307 lines
8.7 KiB
C++
307 lines
8.7 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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#ifndef __CONVEXNPCOMMON_H__
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#define __CONVEXNPCOMMON_H__
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#define NUM_TMP_CONTACTS_PER_PAIR 32
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#define CVX_TRI_MAX_CONTACTS 5
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#define MAX_MESH_MESH_PATCHES 128
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// Patches correlation - same normal threshold
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// 8 degrees
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//#define PATCH_ACCEPTANCE_EPS 0.990268f
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// 5 degrees
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#define PATCH_ACCEPTANCE_EPS 0.996194698f
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// 3 degrees
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//#define PATCH_ACCEPTANCE_EPS 0.99862953f
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#define CONVEX_TRIMESH_CACHED 0xFFffFFff
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// AD: used to specify sizes of shared memory structs
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// for collisions involving convexes. Make sure you
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// know what you are doing if you change this.
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#define CONVEX_MAX_VERTICES_POLYGONS 64
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#include "foundation/PxPreprocessor.h"
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#include "foundation/PxSimpleTypes.h"
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#include "foundation/PxVec3.h"
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#include "foundation/PxQuat.h"
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#include "foundation/PxTransform.h"
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#include "geometry/PxMeshScale.h"
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#include "GuBV32.h"
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#include "PxgCommonDefines.h"
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#include <vector_types.h>
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namespace physx
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{
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struct ConvexMeshPair
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{
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physx::PxTransform aToB; // pB = aToB.transform(pA + normal * separation) 28
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int startIndex; // start index in the ConvexTriContacts and ConvexTriPairs arrays 32
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int count; // the number of triangles in the ConvexTriContacts and ConvexTriPairs 36
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int cmIndex; // index of the original CM, to index into the output buffer and pass on to contact reporting 40
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int roundedStartIndex; // start index in the sorted triangle index array. For each pair, the number of indices 44
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// assigned to is the number of triangles padded to a multiple of 4 and duplicated to have
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// space for the temp buffer for the radix sort. The start index is aligned to a mutliple of 4.
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int pad; // pad 48
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uint2 materialIndices; // material index for shape0 and shape1 56
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};
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struct ConvexTriNormalAndIndex
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{
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static const PxU32 DeferredContactMask = 0x80000000;
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static const PxU32 NbContactsShift = 27;
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physx::PxVec3 normal; // normal
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int index; // isDeferredContact is in bit 31, nbContacts is in bits 27-30, rest is cpu mesh index for the triangle
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static PX_CUDA_CALLABLE PX_FORCE_INLINE PxU32 getTriangleIndex(PxU32 index)
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{
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return (index & ((1<<NbContactsShift)-1));
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}
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static PX_CUDA_CALLABLE PX_FORCE_INLINE PxU32 getNbContacts(PxU32 index)
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{
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return (index & (~DeferredContactMask)) >> NbContactsShift;
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}
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static PX_CUDA_CALLABLE PX_FORCE_INLINE PxU32 isDeferred(const PxU32 index)
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{
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return index & DeferredContactMask;
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}
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};
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struct ConvexTriContacts
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{
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PxU32 index;
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};
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struct ConvexTriContact
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{
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float4 contact_sepW;
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};
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//each convex triangle pairs will generate the intermediate data in case we need to
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//do post process of this pair
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struct ConvexTriIntermediateData
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{
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//Enums to indicate the barycentric weighting of the contacts
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enum VoronoiState: PxU32
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{
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eV0 = 1u << 29,
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eV1 = 2u << 29,
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eV2 = 3u << 29,
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eE01 = 4u << 29,
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eE02 = 5u << 29,
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eE12 = 6u << 29,
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eMASK = 0xe0000000
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};
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physx::PxU32 gpuTriIndex; //gpu triangle index
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static PX_CUDA_CALLABLE PX_FORCE_INLINE bool isEdgeContact(const PxU32 mask)
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{
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return mask & 0x80000000;
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}
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};
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typedef ConvexMeshPair SphereMeshPair;
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typedef ConvexTriContacts SphereTriContacts;
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typedef ConvexTriNormalAndIndex SphereTriNormalAndIndex;
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typedef ConvexTriIntermediateData SphereTriIntermediateData;
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}
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#if PX_CUDA_COMPILER
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#include "PxgCommonDefines.h"
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namespace physx
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{
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PX_ALIGN_PREFIX(16)
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struct MidphaseScratch
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{
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const float4 * PX_RESTRICT trimeshVerts;
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const uint4 * PX_RESTRICT trimeshTriIndices;
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PxTransform shapeToMeshNoScale;
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PxTransform meshToWorld;
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PxMeshScale trimeshScale;
