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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 "GuVecSphere.h"
#include "GuVecCapsule.h"
#include "GuGeometryUnion.h"
#include "GuContactMethodImpl.h"
#include "GuContactBuffer.h"
namespace physx
{
namespace Gu
{
PX_FORCE_INLINE Ps::aos::FloatV PxcDistancePointSegmentSquared(const Ps::aos::Vec3VArg a, const Ps::aos::Vec3VArg b, const Ps::aos::Vec3VArg p, Ps::aos::FloatV& param)
{
using namespace Ps::aos;
const FloatV zero = FZero();
const FloatV one = FOne();
const Vec3V ap = V3Sub(p, a);
const Vec3V ab = V3Sub(b, a);
const FloatV nom = V3Dot(ap, ab);
const FloatV denom = V3Dot(ab, ab);
const FloatV tValue = FClamp(FMul(nom, FDiv(one, denom)), zero, one);
const FloatV t = FSel(FIsEq(denom, zero), zero, tValue);
const Vec3V v = V3NegScaleSub(ab, t, ap);
param = t;
return V3Dot(v, v);
}
bool pcmContactSphereCapsule(GU_CONTACT_METHOD_ARGS)
{
PX_UNUSED(cache);
PX_UNUSED(renderOutput);
using namespace Ps::aos;
const PxSphereGeometry& shapeSphere = shape0.get<const PxSphereGeometry>();
const PxCapsuleGeometry& shapeCapsule = shape1.get<const PxCapsuleGeometry>();
//Sphere in world space
const Vec3V sphereCenter = V3LoadA(&transform0.p.x);
const QuatV q1 = QuatVLoadA(&transform1.q.x);
const Vec3V p1 = V3LoadA(&transform1.p.x);
const FloatV sphereRadius = FLoad(shapeSphere.radius);
const FloatV capsuleRadius = FLoad(shapeCapsule.radius);
const FloatV cDist = FLoad(params.mContactDistance);
//const FloatV r0 = FloatV_From_F32(shapeCapsule.radius);
const FloatV halfHeight0 = FLoad(shapeCapsule.halfHeight);
const Vec3V basisVector0 = QuatGetBasisVector0(q1);
const Vec3V tmp0 = V3Scale(basisVector0, halfHeight0);
const Vec3V s = V3Add(p1, tmp0);
const Vec3V e = V3Sub(p1, tmp0);
const FloatV radiusSum = FAdd(sphereRadius, capsuleRadius);
const FloatV inflatedSum = FAdd(radiusSum, cDist);
// Collision detection
FloatV t;
const FloatV squareDist = PxcDistancePointSegmentSquared(s, e, sphereCenter, t);
const FloatV sqInflatedSum = FMul(inflatedSum, inflatedSum);
if(FAllGrtr(sqInflatedSum, squareDist))//BAllEq(con, bTrue))
{
const Vec3V p = V3ScaleAdd(V3Sub(e, s), t, s);
const Vec3V dir = V3Sub(sphereCenter, p);
const Vec3V normal = V3NormalizeSafe(dir, V3UnitX());
const Vec3V point = V3NegScaleSub(normal, sphereRadius, sphereCenter);//transform back to the world space
const FloatV dist = FSub(FSqrt(squareDist), radiusSum);
//context.mContactBuffer.contact(point, normal, FSub(FSqrt(squareDist), radiusSum));
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(dist, &contact.separation);
contact.internalFaceIndex1 = PXC_CONTACT_NO_FACE_INDEX;
return true;
}
return false;
}
}//Gu
}//physx
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