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
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
|
// 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) 2008-2018 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 "GuGeometryUnion.h"
#include "GuContactMethodImpl.h"
#include "GuContactBuffer.h"
#include "GuPersistentContactManifold.h"
namespace physx
{
namespace Gu
{
bool pcmContactPlaneBox(GU_CONTACT_METHOD_ARGS)
{
PX_UNUSED(shape0);
PX_UNUSED(renderOutput);
using namespace Ps::aos;
Gu::PersistentContactManifold& manifold = cache.getManifold();
Ps::prefetchLine(&manifold, 256);
// Get actual shape data
const PxBoxGeometry& shapeBox = shape1.get<const PxBoxGeometry>();
const PsTransformV transf0 = loadTransformA(transform1);//box transform
const PsTransformV transf1 = loadTransformA(transform0);//plane transform
//box to plane
const PsTransformV curTransf(transf1.transformInv(transf0));
//in world space
const Vec3V negPlaneNormal = V3Normalize(V3Neg(QuatGetBasisVector0(transf1.q)));
const FloatV contactDist = FLoad(params.mContactDistance);
const Vec3V boxExtents = V3LoadU(shapeBox.halfExtents);
const PxReal toleranceLength = params.mToleranceLength;
const FloatV boxMargin = CalculatePCMBoxMargin(boxExtents, toleranceLength);
const FloatV projectBreakingThreshold = FMul(boxMargin, FLoad(0.2f));
const PxU32 initialContacts = manifold.mNumContacts;
manifold.refreshContactPoints(curTransf, projectBreakingThreshold, contactDist);
const PxU32 newContacts = manifold.mNumContacts;
const bool bLostContacts = (newContacts != initialContacts);//((initialContacts == 0) || (newContacts != initialContacts));
if(bLostContacts || manifold.invalidate_PrimitivesPlane(curTransf, boxMargin, FLoad(0.2f)))
{
//ML:localNormal is the local space of plane normal, however, because shape1 is box and shape0 is plane, we need to use the reverse of contact normal(which will be the plane normal) to make the refreshContactPoints
//work out the correct pentration for points
const Vec3V localNormal = V3UnitX();
manifold.mNumContacts = 0;
manifold.setRelativeTransform(curTransf);
const PsMatTransformV aToB(curTransf);
const FloatV bx = V3GetX(boxExtents);
const FloatV by = V3GetY(boxExtents);
const FloatV bz = V3GetZ(boxExtents);
const FloatV nbx = FNeg(bx);
const FloatV nby = FNeg(by);
const FloatV nbz = FNeg(bz);
const Vec3V temp0 = V3Scale(aToB.getCol0(), bx);
const Vec3V temp1 = V3Scale(aToB.getCol1(), by);
const Vec3V temp2 = V3Scale(aToB.getCol2(), bz);
const Vec3V ntemp2 = V3Neg(temp2);
const FloatV px = V3GetX(aToB.p);
//box's points in the local space of plane
const Vec3V temp01 = V3Add(temp0, temp1);//(x, y)
const Vec3V temp02 = V3Sub(temp0, temp1);//(x, -y)
const FloatV s0 = V3GetX(V3Add(temp2, temp01));//(x, y, z)
const FloatV s1 = V3GetX(V3Add(ntemp2, temp01));//(x, y, -z)
const FloatV s2 = V3GetX(V3Add(temp2, temp02));//(x, -y, z)
const FloatV s3 = V3GetX(V3Add(ntemp2, temp02));//(x, -y, -z)
const FloatV s4 = V3GetX(V3Sub(temp2, temp02));//(-x, y, z)
const FloatV s5 = V3GetX(V3Sub(ntemp2, temp02));//(-x, y, -z)
const FloatV s6 = V3GetX(V3Sub(temp2, temp01));//(-x, -y, z)
const FloatV s7 = V3GetX(V3Sub(ntemp2, temp01));//(-x, -y, -z)
const FloatV acceptanceDist = FSub(contactDist, px);
Gu::PersistentContact* manifoldContacts = PX_CP_TO_PCP(contactBuffer.contacts);
PxU32 numContacts = 0;
if(FAllGrtr(acceptanceDist, s0))
{
const FloatV pen = FAdd(s0, px);
