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++ // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
++ // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
++ // SPDX-FileCopyrightText: Copyright (c) 2008-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
++ // SPDX-License-Identifier: Apache-2.0
++
++ #include "geomutils/PxContactBuffer.h"
++ #include "GuVecCapsule.h"
++ #include "GuContactMethodImpl.h"
++ #include "GuDistanceSegmentSegment.h"
++ #include "GuPCMContactGenUtil.h"
++
++ using namespace physx;
++ using namespace Gu;
++ using namespace aos;
++
++ static Vec4V pcmDistancePointSegmentTValue22( const Vec3VArg a0, const Vec3VArg b0,
++ const Vec3VArg a1, const Vec3VArg b1,
++ const Vec3VArg p0, const Vec3VArg p1,
++ const Vec3VArg p2, const Vec3VArg p3)
++ {
++ const Vec4V zero = V4Zero();
++ const Vec3V ap00 = V3Sub(p0, a0);
++ const Vec3V ap10 = V3Sub(p1, a0);
++ const Vec3V ap01 = V3Sub(p2, a1);
++ const Vec3V ap11 = V3Sub(p3, a1);
++
++ const Vec3V ab0 = V3Sub(b0, a0);
++ const Vec3V ab1 = V3Sub(b1, a1);
++
++ /* const FloatV nom00 = V3Dot(ap00, ab0);
++ const FloatV nom10 = V3Dot(ap10, ab0);
++ const FloatV nom01 = V3Dot(ap01, ab1);
++ const FloatV nom11 = V3Dot(ap11, ab1);*/
++
++ const Vec4V combinedDot = V3Dot4(ap00, ab0, ap10, ab0, ap01, ab1, ap11, ab1);
++ const FloatV nom00 = V4GetX(combinedDot);
++ const FloatV nom10 = V4GetY(combinedDot);
++ const FloatV nom01 = V4GetZ(combinedDot);
++ const FloatV nom11 = V4GetW(combinedDot);
++
++ const FloatV denom0 = V3Dot(ab0, ab0);
++ const FloatV denom1 = V3Dot(ab1, ab1);
++
++ const Vec4V nom = V4Merge(nom00, nom10, nom01, nom11);
++ const Vec4V denom = V4Merge(denom0, denom0, denom1, denom1);
++
++ const Vec4V tValue = V4Div(nom, denom);
++ return V4Sel(V4IsEq(denom, zero), zero, tValue);
++ }
++
++ static void storeContact(const Vec3VArg contact, const Vec3VArg normal, const FloatVArg separation, PxContactBuffer& buffer)
++ {
++ outputSimplePCMContact(buffer, contact, normal, separation);
++ }
++
++ bool Gu::pcmContactCapsuleCapsule(GU_CONTACT_METHOD_ARGS)
++ {
++ PX_UNUSED(renderOutput);
++ PX_UNUSED(cache);
++ PX_ASSERT(transform1.q.isSane());
++ PX_ASSERT(transform0.q.isSane());
++
++ // Get actual shape data
++ const PxCapsuleGeometry& shapeCapsule0 = checkedCast<PxCapsuleGeometry>(shape0);
++ const PxCapsuleGeometry& shapeCapsule1 = checkedCast<PxCapsuleGeometry>(shape1);
++
++ const Vec3V _p0 = V3LoadA(&transform0.p.x);
++ const QuatV q0 = QuatVLoadA(&transform0.q.x);
++
++ const Vec3V _p1 = V3LoadA(&transform1.p.x);
++ const QuatV q1 = QuatVLoadA(&transform1.q.x);
++
++ /*PsTransformV transf0(p0, q0);
++ PsTransformV transf1(p1, q1);*/
++
++ const FloatV r0 = FLoad(shapeCapsule0.radius);
++ const FloatV halfHeight0 = FLoad(shapeCapsule0.halfHeight);
++
++ const FloatV r1 = FLoad(shapeCapsule1.radius);
++ const FloatV halfHeight1 = FLoad(shapeCapsule1.halfHeight);
++
++ const FloatV cDist = FLoad(params.mContactDistance);
++
++ const Vec3V positionOffset = V3Scale(V3Add(_p0, _p1), FHalf());
++ const Vec3V p0 = V3Sub(_p0, positionOffset);
++ const Vec3V p1 = V3Sub(_p1, positionOffset);
++
