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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 "GuVecTriangle.h"
#include "GuGeometryUnion.h"
#include "GuContactMethodImpl.h"
#include "GuConvexUtilsInternal.h"
#include "PxTriangleMesh.h"
#include "GuContactBuffer.h"
#include "GuTriangleCache.h"
#include "GuPCMContactConvexCommon.h"
#include "GuHeightFieldUtil.h"
#include "GuPCMContactMeshCallback.h"
#include "GuBox.h"
using namespace physx;
using namespace Gu;
using namespace physx::shdfnd::aos;
namespace physx
{
struct PCMSphereVsMeshContactGenerationCallback : PCMMeshContactGenerationCallback< PCMSphereVsMeshContactGenerationCallback >
{
public:
PCMSphereVsMeshContactGeneration mGeneration;
PCMSphereVsMeshContactGenerationCallback(
const Ps::aos::Vec3VArg sphereCenter,
const Ps::aos::FloatVArg sphereRadius,
const Ps::aos::FloatVArg contactDist,
const Ps::aos::FloatVArg replaceBreakingThreshold,
const PsTransformV& sphereTransform,
const PsTransformV& meshTransform,
MultiplePersistentContactManifold& multiManifold,
ContactBuffer& contactBuffer,
const PxU8* extraTriData,
const Cm::FastVertex2ShapeScaling& meshScaling,
bool idtMeshScale,
Ps::InlineArray<PxU32, LOCAL_CONTACTS_SIZE>* deferredContacts,
Cm::RenderOutput* renderOutput = NULL
) :
PCMMeshContactGenerationCallback<PCMSphereVsMeshContactGenerationCallback>(meshScaling, extraTriData, idtMeshScale),
mGeneration(sphereCenter, sphereRadius, contactDist, replaceBreakingThreshold, sphereTransform, meshTransform, multiManifold, contactBuffer, deferredContacts, renderOutput)
{
}
PX_FORCE_INLINE bool doTest(const PxVec3&, const PxVec3&, const PxVec3&) { return true; }
template<PxU32 CacheSize>
void processTriangleCache(TriangleCache<CacheSize>& cache)
{
mGeneration.processTriangleCache<CacheSize, PCMSphereVsMeshContactGeneration>(cache);
}
};
bool Gu::pcmContactSphereMesh(GU_CONTACT_METHOD_ARGS)
{
PX_UNUSED(renderOutput);
using namespace Ps::aos;
MultiplePersistentContactManifold& multiManifold = cache.getMultipleManifold();
const PxSphereGeometry& shapeSphere = shape0.get<const PxSphereGeometry>();
const PxTriangleMeshGeometryLL& shapeMesh = shape1.get<const PxTriangleMeshGeometryLL>();
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 meshTransform(p1, q1);//triangleMesh
const PsTransformV curTransform = meshTransform.transformInv(sphereTransform);
// We must be in local space to use the cache
if(multiManifold.invalidate(curTransform, sphereRadius, FLoad(0.02f)))
{
const FloatV replaceBreakingThreshold = FMul(sphereRadius, FLoad(0.001f));
const PxVec3 sphereCenterShape1Space = transform1.transformInv(transform0.p);
PxReal inflatedRadius = shapeSphere.radius + params.mContactDistance;
const Vec3V sphereCenter = V3LoadU(sphereCenterShape1Space);
const TriangleMesh* meshData = shapeMesh.meshData;
Cm::FastVertex2ShapeScaling meshScaling; // PT: TODO: get rid of default ctor :(
const bool idtMeshScale = shapeMesh.scale.isIdentity();
if(!idtMeshScale)
meshScaling.init(shapeMesh.scale);
multiManifold.mNumManifolds = 0;
multiManifold.setRelativeTransform(curTransform);
Ps::InlineArray<PxU32, LOCAL_CONTACTS_SIZE> delayedContacts;
const PxU8* PX_RESTRICT extraData = meshData->getExtraTrigData();
// mesh scale is not baked into cached verts
PCMSphereVsMeshContactGenerationCallback callback(
sphereCenter,
sphereRadius,
contactDist,
replaceBreakingThreshold,
sphereTransform,
meshTransform,
multiManifold,
contactBuffer,
extraData,
meshScaling,
idtMeshScale,
&delayedContacts,
renderOutput);
PxVec3 obbCenter = sphereCenterShape1Space;
PxVec3 obbExtents = PxVec3(inflatedRadius);
PxMat33 obbRot(PxIdentity);
if(!idtMeshScale)
meshScaling.transformQueryBounds(obbCenter, obbExtents, obbRot);
const Box obb(obbCenter, obbExtents, obbRot);
Midphase::intersectOBB(meshData, obb, callback, true);
callback.flushCache();
callback.mGeneration.generateLastContacts();
callback.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);
}
//multiManifold.drawManifold(*gRenderOutPut, sphereTransform, meshTransform);
return multiManifold.addManifoldContactsToContactBuffer(contactBuffer, sphereTransform, meshTransform, sphereRadius);
}
}
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