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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) 2008-2018 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 "GuVecBox.h"
#include "GuVecShrunkBox.h"
#include "GuVecConvexHull.h"
#include "GuVecConvexHullNoScale.h"
#include "GuVecTriangle.h"
#include "GuGeometryUnion.h"
#include "GuContactMethodImpl.h"
#include "PxTriangleMesh.h"
#include "GuContactBuffer.h"
#include "GuHeightField.h"
#include "GuPCMContactConvexCommon.h"
#include "GuPCMContactMeshCallback.h"
using namespace physx;
using namespace Gu;
using namespace physx::shdfnd::aos;
namespace physx
{
struct PCMSphereVsHeightfieldContactGenerationCallback : PCMHeightfieldContactGenerationCallback<PCMSphereVsHeightfieldContactGenerationCallback>
{
public:
PCMSphereVsMeshContactGeneration mGeneration;
PCMSphereVsHeightfieldContactGenerationCallback(
const Ps::aos::Vec3VArg sphereCenter,
const Ps::aos::FloatVArg sphereRadius,
const Ps::aos::FloatVArg contactDistance,
const Ps::aos::FloatVArg replaceBreakingThreshold,
const PsTransformV& sphereTransform,
const PsTransformV& heightfieldTransform,
const PxTransform& heightfieldTransform1,
Gu::MultiplePersistentContactManifold& multiManifold,
Gu::ContactBuffer& contactBuffer,
Ps::InlineArray<PxU32, LOCAL_CONTACTS_SIZE>* deferredContacts,
Gu::HeightFieldUtil& hfUtil
) :
PCMHeightfieldContactGenerationCallback<PCMSphereVsHeightfieldContactGenerationCallback>(hfUtil, heightfieldTransform1),
mGeneration(sphereCenter, sphereRadius, contactDistance, replaceBreakingThreshold, sphereTransform,
heightfieldTransform, multiManifold, contactBuffer, deferredContacts)
{
}
template<PxU32 CacheSize>
void processTriangleCache(Gu::TriangleCache<CacheSize>& cache)
{
mGeneration.processTriangleCache<CacheSize, PCMSphereVsMeshContactGeneration>(cache);
}
};
bool Gu::pcmContactSphereHeightField(GU_CONTACT_METHOD_ARGS)
{
PX_UNUSED(renderOutput);
const PxSphereGeometry& shapeSphere = shape0.get<const PxSphereGeometry>();
const PxHeightFieldGeometryLL& shapeHeight = shape1.get<const PxHeightFieldGeometryLL>();
Gu::MultiplePersistentContactManifold& multiManifold = cache.getMultipleManifold();
const QuatV q0 = QuatVLoadA(&transform0.q.x);
const Vec3V p0 = 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 contactDist = FLoad(params.mContactDistance);
const PsTransformV sphereTransform(p0, q0);//sphere transform
const PsTransformV heightfieldTransform(p1, q1);//height feild
const PsTransformV curTransform = heightfieldTransform.transformInv(sphereTransform);
// We must be in local space to use the cache
if(multiManifold.invalidate(curTransform, sphereRadius, FLoad(0.02f)))
{
multiManifold.mNumManifolds = 0;
multiManifold.setRelativeTransform(curTransform);
const FloatV replaceBreakingThreshold = FMul(sphereRadius, FLoad(0.001f));
Gu::HeightFieldUtil hfUtil(shapeHeight);
const PxVec3 sphereCenterShape1Space = transform1.transformInv(transform0.p);
const Vec3V sphereCenter = V3LoadU(sphereCenterShape1Space);
PxReal inflatedRadius = shapeSphere.radius + params.mContactDistance;
PxVec3 inflatedRadiusV(inflatedRadius);
PxBounds3 bounds(sphereCenterShape1Space - inflatedRadiusV, sphereCenterShape1Space + inflatedRadiusV);
Ps::InlineArray<PxU32, LOCAL_CONTACTS_SIZE> delayedContacts;
PCMSphereVsHeightfieldContactGenerationCallback blockCallback(
sphereCenter,
sphereRadius,
contactDist,
replaceBreakingThreshold,
sphereTransform,
heightfieldTransform,
transform1,
multiManifold,
contactBuffer,
&delayedContacts,
hfUtil);
hfUtil.overlapAABBTriangles(transform1, bounds, 0, &blockCallback);
blockCallback.mGeneration.generateLastContacts();
blockCallback.mGeneration.processContacts(GU_SPHERE_MANIFOLD_CACHE_SIZE, false);
}
else
{
const PsMatTransformV aToB(curTransform);
const FloatV projectBreakingThreshold = FMul(sphereRadius, FLoad(0.05f));
const FloatV refereshDistance = FAdd(sphereRadius, contactDist);
multiManifold.refreshManifold(aToB, projectBreakingThreshold, refereshDistance);
}
return multiManifold.addManifoldContactsToContactBuffer(contactBuffer, sphereTransform, heightfieldTransform, sphereRadius);
}
}
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