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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 "PtCollisionMethods.h"
#if PX_USE_PARTICLE_SYSTEM_API
using namespace physx;
using namespace Pt;
namespace
{
PX_FORCE_INLINE void collideWithPlane(ParticleCollData& collData, PxReal proxRadius)
{
// In plane space the normal is (1,0,0) and d is 0. This simplifies the computations below.
PxReal entryTime = -FLT_MAX;
PxReal planeDistNewPos = collData.localNewPos.x;
PxReal planeDistOldPos = collData.localOldPos.x;
bool isContained = false;
bool hasDC = false;
bool hasProx = false;
bool parallelMotion = false;
// Test the old pos for containment
if(planeDistOldPos <= 0.0f)
isContained = true;
// Test proximity
if(planeDistNewPos <= proxRadius)
{
if(planeDistNewPos > 0.0f)
hasProx = true;
// Test discrete collision
if(planeDistNewPos <= collData.restOffset)
hasDC = true;
}
if(!(hasProx || hasDC || isContained))
return; // We know that the old position is outside the surface and that the new position is
// not within the proximity region.
PxVec3 planeNormal;
planeNormal = PxVec3(1.0f, 0.0f, 0.0f);
// Test continuous collision
PxVec3 motion = collData.localNewPos - collData.localOldPos;
PxReal projMotion = motion.x;
if(projMotion == 0.0f) // parallel
{
if(planeDistNewPos > 0.0f)
parallelMotion = true;
}
else
{
PxReal hitTime = -planeDistOldPos / projMotion;
if(projMotion < 0.0f) // entry point
entryTime = hitTime;
}
if(isContained)
{
// Treat the case where the old pos is inside the skeleton as
// a continous collision with time 0
collData.localFlags |= ParticleCollisionFlags::L_CC;
collData.ccTime = 0.0f;
collData.localSurfaceNormal = planeNormal;
// Push the particle to the surface (such that distance to surface is equal to the collision radius)
collData.localSurfacePos = collData.localOldPos;
collData.localSurfacePos.x += (collData.restOffset - planeDistOldPos);
}
else
{
// check for continuous collision
// only add a proximity/discrete case if there are no continous collisions
// for this shape or any other shape before
bool ccHappened = ((0.0f <= entryTime) && (entryTime < collData.ccTime) && (!parallelMotion));
if(ccHappened)
{
collData.localSurfaceNormal = planeNormal;
// collData.localSurfacePos = collData.localOldPos + (motion*entryTime);
// collData.localSurfacePos.x += collData.restOffset;
PxVec3 relativePOSITION = motion * entryTime;
computeContinuousTargetPosition(collData.localSurfacePos, collData.localOldPos, relativePOSITION,
collData.localSurfaceNormal, collData.restOffset);
collData.ccTime = entryTime;
collData.localFlags |= ParticleCollisionFlags::L_CC;
}
else if(!(collData.localFlags & ParticleCollisionFlags::CC))
{
// No other collision shape has caused a continuous collision so far
PX_ASSERT(hasProx | hasDC);
if(hasProx) // proximity
collData.localFlags |= ParticleCollisionFlags::L_PROX;
if(hasDC) // discrete collision
collData.localFlags |= ParticleCollisionFlags::L_DC;
collData.localSurfaceNormal = planeNormal;
// Move contact point such that the projected distance to the surface is equal
// to the collision radius
collData.localSurfacePos = collData.localNewPos;
collData.localSurfacePos.x += (collData.restOffset - planeDistNewPos);
}
}
}
}
void physx::Pt::collideWithPlane(ParticleCollData* particleCollData, PxU32 numCollData,
const Gu::GeometryUnion& planeShape, PxReal proxRadius)
{
PX_ASSERT(particleCollData);
PX_ASSERT(planeShape.getType() == PxGeometryType::ePLANE);
PX_UNUSED(planeShape);
for(PxU32 p = 0; p < numCollData; p++)
{
::collideWithPlane(particleCollData[p], proxRadius);
}
}
#endif // PX_USE_PARTICLE_SYSTEM_API
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