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PxVec3 inflatedExtents;
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PxVec3 center;
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PxU32 shape_materialIndex;
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PxU32 trimeshShape_materialIndex;
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//bv32 tree
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const Gu::BV32DataPacked* bv32PackedNodes;
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//stack for traversal
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int sBv32Nodes[320]; //10 depth of the bv32 tree
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}PX_ALIGN_SUFFIX(16);
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PX_COMPILE_TIME_ASSERT(sizeof(MidphaseScratch) <= WARP_SIZE * 16 * sizeof(PxU32));
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}
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#include "schlockShared.h"
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//0 is primitive, 1 is tetrahedron world space
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struct TetCollideScratch
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{
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physx::PxVec3 vA[CONVEX_MAX_VERTICES_POLYGONS];
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physx::PxVec3 vB[4];
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schlock::GjkCachedData cachedData;
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schlock::GjkOutput gjkOutput;
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physx::PxQuat rot0;
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physx::PxVec3 scale0;
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physx::PxReal contactDistance;
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physx::PxReal inSphereRadius0;
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physx::PxReal inSphereRadius1;
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physx::PxVec3 searchDir;
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physx::PxU8 nbVertices0;
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physx::PxU8 nbVertices1;
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physx::PxU32 tetIndex0;
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physx::PxU32 tetIndex1;
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__device__ void Clear()
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{
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if (threadIdx.x == 0)
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cachedData.size = 0;
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__syncwarp();
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}
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};
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#include "epa.cuh"
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#include "gjk.cuh"
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__device__ static schlock::GjkResult::Enum tetPrimitivesCollide2(
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squawk::EpaScratch& ss_epa_scratch,
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TetCollideScratch& ss_scratch,
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const physx::PxU32 globalWarpIndex)
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{
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typedef schlock::GjkResult GjkResult;
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const physx::PxReal convergenceRatio = 1 - 0.000225f;
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assert(ss_scratch.nbVertices0 <= 64);
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assert(ss_scratch.nbVertices1 <= 64);
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physx::PxVec3 initialDir(1, 0, 0);
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physx::PxVec3 aToB_p = ss_scratch.searchDir; // ss_scratch.aToB.p;
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if (aToB_p.magnitudeSquared() > 0)
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initialDir = aToB_p; // GJK's initial start dir is usually from the warm cache => lazy normalize inside GJK
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GjkResult::Enum gjkResult = squawk::gjk(
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ss_scratch.vA, ss_scratch.nbVertices0,
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ss_scratch.vB, ss_scratch.nbVertices1,
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initialDir,
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ss_scratch.contactDistance,
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convergenceRatio,
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ss_scratch.gjkOutput, ss_scratch.cachedData);
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__syncwarp();
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if (gjkResult == GjkResult::eDISTANT)
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{
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return GjkResult::eDISTANT;
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}
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bool separated = (gjkResult == GjkResult::eCLOSE);
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bool anomaly = separated && ss_scratch.gjkOutput.closestPointDir.dot(ss_scratch.gjkOutput.direction) < 0.999f;
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GjkResult::Enum result = GjkResult::eCLOSE;
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if (!separated || anomaly)
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{
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GjkResult::Enum epaResult = squawk::epa(ss_epa_scratch,
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ss_scratch.vA, ss_scratch.nbVertices0,
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ss_scratch.vB, ss_scratch.nbVertices1,
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&(ss_scratch.cachedData),
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convergenceRatio,
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0.5f * (ss_scratch.inSphereRadius0 + ss_scratch.inSphereRadius1),
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ss_scratch.gjkOutput);
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//separated = epaResult == GjkResult::eCLOSE;
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result = epaResult;
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__syncwarp();
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if (ss_scratch.gjkOutput.degenerate)
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{
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//we need to re-run gjk epa with other configurations
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ss_scratch.cachedData.size = 0;
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//we need to re-run gjk epa with other configurations
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initialDir = physx::PxVec3(0.f, 1.f, 0.f);
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GjkResult::Enum gjkResult = squawk::gjk(
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ss_scratch.vA, ss_scratch.nbVertices0,
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ss_scratch.vB, ss_scratch.nbVertices1,
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initialDir,
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ss_scratch.contactDistance,
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convergenceRatio,
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ss_scratch.gjkOutput, ss_scratch.cachedData);
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__syncwarp();
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GjkResult::Enum epaResult = squawk::epa(ss_epa_scratch,
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ss_scratch.vA, ss_scratch.nbVertices0,
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ss_scratch.vB, ss_scratch.nbVertices1,
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&(ss_scratch.cachedData),
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convergenceRatio,
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0.5f * (ss_scratch.inSphereRadius0 + ss_scratch.inSphereRadius1),
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ss_scratch.gjkOutput);
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//separated = epaResult == GjkResult::eCLOSE;
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result = epaResult;
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}
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__syncwarp();
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}
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return result;
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}
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#endif
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#endif
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