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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
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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