247 lines
10 KiB
C++
247 lines
10 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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// 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 "geomutils/PxContactBuffer.h"
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#include "GuGJKPenetration.h"
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#include "GuEPA.h"
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#include "GuVecCapsule.h"
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#include "GuVecConvexHull.h"
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#include "GuVecConvexHullNoScale.h"
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#include "GuContactMethodImpl.h"
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#include "GuPCMContactGen.h"
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#include "GuPCMShapeConvex.h"
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#include "GuPCMContactGenUtil.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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static void addToContactBuffer(PxContactBuffer& contactBuffer, const Vec3VArg worldNormal, const Vec3VArg worldPoint, const FloatVArg penDep)
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{
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outputSimplePCMContact(contactBuffer, worldPoint, worldNormal, penDep);
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}
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static bool fullContactsGenerationSphereConvex(const CapsuleV& capsule, const ConvexHullV& convexHull, const PxTransformV& transf0, const PxTransformV& transf1,
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PersistentContact* manifoldContacts, PxContactBuffer& contactBuffer, const bool idtScale, PersistentContactManifold& manifold,
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Vec3VArg normal, const FloatVArg contactDist, bool doOverlapTest, PxRenderOutput* renderOutput)
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{
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PX_UNUSED(renderOutput);
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PolygonalData polyData;
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getPCMConvexData(convexHull,idtScale, polyData);
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PX_ALIGN(16, PxU8 buff[sizeof(SupportLocalImpl<ConvexHullV>)]);
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SupportLocal* map = (idtScale ? static_cast<SupportLocal*>(PX_PLACEMENT_NEW(buff, SupportLocalImpl<ConvexHullNoScaleV>)(static_cast<const ConvexHullNoScaleV&>(convexHull), transf1, convexHull.vertex2Shape, convexHull.shape2Vertex, idtScale)) :
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static_cast<SupportLocal*>(PX_PLACEMENT_NEW(buff, SupportLocalImpl<ConvexHullV>)(convexHull, transf1, convexHull.vertex2Shape, convexHull.shape2Vertex, idtScale)));
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PxU32 numContacts = 0;
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if(generateSphereFullContactManifold(capsule, polyData, map, manifoldContacts, numContacts, contactDist, normal, doOverlapTest))
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{
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if(numContacts > 0)
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{
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PersistentContact& p = manifold.getContactPoint(0);
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p.mLocalPointA = manifoldContacts[0].mLocalPointA;
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p.mLocalPointB = manifoldContacts[0].mLocalPointB;
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p.mLocalNormalPen = manifoldContacts[0].mLocalNormalPen;
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manifold.mNumContacts =1;
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//transform normal to world space
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const Vec3V worldNormal = transf1.rotate(normal);
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const Vec3V worldP = V3NegScaleSub(worldNormal, capsule.radius, transf0.p);
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const FloatV penDep = FSub(V4GetW(manifoldContacts[0].mLocalNormalPen), capsule.radius);
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#if PCM_LOW_LEVEL_DEBUG
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manifold.drawManifold(*renderOutput, transf0, transf1, capsule.radius);
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#endif
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addToContactBuffer(contactBuffer, worldNormal, worldP, penDep);
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return true;
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}
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}
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return false;
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}
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bool Gu::pcmContactSphereConvex(GU_CONTACT_METHOD_ARGS)
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{
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PX_ASSERT(transform1.q.isSane());
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PX_ASSERT(transform0.q.isSane());
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const PxConvexMeshGeometry& shapeConvex = checkedCast<PxConvexMeshGeometry>(shape1);
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const PxSphereGeometry& shapeSphere = checkedCast<PxSphereGeometry>(shape0);
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PersistentContactManifold& manifold = cache.getManifold();
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const Vec3V zeroV = V3Zero();
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const ConvexHullData* hullData = _getHullData(shapeConvex);
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PxPrefetchLine(hullData);
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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 FloatV sphereRadius = FLoad(shapeSphere.radius);
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const FloatV contactDist = FLoad(params.mContactDistance);
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//Transfer A into the local space of B
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const PxTransformV transf0 = loadTransformA(transform0);
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const PxTransformV transf1 = loadTransformA(transform1);
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const PxTransformV curRTrans(transf1.transformInv(transf0));
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const PxMatTransformV aToB(curRTrans);
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const PxReal toleranceLength = params.mToleranceLength;
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const FloatV convexMargin = CalculatePCMConvexMargin(hullData, vScale, toleranceLength);
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const PxU32 initialContacts = manifold.mNumContacts;
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const FloatV minMargin = FMin(convexMargin, sphereRadius);
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const FloatV projectBreakingThreshold = FMul(minMargin, FLoad(0.05f));
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const FloatV refreshDistance = FAdd(sphereRadius, contactDist);
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manifold.refreshContactPoints(aToB, projectBreakingThreshold, refreshDistance);
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//ML: after refreshContactPoints, we might lose some contacts
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const bool bLostContacts = (manifold.mNumContacts != initialContacts);
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if(bLostContacts || manifold.invalidate_SphereCapsule(curRTrans, minMargin))
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{
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GjkStatus status = manifold.mNumContacts > 0 ? GJK_UNDEFINED : GJK_NON_INTERSECT;
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manifold.setRelativeTransform(curRTrans);
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const QuatV vQuat = QuatVLoadU(&shapeConvex.scale.rotation.x);
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const bool idtScale = shapeConvex.scale.isIdentity();
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//use the original shape
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const ConvexHullV convexHull(hullData, V3LoadU(hullData->mCenterOfMass), vScale, vQuat, idtScale);
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//transform capsule into the local space of convexHull
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const CapsuleV capsule(aToB.p, sphereRadius);
