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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 "GuVecBox.h"
#include "GuVecConvexHull.h"
#include "GuVecConvexHullNoScale.h"
#include "GuVecTriangle.h"
#include "GuGeometryUnion.h"
#include "GuContactMethodImpl.h"
#include "GuPCMShapeConvex.h"
#include "GuConvexUtilsInternal.h"
#include "PxTriangleMesh.h"
#include "GuContactBuffer.h"
#include "GuPCMContactConvexCommon.h"
#include "GuPCMContactMeshCallback.h"
#include "GuIntersectionTriangleBox.h"
#include "GuBox.h"
using namespace physx;
using namespace Gu;
using namespace physx::shdfnd::aos;
namespace physx
{
struct PCMConvexVsMeshContactGenerationCallback : PCMMeshContactGenerationCallback<PCMConvexVsMeshContactGenerationCallback>
{
PCMConvexVsMeshContactGenerationCallback& operator=(const PCMConvexVsMeshContactGenerationCallback&);
public:
PCMConvexVsMeshContactGeneration mGeneration;
const BoxPadded& mBox;
PCMConvexVsMeshContactGenerationCallback(
const Ps::aos::FloatVArg contactDistance,
const Ps::aos::FloatVArg replaceBreakingThreshold,
const PsTransformV& convexTransform,
const PsTransformV& meshTransform,
MultiplePersistentContactManifold& multiManifold,
ContactBuffer& contactBuffer,
const PolygonalData& polyData,
SupportLocal* polyMap,
Ps::InlineArray<PxU32, LOCAL_CONTACTS_SIZE>* delayedContacts,
const Cm::FastVertex2ShapeScaling& convexScaling,
bool idtConvexScale,
const Cm::FastVertex2ShapeScaling& meshScaling,
const PxU8* extraTriData,
bool idtMeshScale,
bool silhouetteEdgesAreActive,
const BoxPadded& box,
Cm::RenderOutput* renderOutput = NULL
) :
PCMMeshContactGenerationCallback<PCMConvexVsMeshContactGenerationCallback>(meshScaling, extraTriData, idtMeshScale),
mGeneration(contactDistance, replaceBreakingThreshold, convexTransform, meshTransform, multiManifold, contactBuffer, polyData, polyMap,
delayedContacts, convexScaling, idtConvexScale, silhouetteEdgesAreActive, renderOutput),
mBox(box)
{
}
PX_FORCE_INLINE Ps::IntBool doTest(const PxVec3& v0, const PxVec3& v1, const PxVec3& v2)
{
// PT: this one is safe because midphase vertices are directly passed to the function
return intersectTriangleBox(mBox, v0, v1, v2);
}
template<PxU32 CacheSize>
void processTriangleCache(TriangleCache<CacheSize>& cache)
{
mGeneration.processTriangleCache<CacheSize, PCMConvexVsMeshContactGeneration>(cache);
}
};
bool Gu::PCMContactConvexMesh(const PolygonalData& polyData, SupportLocal* polyMap, const Ps::aos::FloatVArg minMargin, const PxBounds3& hullAABB, const PxTriangleMeshGeometryLL& shapeMesh,
const PxTransform& transform0, const PxTransform& transform1,
PxReal contactDistance, ContactBuffer& contactBuffer,
const Cm::FastVertex2ShapeScaling& convexScaling, const Cm::FastVertex2ShapeScaling& meshScaling,
bool idtConvexScale, bool idtMeshScale, Gu::MultiplePersistentContactManifold& multiManifold,
Cm::RenderOutput* renderOutput)
{
using namespace Ps::aos;
const QuatV q0 = QuatVLoadA(&transform0.q.x);
const Vec3V p0 = V3LoadA(&transform0.p.x);
const QuatV q1 = QuatVLoadA(&transform1.q.x);
const Vec3V p1 = V3LoadA(&transform1.p.x);
const FloatV contactDist = FLoad(contactDistance);
//Transfer A into the local space of B
const PsTransformV convexTransform(p0, q0);//box
const PsTransformV meshTransform(p1, q1);//triangleMesh
const PsTransformV curTransform = meshTransform.transformInv(convexTransform);
if(multiManifold.invalidate(curTransform, minMargin))
{
const FloatV replaceBreakingThreshold = FMul(minMargin, FLoad(0.05f));
multiManifold.mNumManifolds = 0;
multiManifold.setRelativeTransform(curTransform);
////////////////////
const TriangleMesh* PX_RESTRICT meshData = shapeMesh.meshData;
const Cm::Matrix34 world0(transform0);
const Cm::Matrix34 world1(transform1);
BoxPadded hullOBB;
computeHullOBB(hullOBB, hullAABB, contactDistance, world0, world1, meshScaling, idtMeshScale);
// Setup the collider
Ps::InlineArray<PxU32,LOCAL_CONTACTS_SIZE> delayedContacts;
const PxU8* PX_RESTRICT extraData = meshData->getExtraTrigData();
PCMConvexVsMeshContactGenerationCallback blockCallback(
contactDist, replaceBreakingThreshold, convexTransform, meshTransform, multiManifold, contactBuffer,
polyData, polyMap, &delayedContacts, convexScaling, idtConvexScale, meshScaling, extraData, idtMeshScale, true,
