123 lines
5.6 KiB
C++
123 lines
5.6 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 "foundation/PxUnionCast.h"
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#include "geomutils/PxContactBuffer.h"
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#include "GuContactMethodImpl.h"
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#include "CmMatrix34.h"
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#include "foundation/PxUtilities.h"
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using namespace physx;
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using namespace Cm;
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bool Gu::contactPlaneBox(GU_CONTACT_METHOD_ARGS)
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{
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PX_UNUSED(renderOutput);
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PX_UNUSED(cache);
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PX_UNUSED(shape0);
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// Get actual shape data
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//const PxPlaneGeometry& shapePlane = checkedCast<PxPlaneGeometry>(shape0);
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const PxBoxGeometry& shapeBox = checkedCast<PxBoxGeometry>(shape1);
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const PxVec3 negPlaneNormal = -transform0.q.getBasisVector0();
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//Make sure we have a normalized plane
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//PX_ASSERT(PxAbs(shape0.mNormal.magnitudeSquared() - 1.0f) < 0.000001f);
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const Matrix34FromTransform boxMatrix(transform1);
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const Matrix34FromTransform boxToPlane(transform0.transformInv(transform1));
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PxVec3 point;
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PX_ASSERT(contactBuffer.count==0);
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/* for(int vx=-1; vx<=1; vx+=2)
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for(int vy=-1; vy<=1; vy+=2)
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for(int vz=-1; vz<=1; vz+=2)
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{
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//point = boxToPlane.transform(PxVec3(shapeBox.halfExtents.x*vx, shapeBox.halfExtents.y*vy, shapeBox.halfExtents.z*vz));
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//PxReal planeEq = point.x;
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//Optimized a bit
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point.set(shapeBox.halfExtents.x*vx, shapeBox.halfExtents.y*vy, shapeBox.halfExtents.z*vz);
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const PxReal planeEq = boxToPlane.m.column0.x*point.x + boxToPlane.m.column1.x*point.y + boxToPlane.m.column2.x*point.z + boxToPlane.p.x;
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if(planeEq <= contactDistance)
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{
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contactBuffer.contact(boxMatrix.transform(point), negPlaneNormal, planeEq);
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//no point in making more than 4 contacts.
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if (contactBuffer.count >= 6) //was: 4) actually, with strong interpenetration more than just the bottom surface goes through,
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//and we want to find the *deepest* 4 vertices, really.
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return true;
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}
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}*/
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// PT: the above code is shock full of LHS/FCMPs. And there's no point in limiting the number of contacts to 6 when the max possible is 8.
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const PxReal limit = params.mContactDistance - boxToPlane.p.x;
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const PxReal dx = shapeBox.halfExtents.x;
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const PxReal dy = shapeBox.halfExtents.y;
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const PxReal dz = shapeBox.halfExtents.z;
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const PxReal bxdx = boxToPlane.m.column0.x * dx;
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const PxReal bxdy = boxToPlane.m.column1.x * dy;
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const PxReal bxdz = boxToPlane.m.column2.x * dz;
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PxReal depths[8];
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depths[0] = bxdx + bxdy + bxdz - limit;
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depths[1] = bxdx + bxdy - bxdz - limit;
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depths[2] = bxdx - bxdy + bxdz - limit;
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depths[3] = bxdx - bxdy - bxdz - limit;
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depths[4] = - bxdx + bxdy + bxdz - limit;
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depths[5] = - bxdx + bxdy - bxdz - limit;
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depths[6] = - bxdx - bxdy + bxdz - limit;
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depths[7] = - bxdx - bxdy - bxdz - limit;
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//const PxU32* binary = reinterpret_cast<const PxU32*>(depths);
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const PxU32* binary = PxUnionCast<PxU32*, PxF32*>(depths);
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if(binary[0] & PX_SIGN_BITMASK)
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contactBuffer.contact(boxMatrix.transform(PxVec3(dx, dy, dz)), negPlaneNormal, depths[0] + params.mContactDistance);
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if(binary[1] & PX_SIGN_BITMASK)
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contactBuffer.contact(boxMatrix.transform(PxVec3(dx, dy, -dz)), negPlaneNormal, depths[1] + params.mContactDistance);
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if(binary[2] & PX_SIGN_BITMASK)
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contactBuffer.contact(boxMatrix.transform(PxVec3(dx, -dy, dz)), negPlaneNormal, depths[2] + params.mContactDistance);
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if(binary[3] & PX_SIGN_BITMASK)
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contactBuffer.contact(boxMatrix.transform(PxVec3(dx, -dy, -dz)), negPlaneNormal, depths[3] + params.mContactDistance);
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if(binary[4] & PX_SIGN_BITMASK)
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contactBuffer.contact(boxMatrix.transform(PxVec3(-dx, dy, dz)), negPlaneNormal, depths[4] + params.mContactDistance);
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if(binary[5] & PX_SIGN_BITMASK)
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contactBuffer.contact(boxMatrix.transform(PxVec3(-dx, dy, -dz)), negPlaneNormal, depths[5] + params.mContactDistance);
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if(binary[6] & PX_SIGN_BITMASK)
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contactBuffer.contact(boxMatrix.transform(PxVec3(-dx, -dy, dz)), negPlaneNormal, depths[6] + params.mContactDistance);
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if(binary[7] & PX_SIGN_BITMASK)
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contactBuffer.contact(boxMatrix.transform(PxVec3(-dx, -dy, -dz)), negPlaneNormal, depths[7] + params.mContactDistance);
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return contactBuffer.count > 0;
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}
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