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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) 2008-2016 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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