hullOBB, renderOutput);
Midphase::intersectOBB(meshData, hullOBB, blockCallback, true);
PX_ASSERT(multiManifold.mNumManifolds <= GU_MAX_MANIFOLD_SIZE);
blockCallback.flushCache();
//This is very important
blockCallback.mGeneration.generateLastContacts();
blockCallback.mGeneration.processContacts(GU_SINGLE_MANIFOLD_CACHE_SIZE, false);
#if PCM_LOW_LEVEL_DEBUG
multiManifold.drawManifold(*renderOutput, transform0, transform1);
#endif
}
else
{
const PsMatTransformV aToB(curTransform);
const FloatV projectBreakingThreshold = FMul(minMargin, FLoad(0.8f));
multiManifold.refreshManifold(aToB, projectBreakingThreshold, contactDist);
}
return multiManifold.addManifoldContactsToContactBuffer(contactBuffer, meshTransform);
}
bool Gu::pcmContactConvexMesh(GU_CONTACT_METHOD_ARGS)
{
using namespace Ps::aos;
PX_UNUSED(renderOutput);
const PxConvexMeshGeometryLL& shapeConvex = shape0.get<const PxConvexMeshGeometryLL>();
const PxTriangleMeshGeometryLL& shapeMesh = shape1.get<const PxTriangleMeshGeometryLL>();
const ConvexHullData* hullData = shapeConvex.hullData;
MultiplePersistentContactManifold& multiManifold = cache.getMultipleManifold();
const PsTransformV convexTransform = loadTransformA(transform0);
const bool idtScaleMesh = shapeMesh.scale.isIdentity();
Cm::FastVertex2ShapeScaling meshScaling;
if(!idtScaleMesh)
meshScaling.init(shapeMesh.scale);
Cm::FastVertex2ShapeScaling convexScaling;
PxBounds3 hullAABB;
PolygonalData polyData;
const bool idtScaleConvex = getPCMConvexData(shape0, convexScaling, hullAABB, polyData);
const QuatV vQuat = QuatVLoadU(&shapeConvex.scale.rotation.x);
const Vec3V vScale = V3LoadU_SafeReadW(shapeConvex.scale.scale); // PT: safe because 'rotation' follows 'scale' in PxMeshScale
const PxReal toleranceScale = params.mToleranceLength;
const FloatV minMargin = CalculatePCMConvexMargin(hullData, vScale, toleranceScale, GU_PCM_MESH_MANIFOLD_EPSILON);
ConvexHullV convexHull(hullData, V3Zero(), vScale, vQuat, idtScaleConvex);
if(idtScaleConvex)
{
SupportLocalImpl<Gu::ConvexHullNoScaleV> convexMap(static_cast<ConvexHullNoScaleV&>(convexHull), convexTransform, convexHull.vertex2Shape, convexHull.shape2Vertex, true);
return Gu::PCMContactConvexMesh(polyData, &convexMap, minMargin, hullAABB, shapeMesh,transform0,transform1, params.mContactDistance, contactBuffer, convexScaling,
meshScaling, idtScaleConvex, idtScaleMesh, multiManifold, renderOutput);
}
else
{
SupportLocalImpl<Gu::ConvexHullV> convexMap(convexHull, convexTransform, convexHull.vertex2Shape, convexHull.shape2Vertex, false);
return Gu::PCMContactConvexMesh(polyData, &convexMap, minMargin, hullAABB, shapeMesh,transform0,transform1, params.mContactDistance, contactBuffer, convexScaling,
meshScaling, idtScaleConvex, idtScaleMesh, multiManifold, renderOutput);
}
}
bool Gu::pcmContactBoxMesh(GU_CONTACT_METHOD_ARGS)
{
using namespace Ps::aos;
PX_UNUSED(renderOutput);
MultiplePersistentContactManifold& multiManifold = cache.getMultipleManifold();
const PxBoxGeometry& shapeBox = shape0.get<const PxBoxGeometry>();
const PxTriangleMeshGeometryLL& shapeMesh = shape1.get<const PxTriangleMeshGeometryLL>();
const PxBounds3 hullAABB(-shapeBox.halfExtents, shapeBox.halfExtents);
const bool idtMeshScale = shapeMesh.scale.isIdentity();
Cm::FastVertex2ShapeScaling meshScaling;
if(!idtMeshScale)
meshScaling.init(shapeMesh.scale);
Cm::FastVertex2ShapeScaling idtScaling;
const Vec3V boxExtents = V3LoadU(shapeBox.halfExtents);
const PxReal toleranceLength = params.mToleranceLength;
const FloatV minMargin = Gu::CalculatePCMBoxMargin(boxExtents, toleranceLength, GU_PCM_MESH_MANIFOLD_EPSILON);
BoxV boxV(V3Zero(), boxExtents);
const PsTransformV boxTransform = loadTransformA(transform0);//box
PolygonalData polyData;
PCMPolygonalBox polyBox(shapeBox.halfExtents);
polyBox.getPolygonalData(&polyData);
Mat33V identity = M33Identity();
SupportLocalImpl<BoxV> boxMap(boxV, boxTransform, identity, identity, true);
return Gu::PCMContactConvexMesh(polyData, &boxMap, minMargin, hullAABB, shapeMesh,transform0,transform1, params.mContactDistance, contactBuffer, idtScaling, meshScaling,
true, idtMeshScale, multiManifold, renderOutput);
}
}
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