if(status == GJK_NON_INTERSECT)
{
return false;
}
else if(status == GJK_DEGENERATE)
{
return fullContactsGenerationCapsuleConvex(capsule, convexHull, aToB, transf0, transf1, manifoldContacts, contactBuffer, idtScale, manifold, normal,
closestB, convexHull.getMarginF(), contactDist, true, renderOutput, params.mToleranceLength);
}
else
{
const FloatV replaceBreakingThreshold = FMul(minMargin, FLoad(0.05f));
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[0].mLocalPointA = localPointA;
manifoldContacts[0].mLocalPointB = closestB;
manifoldContacts[0].mLocalNormalPen = localNormalPen;
//Add contact to manifold
manifold.addManifoldPoint2(localPointA, closestB, localNormalPen, replaceBreakingThreshold);
}
else
{
PX_ASSERT(status == EPA_CONTACT);
if(idtScale)
{
LocalConvex<ConvexHullNoScaleV> convexB(*PX_CONVEX_TO_NOSCALECONVEX(&convexHull));
status= Gu::epaPenetration(convexA, convexB, manifold.mAIndice, manifold.mBIndice, manifold.mNumWarmStartPoints,
closestA, closestB, normal, penDep, true);
}
else
{
LocalConvex<ConvexHullV> convexB(convexHull);
status= Gu::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[0].mLocalPointA = localPointA;
manifoldContacts[0].mLocalPointB = closestB;
manifoldContacts[0].mLocalNormalPen = localNormalPen;
//Add contact to manifold
manifold.addManifoldPoint2(localPointA, closestB, localNormalPen, replaceBreakingThreshold);
}
else
{
doOverlapTest = true;
}
}
if(initialContacts == 0 || bLostContacts || doOverlapTest)
{
return fullContactsGenerationCapsuleConvex(capsule, convexHull, aToB, transf0, transf1, manifoldContacts, contactBuffer, idtScale, manifold, normal,
closestB, convexHull.getMarginF(), contactDist, doOverlapTest, renderOutput, params.mToleranceLength);
}
else
{
//This contact is either come from GJK or EPA
normal = transf1.rotate(normal);
manifold.addManifoldContactsToContactBuffer(contactBuffer, normal, normal, transf0, capsuleRadius, contactDist);
#if PCM_LOW_LEVEL_DEBUG
manifold.drawManifold(*renderOutput, transf0, transf1);
#endif
return true;
}
}
}
else if (manifold.getNumContacts() > 0)
{
normal = manifold.getWorldNormal(transf1);
manifold.addManifoldContactsToContactBuffer(contactBuffer, normal, normal, transf0, capsuleRadius, contactDist);
#if PCM_LOW_LEVEL_DEBUG
manifold.drawManifold(*renderOutput, transf0, transf1);
#endif
return true;
}
return false;
}
}//Gu
}//physx
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