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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 "PtCollisionMethods.h"
#if PX_USE_PARTICLE_SYSTEM_API
void physx::Pt::collideWithBox(ParticleCollData* particleCollData, PxU32 numCollData, const Gu::GeometryUnion& boxShape,
PxReal proxRadius)
{
PX_ASSERT(particleCollData);
PX_ASSERT(boxShape.getType() == PxGeometryType::eBOX);
const PxBoxGeometry& boxShapeData = boxShape.get<const PxBoxGeometry>();
PxVec3 boxExtent = boxShapeData.halfExtents;
PxBounds3 shapeBounds(boxExtent * -1.0f, boxExtent);
PX_ASSERT(!shapeBounds.isEmpty());
shapeBounds.fattenFast(proxRadius);
// Box to convex conversion.
PxPlane planes[6];
PxVec3 normal;
normal = PxVec3(1.0f, 0.0f, 0.0f);
planes[0].n = normal;
planes[0].d = -boxExtent.x;
normal = PxVec3(-1.0f, 0.0f, 0.0f);
planes[1].n = normal;
planes[1].d = -boxExtent.x;
normal = PxVec3(0.0f, 1.0f, 0.0f);
planes[2].n = normal;
planes[2].d = -boxExtent.y;
normal = PxVec3(0.0f, -1.0f, 0.0f);
planes[3].n = normal;
planes[3].d = -boxExtent.y;
normal = PxVec3(0.0f, 0.0f, 1.0f);
planes[4].n = normal;
planes[4].d = -boxExtent.z;
normal = PxVec3(0.0f, 0.0f, -1.0f);
planes[5].n = normal;
planes[5].d = -boxExtent.z;
#if PT_USE_SIMD_CONVEX_COLLISION
ParticleCollDataV4 collDataV4;
PxU32 v4Count = 0;
for(PxU32 p = 0; p < numCollData; p++)
{
ParticleCollData& collData = particleCollData[p];
PxBounds3 particleBounds = PxBounds3::boundsOfPoints(collData.localOldPos, collData.localNewPos);
if(particleBounds.intersects(shapeBounds))
{
collDataV4.localOldPos[v4Count].v3 = collData.localOldPos;
collDataV4.localOldPos[v4Count].pad = 0;
collDataV4.localNewPos[v4Count].v3 = collData.localNewPos;
collDataV4.localNewPos[v4Count].pad = 0;
collDataV4.localFlags[v4Count] = collData.localFlags;
collDataV4.restOffset[v4Count] = collData.restOffset;
collDataV4.ccTime[v4Count] = collData.ccTime;
collDataV4.collData[v4Count] = &collData;
v4Count++;
}
if(v4Count == 4)
{
// sschirm: not processing with less than 4 elements to avoid uninitialized data reads
collideWithConvexPlanesSIMD(collDataV4, planes, 6, proxRadius);
for(PxU32 j = 0; j < v4Count; j++)
{
ParticleCollData* collData1 = collDataV4.collData[j];
PxU32 stateFlag = collDataV4.localFlags[j];
if(stateFlag)
{
collData1->localFlags |= stateFlag;
collData1->ccTime = collDataV4.ccTime[j];
collData1->localSurfaceNormal = collDataV4.localSurfaceNormal[j].v3;
collData1->localSurfacePos = collDataV4.localSurfacePos[j].v3;
}
}
v4Count = 0;
}
else if(v4Count > 0 && (p == numCollData - 1))
{
for(PxU32 j = 0; j < v4Count; j++)
{
collideWithConvexPlanes(*collDataV4.collData[j], planes, 6, proxRadius);
}
}
}
#else
for(PxU32 p = 0; p < numCollData; p++)
{
ParticleCollData& collData = particleCollData[p];
PxBounds3 particleBounds = PxBounds3::boundsOfPoints(collData.localOldPos, collData.localNewPos);
if(particleBounds.intersects(shapeBounds))
{
collideWithConvexPlanes(collData, planes, 6, proxRadius);
}
}
#endif
}
#endif // PX_USE_PARTICLE_SYSTEM_API
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