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GjkOutput output;
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const LocalConvex<CapsuleV> convexA(capsule);
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const Vec3V initialSearchDir = V3Sub(capsule.getCenter(), convexHull.getCenter());
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if(idtScale)
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{
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const LocalConvex<ConvexHullNoScaleV> convexB(*PX_CONVEX_TO_NOSCALECONVEX(&convexHull));
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status = gjkPenetration<LocalConvex<CapsuleV>, LocalConvex<ConvexHullNoScaleV> >(convexA, convexB, initialSearchDir, contactDist, true,
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manifold.mAIndice, manifold.mBIndice, manifold.mNumWarmStartPoints, output);
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}
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else
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{
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const LocalConvex<ConvexHullV> convexB(convexHull);
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status = gjkPenetration<LocalConvex<CapsuleV>, LocalConvex<ConvexHullV> >(convexA, convexB, initialSearchDir, contactDist, true,
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manifold.mAIndice, manifold.mBIndice, manifold.mNumWarmStartPoints, output);
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}
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if(status == GJK_NON_INTERSECT)
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{
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return false;
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}
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else if(status == GJK_CONTACT)
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{
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PersistentContact& p = manifold.getContactPoint(0);
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p.mLocalPointA = zeroV;//sphere center
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p.mLocalPointB = output.closestB;
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p.mLocalNormalPen = V4SetW(Vec4V_From_Vec3V(output.normal), output.penDep);
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manifold.mNumContacts =1;
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#if PCM_LOW_LEVEL_DEBUG
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manifold.drawManifold(*renderOutput, transf0, transf1, capsule.radius);
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#endif
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//transform normal to world space
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const Vec3V worldNormal = transf1.rotate(output.normal);
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const Vec3V worldP = V3NegScaleSub(worldNormal, sphereRadius, transf0.p);
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const FloatV penDep = FSub(output.penDep, sphereRadius);
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addToContactBuffer(contactBuffer, worldNormal, worldP, penDep);
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return true;
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}
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else if(status == GJK_DEGENERATE)
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{
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PersistentContact* manifoldContacts = PX_CP_TO_PCP(contactBuffer.contacts);
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return fullContactsGenerationSphereConvex(capsule, convexHull, transf0, transf1, manifoldContacts, contactBuffer, idtScale,
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manifold, output.normal, contactDist, true, renderOutput);
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}
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else if (status == EPA_CONTACT)
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{
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if (idtScale)
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{
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const LocalConvex<ConvexHullNoScaleV> convexB(*PX_CONVEX_TO_NOSCALECONVEX(&convexHull));
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status = epaPenetration(convexA, convexB, manifold.mAIndice, manifold.mBIndice, manifold.mNumWarmStartPoints,
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true, FLoad(toleranceLength), output);
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}
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else
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{
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const LocalConvex<ConvexHullV> convexB(convexHull);
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status = epaPenetration(convexA, convexB, manifold.mAIndice, manifold.mBIndice, manifold.mNumWarmStartPoints,
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true, FLoad(toleranceLength), output);
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}
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if (status == EPA_CONTACT)
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{
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PersistentContact& p = manifold.getContactPoint(0);
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p.mLocalPointA = zeroV;//sphere center
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p.mLocalPointB = output.closestB;
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p.mLocalNormalPen = V4SetW(Vec4V_From_Vec3V(output.normal), output.penDep);
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manifold.mNumContacts = 1;
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#if PCM_LOW_LEVEL_DEBUG
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manifold.drawManifold(*renderOutput, transf0, transf1, capsule.radius);
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#endif
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//transform normal to world space
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const Vec3V worldNormal = transf1.rotate(output.normal);
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const Vec3V worldP = V3NegScaleSub(worldNormal, sphereRadius, transf0.p);
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const FloatV penDep = FSub(output.penDep, sphereRadius);
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addToContactBuffer(contactBuffer, worldNormal, worldP, penDep);
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return true;
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}
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else
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{
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PersistentContact* manifoldContacts = PX_CP_TO_PCP(contactBuffer.contacts);
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return fullContactsGenerationSphereConvex(capsule, convexHull, transf0, transf1, manifoldContacts, contactBuffer, idtScale,
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manifold, output.normal, contactDist, true, renderOutput);
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}
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}
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}
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else if(manifold.mNumContacts > 0)
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{
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//ML:: the manifold originally has contacts
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PersistentContact& p = manifold.getContactPoint(0);
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const Vec3V worldNormal = transf1.rotate(Vec3V_From_Vec4V(p.mLocalNormalPen));
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const Vec3V worldP = V3NegScaleSub(worldNormal, sphereRadius, transf0.p);
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const FloatV penDep = FSub(V4GetW(p.mLocalNormalPen), sphereRadius);
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#if PCM_LOW_LEVEL_DEBUG
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manifold.drawManifold(*renderOutput, transf0, transf1, sphereRadius);
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#endif
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addToContactBuffer(contactBuffer, worldNormal, worldP, penDep);
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return true;
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}
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return false;
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}
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