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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 "GuGJKWrapper.h"
#include "GuVecBox.h"
#include "GuVecSphere.h"
#include "GuGeometryUnion.h"
#include "GuContactMethodImpl.h"
#include "GuContactBuffer.h"
namespace physx
{
namespace Gu
{
bool pcmContactSphereBox(GU_CONTACT_METHOD_ARGS)
{
PX_UNUSED(renderOutput);
PX_UNUSED(cache);
using namespace Ps::aos;
// Get actual shape data
const PxSphereGeometry& shapeSphere = shape0.get<const PxSphereGeometry>();
const PxBoxGeometry& shapeBox = shape1.get<const PxBoxGeometry>();
//
//const PsTransformV transf0(transform0);
const Vec3V sphereOrigin = V3LoadA(&transform0.p.x);
//const PsTransformV transf1(transform1);
const QuatV q1 = QuatVLoadA(&transform1.q.x);
const Vec3V p1 = V3LoadA(&transform1.p.x);
const FloatV radius = FLoad(shapeSphere.radius);
const PsTransformV transf1(p1, q1);
const FloatV cDist = FLoad(params.mContactDistance);
const Vec3V boxExtents = V3LoadU(shapeBox.halfExtents);
//translate sphere center into the box space
const Vec3V sphereCenter = transf1.transformInv(sphereOrigin);
const Vec3V nBoxExtents = V3Neg(boxExtents);
//const FloatV radSq = FMul(radius, radius);
const FloatV inflatedSum = FAdd(radius, cDist);
const FloatV sqInflatedSum = FMul(inflatedSum, inflatedSum);
const Vec3V p = V3Clamp(sphereCenter, nBoxExtents, boxExtents);
const Vec3V v = V3Sub(sphereCenter, p);
const FloatV lengthSq = V3Dot(v, v);
PX_ASSERT(contactBuffer.count < ContactBuffer::MAX_CONTACTS);
if(FAllGrtr(sqInflatedSum, lengthSq))//intersect
{
//check whether the spherCenter is inside the box
const BoolV bInsideBox = V3IsGrtrOrEq(boxExtents, V3Abs(sphereCenter));
// PT: TODO: ??? revisit this, why do we have both BAllEqTTTT and BAllTrue3?
if(BAllEqTTTT(BAllTrue3(bInsideBox)))//sphere center inside the box
{
//Pick directions and sign
const Vec3V absP = V3Abs(p);
const Vec3V distToSurface = V3Sub(boxExtents, absP);//dist from embedded center to box surface along 3 dimensions.
const FloatV x = V3GetX(distToSurface);
const FloatV y = V3GetY(distToSurface);
const FloatV z = V3GetZ(distToSurface);
const Vec3V xV = V3Splat(x);
const Vec3V zV = V3Splat(z);
//find smallest element of distToSurface
const BoolV con0 = BAllTrue3(V3IsGrtrOrEq(distToSurface, zV));
const BoolV con1 = BAllTrue3(V3IsGrtrOrEq(distToSurface, xV));
const Vec3V sign = V3Sign(p);
const Vec3V tmpX = V3Mul(V3UnitX(), sign);
const Vec3V tmpY = V3Mul(V3UnitY(), sign);
const Vec3V tmpZ = V3Mul(V3UnitZ(), sign);
const Vec3V locNorm= V3Sel(con0, tmpZ, V3Sel(con1, tmpX, tmpY));////local coords contact normal
const FloatV dist = FNeg(FSel(con0, z, FSel(con1, x, y)));
//separation so far is just the embedding of the center point; we still have to push out all of the radius.
const Vec3V normal = transf1.rotate(locNorm);
const FloatV penetration = FSub(dist, radius);
const Vec3V point = V3Sub(sphereOrigin, V3Scale(normal, dist));
Gu::ContactPoint& contact = contactBuffer.contacts[contactBuffer.count++];
V4StoreA(Vec4V_From_Vec3V(normal), &contact.normal.x);
V4StoreA(Vec4V_From_Vec3V(point), &contact.point.x);
FStore(penetration, &contact.separation);
contact.internalFaceIndex1 = PXC_CONTACT_NO_FACE_INDEX;
//context.mContactBuffer.contact(point, normal, penetration);
}
else
{
//get the closest point from the center to the box surface
const FloatV recipLength = FRsqrt(lengthSq);
const FloatV length = FRecip(recipLength);
const Vec3V locNorm = V3Scale(v, recipLength);
const FloatV penetration = FSub(length, radius);
const Vec3V normal = transf1.rotate(locNorm);
const Vec3V point = transf1.transform(p);
PX_ASSERT(contactBuffer.count < ContactBuffer::MAX_CONTACTS);
Gu::ContactPoint& contact = contactBuffer.contacts[contactBuffer.count++];
V4StoreA(Vec4V_From_Vec3V(normal), &contact.normal.x);
V4StoreA(Vec4V_From_Vec3V(point), &contact.point.x);
FStore(penetration, &contact.separation);
contact.internalFaceIndex1 = PXC_CONTACT_NO_FACE_INDEX;
//context.mContactBuffer.contact(point, normal, penetration);
}
return true;
}
return false;
}
}//Gu
}//physx
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