//(x, y, z)
manifoldContacts[numContacts].mLocalPointA = boxExtents;//aToB.transformInv(p);
manifoldContacts[numContacts].mLocalPointB = V3NegScaleSub(localNormal, pen, aToB.transform(boxExtents));
manifoldContacts[numContacts++].mLocalNormalPen = V4SetW(Vec4V_From_Vec3V(localNormal), pen);
}
if(FAllGrtr(acceptanceDist, s1))
{
const FloatV pen = FAdd(s1, px);
//(x, y, -z)
const Vec3V p = V3Merge(bx, by, nbz);
//add to contact stream
manifoldContacts[numContacts].mLocalPointA = p;//aToB.transformInv(p);
manifoldContacts[numContacts].mLocalPointB = V3NegScaleSub(localNormal, pen, aToB.transform(p));
manifoldContacts[numContacts++].mLocalNormalPen = V4SetW(Vec4V_From_Vec3V(localNormal), pen);
}
if(FAllGrtr(acceptanceDist, s2))
{
const FloatV pen = FAdd(s2, px);
//(x, -y, z)
const Vec3V p = V3Merge(bx, nby, bz);
manifoldContacts[numContacts].mLocalPointA = p;//aToB.transformInv(p);
manifoldContacts[numContacts].mLocalPointB = V3NegScaleSub(localNormal, pen, aToB.transform(p));
manifoldContacts[numContacts++].mLocalNormalPen = V4SetW(Vec4V_From_Vec3V(localNormal), pen);
}
if(FAllGrtr(acceptanceDist, s3))
{
const FloatV pen = FAdd(s3, px);
//(x, -y, -z)
const Vec3V p = V3Merge(bx, nby, nbz);
manifoldContacts[numContacts].mLocalPointA = p;
manifoldContacts[numContacts].mLocalPointB = V3NegScaleSub(localNormal, pen, aToB.transform(p));
manifoldContacts[numContacts++].mLocalNormalPen = V4SetW(Vec4V_From_Vec3V(localNormal), pen);
}
if(FAllGrtr(acceptanceDist, s4))
{
const FloatV pen = FAdd(s4, px);
//(-x, y, z)
const Vec3V p =V3Merge(nbx, by, bz);
manifoldContacts[numContacts].mLocalPointA = p;
manifoldContacts[numContacts].mLocalPointB = V3NegScaleSub(localNormal, pen, aToB.transform(p));
manifoldContacts[numContacts++].mLocalNormalPen = V4SetW(Vec4V_From_Vec3V(localNormal), pen);
}
if(FAllGrtr(acceptanceDist, s5))
{
const FloatV pen = FAdd(s5, px);
//(-x, y, -z)
const Vec3V p = V3Merge(nbx, by, nbz);
manifoldContacts[numContacts].mLocalPointA = p;//aToB.transformInv(p);
manifoldContacts[numContacts].mLocalPointB = V3NegScaleSub(localNormal, pen, aToB.transform(p));
manifoldContacts[numContacts++].mLocalNormalPen = V4SetW(Vec4V_From_Vec3V(localNormal), pen);
}
if(FAllGrtr(acceptanceDist, s6))
{
const FloatV pen = FAdd(s6, px);
//(-x, -y, z)
const Vec3V p = V3Merge(nbx, nby, bz);
manifoldContacts[numContacts].mLocalPointA = p;//aToB.transformInv(p);
manifoldContacts[numContacts].mLocalPointB = V3NegScaleSub(localNormal, pen, aToB.transform(p));
manifoldContacts[numContacts++].mLocalNormalPen = V4SetW(Vec4V_From_Vec3V(localNormal), pen);
}
if(FAllGrtr(acceptanceDist, s7))
{
const FloatV pen = FAdd(s7, px);
//(-x, -y, -z)
const Vec3V p = V3Merge(nbx, nby, nbz);
manifoldContacts[numContacts].mLocalPointA = p;
manifoldContacts[numContacts].mLocalPointB = V3NegScaleSub(localNormal, pen, aToB.transform(p));
manifoldContacts[numContacts++].mLocalNormalPen = V4SetW(Vec4V_From_Vec3V(localNormal), pen);
}
//reduce contacts
manifold.addBatchManifoldContactsCluster(manifoldContacts, numContacts);
manifold.addManifoldContactsToContactBuffer(contactBuffer, negPlaneNormal, transf1, contactDist);
return manifold.getNumContacts() > 0;
}
else
{
manifold.addManifoldContactsToContactBuffer(contactBuffer, negPlaneNormal, transf1, contactDist);
//manifold.drawManifold(*gRenderOutPut, transf0, transf1);
return manifold.getNumContacts() > 0;
}
}
}//Gu
}//physx
|