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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 "GuGJKPenetration.h"
#include "GuEPA.h"
#include "GuVecCapsule.h"
#include "GuVecConvexHull.h"
#include "GuVecConvexHullNoScale.h"
#include "GuVecShrunkConvexHull.h"
#include "GuVecShrunkConvexHullNoScale.h"
#include "GuGeometryUnion.h"
#include "GuContactMethodImpl.h"
#include "GuContactBuffer.h"
#include "GuPCMContactGen.h"
#include "GuPCMShapeConvex.h"
namespace physx
{
namespace Gu
{
static void addToContactBuffer(Gu::ContactBuffer& contactBuffer, const Ps::aos::Vec3VArg worldNormal, const Ps::aos::Vec3VArg worldPoint, const Ps::aos::FloatVArg penDep)
{
using namespace Ps::aos;
Gu::ContactPoint& contact = contactBuffer.contacts[contactBuffer.count++];
V4StoreA(Vec4V_From_Vec3V(worldNormal), reinterpret_cast<PxF32*>(&contact.normal.x));
V4StoreA(Vec4V_From_Vec3V(worldPoint), reinterpret_cast<PxF32*>(&contact.point.x));
FStore(penDep, &contact.separation);
PX_ASSERT(contact.point.isFinite());
PX_ASSERT(contact.normal.isFinite());
PX_ASSERT(PxIsFinite(contact.separation));
contact.internalFaceIndex1 = PXC_CONTACT_NO_FACE_INDEX;
}
static bool fullContactsGenerationSphereConvex(const Gu::CapsuleV& capsule, const Gu::ConvexHullV& convexHull, const Ps::aos::PsTransformV& transf0,const Ps::aos::PsTransformV& transf1,
Gu::PersistentContact* manifoldContacts, Gu::ContactBuffer& contactBuffer, const bool idtScale, Gu::PersistentContactManifold& manifold,
Ps::aos::Vec3VArg normal, const Ps::aos::FloatVArg contactDist, bool doOverlapTest, Cm::RenderOutput* renderOutput)
{
PX_UNUSED(renderOutput);
using namespace Ps::aos;
Gu::PolygonalData polyData;
getPCMConvexData(convexHull,idtScale, polyData);
PxU8 buff[sizeof(SupportLocalImpl<ConvexHullV>)];
SupportLocal* map = (idtScale ? static_cast<SupportLocal*>(PX_PLACEMENT_NEW(buff, SupportLocalImpl<ConvexHullNoScaleV>)(static_cast<const ConvexHullNoScaleV&>(convexHull), transf1, convexHull.vertex2Shape, convexHull.shape2Vertex, idtScale)) :
static_cast<SupportLocal*>(PX_PLACEMENT_NEW(buff, SupportLocalImpl<ConvexHullV>)(convexHull, transf1, convexHull.vertex2Shape, convexHull.shape2Vertex, idtScale)));
PxU32 numContacts = 0;
if(generateSphereFullContactManifold(capsule, polyData, map, manifoldContacts, numContacts, contactDist, normal, doOverlapTest))
{
if(numContacts > 0)
{
Gu::PersistentContact& p = manifold.getContactPoint(0);
p.mLocalPointA = manifoldContacts[0].mLocalPointA;
p.mLocalPointB = manifoldContacts[0].mLocalPointB;
p.mLocalNormalPen = manifoldContacts[0].mLocalNormalPen;
manifold.mNumContacts =1;
//transform normal to world space
const Vec3V worldNormal = transf1.rotate(normal);
const Vec3V worldP = V3NegScaleSub(worldNormal, capsule.radius, transf0.p);
const FloatV penDep = FSub(V4GetW(manifoldContacts[0].mLocalNormalPen), capsule.radius);
#if PCM_LOW_LEVEL_DEBUG
manifold.drawManifold(*renderOutput, transf0, transf1, capsule.radius);
#endif
addToContactBuffer(contactBuffer, worldNormal, worldP, penDep);
return true;
}
}
return false;
}
bool pcmContactSphereConvex(GU_CONTACT_METHOD_ARGS)
{
using namespace Ps::aos;
PX_ASSERT(transform1.q.isSane());
PX_ASSERT(transform0.q.isSane());
const PxConvexMeshGeometryLL& shapeConvex = shape1.get<const PxConvexMeshGeometryLL>();
const PxSphereGeometry& shapeSphere = shape0.get<const PxSphereGeometry>();
Gu::PersistentContactManifold& manifold = cache.getManifold();
const Vec3V zeroV = V3Zero();
Ps::prefetchLine(shapeConvex.hullData);
const Vec3V vScale = V3LoadU_SafeReadW(shapeConvex.scale.scale); // PT: safe because 'rotation' follows 'scale' in PxMeshScale
const FloatV sphereRadius = FLoad(shapeSphere.radius);
const FloatV contactDist = FLoad(params.mContactDistance);
const Gu::ConvexHullData* hullData = shapeConvex.hullData;
//Transfer A into the local space of B
const PsTransformV transf0 = loadTransformA(transform0);
const PsTransformV transf1 = loadTransformA(transform1);
const PsTransformV curRTrans(transf1.transformInv(transf0));
const PsMatTransformV aToB(curRTrans);
const FloatV convexMargin = Gu::CalculatePCMConvexMargin(hullData, vScale);
const PxU32 initialContacts = manifold.mNumContacts;
const FloatV minMargin = FMin(convexMargin, sphereRadius);
const FloatV projectBreakingThreshold = FMul(minMargin, FLoad(0.05f));
const FloatV refreshDistance = FAdd(sphereRadius, contactDist);
manifold.refreshContactPoints(aToB, projectBreakingThreshold, refreshDistance);
//ML: after refreshContactPoints, we might lose some contacts
