feat(physics): wire physx sdk into build
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engine/third_party/physx/source/geomutils/src/pcm/GuPCMContactConvexHeightField.cpp
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engine/third_party/physx/source/geomutils/src/pcm/GuPCMContactConvexHeightField.cpp
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2025 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#include "geometry/PxTriangleMesh.h"
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#include "geomutils/PxContactBuffer.h"
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#include "GuVecBox.h"
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#include "GuVecConvexHull.h"
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#include "GuVecConvexHullNoScale.h"
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#include "GuVecTriangle.h"
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#include "GuContactMethodImpl.h"
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#include "GuPCMShapeConvex.h"
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#include "GuHeightField.h"
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#include "GuHeightFieldUtil.h"
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#include "GuPCMContactConvexCommon.h"
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#include "GuPCMContactMeshCallback.h"
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#include "foundation/PxVecMath.h"
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using namespace physx;
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using namespace Gu;
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using namespace aos;
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namespace
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{
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struct PCMConvexVsHeightfieldContactGenerationCallback
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: PCMHeightfieldContactGenerationCallback< PCMConvexVsHeightfieldContactGenerationCallback >
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{
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PCMConvexVsHeightfieldContactGenerationCallback& operator=(const PCMConvexVsHeightfieldContactGenerationCallback&);
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PCMConvexVsMeshContactGeneration mGeneration;
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PCMConvexVsHeightfieldContactGenerationCallback(
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const FloatVArg contactDistance,
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const FloatVArg replaceBreakingThreshold,
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const PolygonalData& polyData,
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const SupportLocal* polyMap,
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const Cm::FastVertex2ShapeScaling& convexScaling,
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bool idtConvexScale,
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const PxTransformV& convexTransform,
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const PxTransformV& heightfieldTransform,
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const PxTransform& heightfieldTransform1,
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MultiplePersistentContactManifold& multiManifold,
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PxContactBuffer& contactBuffer,
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HeightFieldUtil& hfUtil,
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PxInlineArray<PxU32, LOCAL_PCM_CONTACTS_SIZE>* delayedContacts,
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bool silhouetteEdgesAreActive,
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PxRenderOutput* renderOutput = NULL
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) :
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PCMHeightfieldContactGenerationCallback< PCMConvexVsHeightfieldContactGenerationCallback >(hfUtil, heightfieldTransform1),
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mGeneration(contactDistance, replaceBreakingThreshold, convexTransform, heightfieldTransform, multiManifold,
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contactBuffer, polyData, polyMap, delayedContacts, convexScaling, idtConvexScale, silhouetteEdgesAreActive, renderOutput)
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{
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}
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template<PxU32 CacheSize>
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void processTriangleCache(TriangleCache<CacheSize>& cache)
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{
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mGeneration.processTriangleCache<CacheSize, PCMConvexVsMeshContactGeneration>(cache);
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}
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};
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}
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bool Gu::PCMContactConvexHeightfield(
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const PolygonalData& polyData, const SupportLocal* polyMap, const FloatVArg minMargin,
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const PxBounds3& hullAABB, const PxHeightFieldGeometry& shapeHeightfield,
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const PxTransform& transform0, const PxTransform& transform1,
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PxReal contactDistance, PxContactBuffer& contactBuffer,
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const Cm::FastVertex2ShapeScaling& convexScaling, bool idtConvexScale,
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MultiplePersistentContactManifold& multiManifold, PxRenderOutput* renderOutput)
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{
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const QuatV q0 = QuatVLoadA(&transform0.q.x);
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const Vec3V p0 = V3LoadA(&transform0.p.x);
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const QuatV q1 = QuatVLoadA(&transform1.q.x);
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const Vec3V p1 = V3LoadA(&transform1.p.x);
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const FloatV contactDist = FLoad(contactDistance);
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//Transfer A into the local space of B
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const PxTransformV convexTransform(p0, q0);//box
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const PxTransformV heightfieldTransform(p1, q1);//heightfield
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const PxTransformV curTransform = heightfieldTransform.transformInv(convexTransform);
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if(multiManifold.invalidate(curTransform, minMargin))
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{
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const FloatV replaceBreakingThreshold = FMul(minMargin, FLoad(0.05f));
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multiManifold.mNumManifolds = 0;
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multiManifold.setRelativeTransform(curTransform);
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////////////////////
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HeightFieldUtil hfUtil(shapeHeightfield);
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const HeightField& hf = hfUtil.getHeightField();
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////////////////////
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/*const Cm::Matrix34 world0(transform0);
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const Cm::Matrix34 world1(transform1);
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const PxU8* PX_RESTRICT extraData = meshData->mExtraTrigData;*/
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PxInlineArray<PxU32, LOCAL_PCM_CONTACTS_SIZE> delayedContacts;
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PCMConvexVsHeightfieldContactGenerationCallback blockCallback(
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contactDist,
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replaceBreakingThreshold,
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polyData,
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polyMap,
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convexScaling,
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idtConvexScale,
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convexTransform,
