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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 "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 point = sphereOrigin;
const Vec3V normal = transf1.rotate(locNorm);
const FloatV penetration = FSub(dist, radius);
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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