const bool bLostContacts = (manifold.mNumContacts != initialContacts);
GjkStatus status = manifold.mNumContacts > 0 ? GJK_UNDEFINED : GJK_NON_INTERSECT;
Vec3V closestA(zeroV), closestB(zeroV);
Vec3V normal(zeroV); // from a to b
const FloatV zero = FZero();
FloatV penDep = zero;
PX_UNUSED(bLostContacts);
if(bLostContacts || manifold.invalidate_SphereCapsule(curRTrans, minMargin))
{
manifold.setRelativeTransform(curRTrans);
const QuatV vQuat = QuatVLoadU(&shapeConvex.scale.rotation.x);
const bool idtScale = shapeConvex.scale.isIdentity();
//use the original shape
ConvexHullV convexHull(hullData, zeroV, vScale, vQuat, idtScale);
convexHull.setMargin(zero);
//transform capsule into the local space of convexHull
CapsuleV capsule(aToB.p, sphereRadius);
LocalConvex<CapsuleV> convexA(capsule);
const Vec3V initialSearchDir = V3Sub(capsule.getCenter(), convexHull.getCenter());
if(idtScale)
{
LocalConvex<ConvexHullNoScaleV> convexB(*PX_CONVEX_TO_NOSCALECONVEX(&convexHull));
status = gjkPenetration<LocalConvex<CapsuleV>, LocalConvex<ConvexHullNoScaleV> >(convexA, convexB, initialSearchDir, contactDist, closestA, closestB, normal, penDep,
manifold.mAIndice, manifold.mBIndice, manifold.mNumWarmStartPoints, true);
}
else
{
LocalConvex<ConvexHullV> convexB(convexHull);
status = gjkPenetration<LocalConvex<CapsuleV>, LocalConvex<ConvexHullV> >(convexA, convexB, initialSearchDir, contactDist, closestA, closestB, normal, penDep,
manifold.mAIndice, manifold.mBIndice, manifold.mNumWarmStartPoints, true);
}
if(status == GJK_NON_INTERSECT)
{
return false;
}
else if(status == GJK_CONTACT)
{
Gu::PersistentContact& p = manifold.getContactPoint(0);
p.mLocalPointA = zeroV;//sphere center
p.mLocalPointB = closestB;
p.mLocalNormalPen = V4SetW(Vec4V_From_Vec3V(normal), penDep);
manifold.mNumContacts =1;
#if PCM_LOW_LEVEL_DEBUG
manifold.drawManifold(*renderOutput, transf0, transf1, capsule.radius);
#endif
//transform normal to world space
const Vec3V worldNormal = transf1.rotate(normal);
const Vec3V worldP = V3NegScaleSub(worldNormal, sphereRadius, transf0.p);
penDep = FSub(penDep, sphereRadius);
addToContactBuffer(contactBuffer, worldNormal, worldP, penDep);
return true;
}
else if(status == GJK_DEGENERATE)
{
Gu::PersistentContact* manifoldContacts = PX_CP_TO_PCP(contactBuffer.contacts);
return fullContactsGenerationSphereConvex(capsule, convexHull, transf0, transf1, manifoldContacts, contactBuffer, idtScale,
manifold, normal, contactDist, true, renderOutput);
}
else if(status == EPA_CONTACT)
{
if(idtScale)
{
LocalConvex<ConvexHullNoScaleV> convexB(*PX_CONVEX_TO_NOSCALECONVEX(&convexHull));
status= Gu::epaPenetration(convexA, convexB, manifold.mAIndice, manifold.mBIndice, manifold.mNumWarmStartPoints,
closestA, closestB, normal, penDep, true);
}
else
{
LocalConvex<ConvexHullV> convexB(convexHull);
status= Gu::epaPenetration(convexA, convexB, manifold.mAIndice, manifold.mBIndice, manifold.mNumWarmStartPoints,
closestA, closestB, normal, penDep, true);
}
if(status == EPA_CONTACT)
{
Gu::PersistentContact& p = manifold.getContactPoint(0);
p.mLocalPointA = zeroV;//sphere center
p.mLocalPointB = closestB;
p.mLocalNormalPen = V4SetW(Vec4V_From_Vec3V(normal), penDep);
manifold.mNumContacts =1;
#if PCM_LOW_LEVEL_DEBUG
manifold.drawManifold(*renderOutput, transf0, transf1, capsule.radius);
#endif
//transform normal to world space
const Vec3V worldNormal = transf1.rotate(normal);
const Vec3V worldP = V3NegScaleSub(worldNormal, sphereRadius, transf0.p);
penDep = FSub(penDep, sphereRadius);
addToContactBuffer(contactBuffer, worldNormal, worldP, penDep);
return true;
}
else
{
Gu::PersistentContact* manifoldContacts = PX_CP_TO_PCP(contactBuffer.contacts);
return fullContactsGenerationSphereConvex(capsule, convexHull, transf0, transf1, manifoldContacts, contactBuffer, idtScale,
manifold, normal, contactDist, true, renderOutput);
}
}
}
else if(manifold.mNumContacts > 0)
{
//ML:: the manifold originally has contacts
Gu::PersistentContact& p = manifold.getContactPoint(0);
const Vec3V worldNormal = transf1.rotate(Vec3V_From_Vec4V(p.mLocalNormalPen));
const Vec3V worldP = V3NegScaleSub(worldNormal, sphereRadius, transf0.p);
penDep = FSub(V4GetW(p.mLocalNormalPen), sphereRadius);
#if PCM_LOW_LEVEL_DEBUG
manifold.drawManifold(*renderOutput, transf0, transf1, sphereRadius);
#endif
addToContactBuffer(contactBuffer, worldNormal, worldP, penDep);
return true;
}
return false;
}
}//Gu
}//phyxs
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