75 lines
4.6 KiB
C++
75 lines
4.6 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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#ifndef GU_PCM_CONTACT_GEN_H
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#define GU_PCM_CONTACT_GEN_H
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#include "GuConvexSupportTable.h"
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#include "GuPersistentContactManifold.h"
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#include "GuShapeConvex.h"
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#include "GuSeparatingAxes.h"
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#include "GuGJKType.h"
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#include "GuGJKUtil.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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//full contact gen code for box/convexhull vs convexhull
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bool generateFullContactManifold(const Gu::PolygonalData& polyData0, const Gu::PolygonalData& polyData1, const Gu::SupportLocal* map0, const Gu::SupportLocal* map1, Gu::PersistentContact* manifoldContacts,
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PxU32& numContacts, const aos::FloatVArg contactDist, const aos::Vec3VArg normal, const aos::Vec3VArg closestA, const aos::Vec3VArg closestB,
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PxReal toleranceA, PxReal toleranceB, bool doOverlapTest, PxRenderOutput* renderOutput, PxReal toleranceLength);
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//full contact gen code for capsule vs convexhulll
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bool generateFullContactManifold(const Gu::CapsuleV& capsule, const Gu::PolygonalData& polyData, const Gu::SupportLocal* map, const aos::PxMatTransformV& aToB, Gu::PersistentContact* manifoldContacts,
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PxU32& numContacts, const aos::FloatVArg contactDist, aos::Vec3V& normal, const aos::Vec3VArg closest, PxReal tolerance, bool doOverlapTest, PxReal toleranceScale);
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//full contact gen code for capsule vs box
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bool generateCapsuleBoxFullContactManifold(const Gu::CapsuleV& capsule, const Gu::PolygonalData& polyData, const Gu::SupportLocal* map, const aos::PxMatTransformV& aToB, Gu::PersistentContact* manifoldContacts, PxU32& numContacts,
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const aos::FloatVArg contactDist, aos::Vec3V& normal, const aos::Vec3VArg closest, PxReal boxMargin, bool doOverlapTest, PxReal toleranceScale, PxRenderOutput* renderOutput);
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//based on the gjk status to decide whether we should do full contact gen with GJK/EPA normal. Also, this method store
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//GJK/EPA point to the manifold in case full contact gen doesn't generate any contact
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bool addGJKEPAContacts(const Gu::GjkConvex* relativeConvex, const Gu::GjkConvex* localConvex, const aos::PxMatTransformV& aToB, Gu::GjkStatus status,
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Gu::PersistentContact* manifoldContacts, const aos::FloatV replaceBreakingThreshold, const aos::FloatV toleranceLength, GjkOutput& output,
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Gu::PersistentContactManifold& manifold);
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//MTD code for box/convexhull vs box/convexhull
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bool computeMTD(const Gu::PolygonalData& polyData0, const Gu::PolygonalData& polyData1, const SupportLocal* map0, const SupportLocal* map1, aos::FloatV& penDepth, aos::Vec3V& normal);
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//MTD code for capsule vs box/convexhull
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bool computeMTD(const Gu::CapsuleV& capsule, const Gu::PolygonalData& polyData, const Gu::SupportLocal* map, aos::FloatV& penDepth, aos::Vec3V& normal);
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//full contact gen code for sphere vs convexhull
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bool generateSphereFullContactManifold(const Gu::CapsuleV& capsule, const Gu::PolygonalData& polyData, const Gu::SupportLocal* map, Gu::PersistentContact* manifoldContacts, PxU32& numContacts,
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const aos::FloatVArg contactDist, aos::Vec3V& normal, bool doOverlapTest);
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}
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}
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#endif
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