134 lines
5.1 KiB
C++
134 lines
5.1 KiB
C++
// 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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#include "GuTetrahedronMeshUtils.h"
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#include "GuDistancePointTetrahedron.h"
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namespace physx
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{
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namespace Gu
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{
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void convertDeformableVolumeCollisionToSimMeshTets(const PxTetrahedronMesh& simMesh, const DeformableVolumeAuxData& simState, const BVTetrahedronMesh& collisionMesh,
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PxU32 inTetId, const PxVec4& inTetBarycentric, PxU32& outTetId, PxVec4& outTetBarycentric, bool bClampToClosestPoint)
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{
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if (inTetId == 0xFFFFFFFF)
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{
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outTetId = 0xFFFFFFFF;
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outTetBarycentric = PxVec4(0.0f);
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return;
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}
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// Map from CPU tet ID (corresponds to the ID in the BV4 mesh) to the GPU tet ID (corresponds to the ID in
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// the BV32 mesh)
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inTetId = collisionMesh.mGRB_faceRemapInverse[inTetId];
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const PxU32 endIdx = simState.mTetsAccumulatedRemapColToSim[inTetId];
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const PxU32 startIdx = inTetId != 0 ? simState.mTetsAccumulatedRemapColToSim[inTetId - 1] : 0;
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const PxU32* const tetRemapColToSim = simState.mTetsRemapColToSim;
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typedef PxVec4T<unsigned int> uint4;
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const uint4* const collInds = reinterpret_cast<const uint4*>(collisionMesh.mGRB_tetraIndices /*collisionMesh->mTetrahedrons*/);
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const uint4* const simInds = reinterpret_cast<const uint4*>(simMesh.getTetrahedrons());
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const PxVec3* const collVerts = collisionMesh.mVertices;
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const PxVec3* const simVerts = simMesh.getVertices();
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const uint4 ind = collInds[inTetId];
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const PxVec3 point = collVerts[ind.x] * inTetBarycentric.x + collVerts[ind.y] * inTetBarycentric.y +
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collVerts[ind.z] * inTetBarycentric.z + collVerts[ind.w] * inTetBarycentric.w;
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PxReal currDist = PX_MAX_F32;
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for (PxU32 i = startIdx; i < endIdx; ++i)
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{
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const PxU32 simTet = tetRemapColToSim[i];
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const uint4 simInd = simInds[simTet];
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const PxVec3 a = simVerts[simInd.x];
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const PxVec3 b = simVerts[simInd.y];
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const PxVec3 c = simVerts[simInd.z];
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const PxVec3 d = simVerts[simInd.w];
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const PxVec3 tmpClosest = closestPtPointTetrahedronWithInsideCheck(point, a, b, c, d);
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const PxVec3 v = point - tmpClosest;
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const PxReal tmpDist = v.dot(v);
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if (tmpDist < currDist)
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{
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PxVec4 tmpBarycentric;
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if (bClampToClosestPoint)
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PxComputeBarycentric(a, b, c, d, tmpClosest, tmpBarycentric);
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else
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PxComputeBarycentric(a, b, c, d, point, tmpBarycentric);
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currDist = tmpDist;
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outTetId = simTet;
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outTetBarycentric = tmpBarycentric;
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if (tmpDist < 1e-6f)
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break;
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}
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}
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PX_ASSERT(outTetId != 0xFFFFFFFF);
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}
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PxVec4 addAxisToSimMeshBarycentric(const PxTetrahedronMesh& simMesh, const PxU32 simTetId, const PxVec4& simBary, const PxVec3& axis)
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{
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const PxVec3* simMeshVerts = simMesh.getVertices();
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PxVec3 tetVerts[4];
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if(simMesh.getTetrahedronMeshFlags() & PxTetrahedronMeshFlag::e16_BIT_INDICES)
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{
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const PxU16* indices = reinterpret_cast<const PxU16*>(simMesh.getTetrahedrons());
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tetVerts[0] = simMeshVerts[indices[simTetId*4 + 0]];
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tetVerts[1] = simMeshVerts[indices[simTetId*4 + 1]];
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tetVerts[2] = simMeshVerts[indices[simTetId*4 + 2]];
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tetVerts[3] = simMeshVerts[indices[simTetId*4 + 3]];
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}
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else
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{
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const PxU32* indices = reinterpret_cast<const PxU32*>(simMesh.getTetrahedrons());
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tetVerts[0] = simMeshVerts[indices[simTetId*4 + 0]];
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tetVerts[1] = simMeshVerts[indices[simTetId*4 + 1]];
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tetVerts[2] = simMeshVerts[indices[simTetId*4 + 2]];
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tetVerts[3] = simMeshVerts[indices[simTetId*4 + 3]];
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}
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const PxVec3 simPoint = tetVerts[0]*simBary.x + tetVerts[1]*simBary.y + tetVerts[2]*simBary.z + tetVerts[3]*simBary.w;
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const PxVec3 offsetPoint = simPoint + axis;
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PxVec4 offsetBary;
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PxComputeBarycentric(tetVerts[0], tetVerts[1], tetVerts[2], tetVerts[3], offsetPoint, offsetBary);
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return offsetBary;
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}
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}
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} |