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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 "foundation/PxBounds3.h"
#include "foundation/PxTransform.h"
#include "GuSweepCapsuleBox.h"
#include "GuSweepSphereTriangle.h"
#include "GuCapsule.h"
#include "PxTriangle.h"
#include "GuDistanceSegmentBox.h"
#include "GuInternal.h"
#include "PsAlloca.h"
#include "GuSIMDHelpers.h"
using namespace physx;
using namespace Gu;
namespace
{
/**
* Returns triangles.
* \return 36 indices (12 triangles) indexing the list returned by ComputePoints()
*/
static const PxU8* getBoxTriangles()
{
static PxU8 Indices[] = {
0,2,1, 0,3,2,
1,6,5, 1,2,6,
5,7,4, 5,6,7,
4,3,0, 4,7,3,
3,6,2, 3,7,6,
5,0,1, 5,4,0
};
return Indices;
}
}
#define OUTPUT_TRI(t, p0, p1, p2){ \
t->verts[0] = p0; \
t->verts[1] = p1; \
t->verts[2] = p2; \
t++;}
#define OUTPUT_TRI2(t, p0, p1, p2, d){ \
t->verts[0] = p0; \
t->verts[1] = p1; \
t->verts[2] = p2; \
t->denormalizedNormal(denormalizedNormal); \
if((denormalizedNormal.dot(d))>0.0f) { \
PxVec3 Tmp = t->verts[1]; \
t->verts[1] = t->verts[2]; \
t->verts[2] = Tmp; \
} \
t++; *ids++ = i; }
static PxU32 extrudeMesh( PxU32 nbTris, const PxTriangle* triangles,
const PxVec3& extrusionDir, PxTriangle* tris, PxU32* ids, const PxVec3& dir)
{
const PxU32* base = ids;
for(PxU32 i=0; i<nbTris; i++)
{
const PxTriangle& currentTriangle = triangles[i];
// Create triangle normal
PxVec3 denormalizedNormal;
currentTriangle.denormalizedNormal(denormalizedNormal);
// Backface culling
const bool culled = (denormalizedNormal.dot(dir)) > 0.0f;
if(culled) continue;
PxVec3 p0 = currentTriangle.verts[0];
PxVec3 p1 = currentTriangle.verts[1];
PxVec3 p2 = currentTriangle.verts[2];
PxVec3 p0b = p0 + extrusionDir;
PxVec3 p1b = p1 + extrusionDir;
PxVec3 p2b = p2 + extrusionDir;
p0 -= extrusionDir;
p1 -= extrusionDir;
p2 -= extrusionDir;
if(denormalizedNormal.dot(extrusionDir) >= 0.0f) OUTPUT_TRI(tris, p0b, p1b, p2b)
else OUTPUT_TRI(tris, p0, p1, p2)
*ids++ = i;
// ### it's probably useless to extrude all the shared edges !!!!!
//if(CurrentFlags & TriangleCollisionFlag::eACTIVE_EDGE12)
{
OUTPUT_TRI2(tris, p1, p1b, p2b, dir)
OUTPUT_TRI2(tris, p1, p2b, p2, dir)
}
//if(CurrentFlags & TriangleCollisionFlag::eACTIVE_EDGE20)
{
OUTPUT_TRI2(tris, p0, p2, p2b, dir)
OUTPUT_TRI2(tris, p0, p2b, p0b, dir)
}
//if(CurrentFlags & TriangleCollisionFlag::eACTIVE_EDGE01)
{
OUTPUT_TRI2(tris, p0b, p1b, p1, dir)
OUTPUT_TRI2(tris, p0b, p1, p0, dir)
}
}
return PxU32(ids-base);
}
static PxU32 extrudeBox(const PxBounds3& localBox, const PxTransform* world, const PxVec3& extrusionDir, PxTriangle* tris, const PxVec3& dir)
{
// Handle the box as a mesh
PxTriangle boxTris[12];
PxVec3 p[8];
computeBoxPoints(localBox, p);
const PxU8* PX_RESTRICT indices = getBoxTriangles();
for(PxU32 i=0; i<12; i++)
{
const PxU8 VRef0 = indices[i*3+0];
const PxU8 VRef1 = indices[i*3+1];
const PxU8 VRef2 = indices[i*3+2];
PxVec3 p0 = p[VRef0];
PxVec3 p1 = p[VRef1];
PxVec3 p2 = p[VRef2];
if(world)
{
p0 = world->transform(p0);
p1 = world->transform(p1);
p2 = world->transform(p2);
}
boxTris[i].verts[0] = p0;
boxTris[i].verts[1] = p1;
boxTris[i].verts[2] = p2;
}
PxU32 fakeIDs[12*7];
return extrudeMesh(12, boxTris, extrusionDir, tris, fakeIDs, dir);
}
//
// The problem of testing a swept capsule against a box is transformed into sweeping a sphere (lying at the center
// of the capsule) against the extruded triangles of the box. The box triangles are extruded along the
// capsule segment axis.
//
bool Gu::sweepCapsuleBox(const Capsule& capsule, const PxTransform& boxWorldPose, const PxVec3& boxDim, const PxVec3& dir, PxReal length, PxVec3& hit, PxReal& min_dist, PxVec3& normal, PxHitFlags hitFlags)
{
if(!(hitFlags & PxHitFlag::eASSUME_NO_INITIAL_OVERLAP))
{
// PT: test if shapes initially overlap
if(distanceSegmentBoxSquared(capsule.p0, capsule.p1, boxWorldPose.p, boxDim, PxMat33Padded(boxWorldPose.q)) < capsule.radius*capsule.radius)
{
min_dist = 0.0f;
normal = -dir;
return true;
}
}
// Extrusion dir = capsule segment
const PxVec3 extrusionDir = (capsule.p1 - capsule.p0)*0.5f;
// Extrude box
PxReal MinDist = length;
bool Status = false;
{
const PxBounds3 aabb(-boxDim, boxDim);
PX_ALLOCA(triangles, PxTriangle, 12*7);
const PxU32 nbTris = extrudeBox(aabb, &boxWorldPose, extrusionDir, triangles, dir);
PX_ASSERT(nbTris<=12*7);
// Sweep sphere vs extruded box
PxSweepHit h; // PT: TODO: ctor!
PxVec3 bestNormal;
if(sweepSphereTriangles(nbTris, triangles, capsule.computeCenter(), capsule.radius, dir, length, NULL, h, bestNormal, false, false, false, false))
{
hit = h.position;
MinDist = h.distance;
normal = h.normal;
Status = true;
}
}
min_dist = MinDist;
return Status;
}
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