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
|
// 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) 2008-2016 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
|