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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
{
void collideWithSphereNonContinuous(ParticleCollData& collData, const PxVec3& pos, const PxReal& radius,
const PxReal& proxRadius)
{
if(collData.localFlags & ParticleCollisionFlags::CC)
return; // Only apply discrete and proximity collisions if no continuous collisions was detected so far (for any
// colliding shape)
PxReal dist = pos.magnitude();
collData.localSurfaceNormal = pos;
if(dist < (radius + proxRadius))
{
if(dist != 0.0f)
collData.localSurfaceNormal *= (1.0f / dist);
else
collData.localSurfaceNormal = PxVec3(0);
// Push particle to surface such that the distance to the surface is equal to the collision radius
collData.localSurfacePos = collData.localSurfaceNormal * (radius + collData.restOffset);
collData.localFlags |= ParticleCollisionFlags::L_PROX;
if(dist < (radius + collData.restOffset))
collData.localFlags |= ParticleCollisionFlags::L_DC;
}
}
PX_FORCE_INLINE void collideWithSphere(ParticleCollData& collData, const PxSphereGeometry& sphereShapeData,
PxReal proxRadius)
{
PxVec3& oldPos = collData.localOldPos;
PxVec3& newPos = collData.localNewPos;
PxReal radius = sphereShapeData.radius;
PxReal oldPosDist2 = oldPos.magnitudeSquared();
PxReal radius2 = radius * radius;
bool oldInSphere = (oldPosDist2 < radius2);
if(oldInSphere)
{
// old position inside the skeleton
// add ccd with time 0.0
collData.localSurfaceNormal = oldPos;
if(oldPosDist2 > 0.0f)
collData.localSurfaceNormal *= PxRecipSqrt(oldPosDist2);
else
collData.localSurfaceNormal = PxVec3(0, 1.0f, 0);
// Push particle to surface such that the distance to the surface is equal to the collision radius
collData.localSurfacePos = collData.localSurfaceNormal * (radius + collData.restOffset);
collData.ccTime = 0.0;
collData.localFlags |= ParticleCollisionFlags::L_CC;
}
else
{
// old position is outside of the skeleton
PxVec3 motion = newPos - oldPos;
// Discriminant
PxReal b = motion.dot(oldPos) * 2.0f;
PxReal a2 = 2.0f * motion.magnitudeSquared();
PxReal disc = (b * b) - (2.0f * a2 * (oldPosDist2 - radius2));
bool intersection = disc > 0.0f;
if((!intersection) || (a2 == 0.0f))
{
// the ray does not intersect the sphere
collideWithSphereNonContinuous(collData, newPos, radius, proxRadius);
}
else
{
// the ray intersects the sphere
PxReal t = -(b + PxSqrt(disc)) / a2; // Compute intersection point
if(t < 0.0f || t > 1.0f)
{
// intersection point lies outside motion vector
collideWithSphereNonContinuous(collData, newPos, radius, proxRadius);
}
else if(t < collData.ccTime)
{
// intersection point lies on sphere, add lcc
// collData.localSurfacePos = oldPos + (motion * t);
// collData.localSurfaceNormal = collData.localSurfacePos;
// collData.localSurfaceNormal *= (1.0f / radius);
// collData.localSurfacePos += (collData.localSurfaceNormal * collData.restOffset);
PxVec3 relativeImpact = motion * t;
collData.localSurfaceNormal = oldPos + relativeImpact;
collData.localSurfaceNormal *= (1.0f / radius);
computeContinuousTargetPosition(collData.localSurfacePos, collData.localOldPos, relativeImpact,
collData.localSurfaceNormal, collData.restOffset);
collData.ccTime = t;
collData.localFlags |= ParticleCollisionFlags::L_CC;
}
}
}
}
} // namespace
void physx::Pt::collideWithSphere(ParticleCollData* particleCollData, PxU32 numCollData,
const Gu::GeometryUnion& sphereShape, PxReal proxRadius)
{
PX_ASSERT(particleCollData);
const PxSphereGeometry& sphereShapeData = sphereShape.get<const PxSphereGeometry>();
for(PxU32 p = 0; p < numCollData; p++)
{
::collideWithSphere(particleCollData[p], sphereShapeData, proxRadius);
}
}
#endif // PX_USE_PARTICLE_SYSTEM_API
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