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heightfieldTransform,
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transform1,
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multiManifold,
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contactBuffer,
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hfUtil,
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&delayedContacts,
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!(hf.getFlags() & PxHeightFieldFlag::eNO_BOUNDARY_EDGES),
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renderOutput
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);
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hfUtil.overlapAABBTriangles(transform0, transform1, hullAABB, blockCallback);
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PX_ASSERT(multiManifold.mNumManifolds <= GU_MAX_MANIFOLD_SIZE);
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blockCallback.mGeneration.generateLastContacts();
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blockCallback.mGeneration.processContacts(GU_SINGLE_MANIFOLD_CACHE_SIZE, false);
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}
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else
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{
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const PxMatTransformV aToB(curTransform);
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const FloatV projectBreakingThreshold = FMul(minMargin, FLoad(0.6f));
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multiManifold.refreshManifold(aToB, projectBreakingThreshold, contactDist);
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}
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#if PCM_LOW_LEVEL_DEBUG
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multiManifold.drawManifold(*renderOutput, convexTransform, heightfieldTransform);
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#endif
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return multiManifold.addManifoldContactsToContactBuffer(contactBuffer, heightfieldTransform);
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}
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bool Gu::pcmContactConvexHeightField(GU_CONTACT_METHOD_ARGS)
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{
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const PxConvexMeshGeometry& shapeConvex = checkedCast<PxConvexMeshGeometry>(shape0);
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const PxHeightFieldGeometry& shapeHeightField = checkedCast<PxHeightFieldGeometry>(shape1);
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const ConvexHullData* hullData = _getHullData(shapeConvex);
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MultiplePersistentContactManifold& multiManifold = cache.getMultipleManifold();
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const QuatV q0 = QuatVLoadA(&transform0.q.x);
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const Vec3V p0 = V3LoadA(&transform0.p.x);
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const PxTransformV convexTransform(p0, q0);
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//const bool idtScaleMesh = shapeMesh.scale.isIdentity();
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//Cm::FastVertex2ShapeScaling meshScaling;
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//if(!idtScaleMesh)
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// meshScaling.init(shapeMesh.scale);
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Cm::FastVertex2ShapeScaling convexScaling;
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PxBounds3 hullAABB;
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PolygonalData polyData;
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const bool idtScaleConvex = getPCMConvexData(shapeConvex, convexScaling, hullAABB, polyData);
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const Vec3V vScale = V3LoadU_SafeReadW(shapeConvex.scale.scale); // PT: safe because 'rotation' follows 'scale' in PxMeshScale
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const PxReal toleranceLength = params.mToleranceLength;
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const FloatV minMargin = CalculatePCMConvexMargin(hullData, vScale, toleranceLength, GU_PCM_MESH_MANIFOLD_EPSILON);
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const QuatV vQuat = QuatVLoadU(&shapeConvex.scale.rotation.x);
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const ConvexHullV convexHull(hullData, V3Zero(), vScale, vQuat, shapeConvex.scale.isIdentity());
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if(idtScaleConvex)
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{
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SupportLocalImpl<ConvexHullNoScaleV> convexMap(static_cast<const ConvexHullNoScaleV&>(convexHull), convexTransform, convexHull.vertex2Shape, convexHull.shape2Vertex, idtScaleConvex);
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return PCMContactConvexHeightfield(polyData, &convexMap, minMargin, hullAABB, shapeHeightField, transform0, transform1, params.mContactDistance, contactBuffer, convexScaling,
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idtScaleConvex, multiManifold, renderOutput);
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}
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else
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{
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SupportLocalImpl<ConvexHullV> convexMap(convexHull, convexTransform, convexHull.vertex2Shape, convexHull.shape2Vertex, idtScaleConvex);
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return PCMContactConvexHeightfield(polyData, &convexMap, minMargin, hullAABB, shapeHeightField, transform0, transform1, params.mContactDistance, contactBuffer, convexScaling,
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idtScaleConvex, multiManifold, renderOutput);
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}
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}
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bool Gu::pcmContactBoxHeightField(GU_CONTACT_METHOD_ARGS)
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{
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MultiplePersistentContactManifold& multiManifold = cache.getMultipleManifold();
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const PxBoxGeometry& shapeBox = checkedCast<PxBoxGeometry>(shape0);
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const PxHeightFieldGeometry& shapeHeightField = checkedCast<PxHeightFieldGeometry>(shape1);
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const PxVec3 ext = shapeBox.halfExtents + PxVec3(params.mContactDistance);
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const PxBounds3 hullAABB(-ext, ext);
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const Cm::FastVertex2ShapeScaling idtScaling;
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const QuatV q0 = QuatVLoadA(&transform0.q.x);
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const Vec3V p0 = V3LoadA(&transform0.p.x);
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const Vec3V boxExtents = V3LoadU(shapeBox.halfExtents);
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const PxReal toranceLength = params.mToleranceLength;
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const FloatV minMargin = CalculatePCMBoxMargin(boxExtents, toranceLength, GU_PCM_MESH_MANIFOLD_EPSILON);
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const BoxV boxV(V3Zero(), boxExtents);
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const PxTransformV boxTransform(p0, q0);//box
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PolygonalData polyData;
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PCMPolygonalBox polyBox(shapeBox.halfExtents);
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polyBox.getPolygonalData(&polyData);
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const Mat33V identity = M33Identity();
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//SupportLocalImpl<BoxV> boxMap(boxV, boxTransform, identity, identity);
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SupportLocalImpl<BoxV> boxMap(boxV, boxTransform, identity, identity, true);
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return PCMContactConvexHeightfield(polyData, &boxMap, minMargin, hullAABB, shapeHeightField, transform0, transform1, params.mContactDistance, contactBuffer,
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idtScaling, true, multiManifold, renderOutput);
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}
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