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
|
// 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 "GuGeometryUnion.h"
#include "GuContactBuffer.h"
#include "GuContactMethodImpl.h"
#include "PsVecTransform.h"
namespace physx
{
namespace Gu
{
bool pcmContactSphereSphere(GU_CONTACT_METHOD_ARGS)
{
PX_UNUSED(cache);
PX_UNUSED(renderOutput);
using namespace Ps::aos;
const PxSphereGeometry& shapeSphere0 = shape0.get<const PxSphereGeometry>();
const PxSphereGeometry& shapeSphere1 = shape1.get<const PxSphereGeometry>();
const FloatV cDist = FLoad(params.mContactDistance);
const Vec3V p0 = V3LoadA(&transform0.p.x);
const Vec3V p1 = V3LoadA(&transform1.p.x);
const FloatV r0 = FLoad(shapeSphere0.radius);
const FloatV r1 = FLoad(shapeSphere1.radius);
const Vec3V _delta = V3Sub(p0, p1);
const FloatV distanceSq = V3Dot(_delta, _delta);
const FloatV radiusSum = FAdd(r0, r1);
const FloatV inflatedSum = FAdd(radiusSum, cDist);
if(FAllGrtr(FMul(inflatedSum, inflatedSum), distanceSq))
{
const FloatV eps = FLoad(0.00001f);
const FloatV dist = FSqrt(distanceSq);
const BoolV bCon = FIsGrtrOrEq(eps, dist);
const Vec3V normal = V3Sel(bCon, V3UnitX(), V3ScaleInv(_delta, dist));
const Vec3V point = V3ScaleAdd(normal, r1, p1);
const FloatV pen = FSub(dist, 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(pen, &contact.separation);
contact.internalFaceIndex1 = PXC_CONTACT_NO_FACE_INDEX;
return true;
}
return false;
}
}//Gu
}//physx
|