++ const FloatV zero = FZero();
++ //const FloatV one = FOne();
++ const Vec3V zeroV = V3Zero();
++
++ /*const Vec3V positionOffset = V3Scale(V3Add(transf0.p, transf1.p), FloatV_From_F32(0.5f));
++ transf0.p = V3Sub(transf0.p, positionOffset);
++ transf1.p = V3Sub(transf1.p, positionOffset);*/
++
++ const Vec3V basisVector0 = QuatGetBasisVector0(q0);
++ const Vec3V tmp0 = V3Scale(basisVector0, halfHeight0);
++ const Vec3V s0 = V3Add(p0, tmp0);
++ const Vec3V e0 = V3Sub(p0, tmp0);
++ const Vec3V d0 = V3Sub(e0, s0);
++
++ const Vec3V basisVector1 = QuatGetBasisVector0(q1);
++ const Vec3V tmp1 = V3Scale(basisVector1, halfHeight1);
++ const Vec3V s1 = V3Add(p1, tmp1);
++ const Vec3V e1 = V3Sub(p1, tmp1);
++
++ const Vec3V d1 = V3Sub(e1, s1);
++
++ const FloatV sumRadius = FAdd(r0, r1);
++ const FloatV inflatedSum = FAdd(sumRadius, cDist);
++ const FloatV inflatedSumSquared = FMul(inflatedSum, inflatedSum);
++ const FloatV a = V3Dot(d0, d0);//squared length of segment1
++ const FloatV e = V3Dot(d1, d1);//squared length of segment2
++ const FloatV eps = FLoad(1e-6f);//FEps();
++
++ FloatV t0, t1;
++ const FloatV sqDist0 = distanceSegmentSegmentSquared(s0, d0, s1, d1, t0, t1);
++
++ if(FAllGrtrOrEq(inflatedSumSquared, sqDist0))
++ {
++ const Vec4V zeroV4 = V4Zero();
++ const Vec4V oneV4 = V4One();
++ //check to see whether these two capsule are paralle
++ const FloatV parallelTolerance = FLoad(0.9998f);
++
++ const BoolV con0 = FIsGrtr(eps, a);
++ const BoolV con1 = FIsGrtr(eps, e);
++ const Vec3V dir0 = V3Sel(con0, zeroV, V3ScaleInv(d0, FSqrt(a)));
++ const Vec3V dir1 = V3Sel(con1, zeroV, V3ScaleInv(d1, FSqrt(e)));
++
++ const FloatV cos = FAbs(V3Dot(dir0, dir1));
++ if(FAllGrtr(cos, parallelTolerance))//paralle
++ {
++ //project s, e into s1e1
++ const Vec4V t = pcmDistancePointSegmentTValue22(s0, e0, s1, e1,
++ s1, e1, s0, e0);
++
++ const BoolV con = BAnd(V4IsGrtrOrEq(t, zeroV4), V4IsGrtrOrEq(oneV4, t));
++ const BoolV con00 = BGetX(con);
++ const BoolV con01 = BGetY(con);
++ const BoolV con10 = BGetZ(con);
++ const BoolV con11 = BGetW(con);
++
++ /* PX_ALIGN(16, PxU32 conditions[4]);
++ F32Array_Aligned_From_Vec4V(con, (PxF32*)conditions);*/
++
++ PxU32 numContact=0;
++
++ if(BAllEqTTTT(con00))
++ {
++ const Vec3V projS1 = V3ScaleAdd(d0, V4GetX(t), s0);
++ const Vec3V v = V3Sub(projS1, s1);
++ const FloatV sqDist = V3Dot(v, v);
++ const BoolV bCon = BAnd(FIsGrtr(sqDist, eps), FIsGrtr(inflatedSumSquared, sqDist));
++
++ if(BAllEqTTTT(bCon))
++ {
++ const FloatV dist = FSqrt(sqDist);
++ const FloatV pen = FSub(dist, sumRadius);
++ const Vec3V normal = V3ScaleInv(v, dist);
++ PX_ASSERT(isFiniteVec3V(normal));
++ const Vec3V _p = V3NegScaleSub(normal, r0, projS1);
++ const Vec3V p = V3Add(_p, positionOffset);
++
++ storeContact(p, normal, pen, contactBuffer);
++ numContact++;
++ }
++ }
++ if(BAllEqTTTT(con01))
++ {
++ const Vec3V projE1 = V3ScaleAdd(d0, V4GetY(t), s0);
++ const Vec3V v = V3Sub(projE1, e1);
++ const FloatV sqDist = V3Dot(v, v);
++ const BoolV bCon = BAnd(FIsGrtr(sqDist, eps), FIsGrtr(inflatedSumSquared, sqDist));
++
++ if(BAllEqTTTT(bCon))
++ {
++ const FloatV dist = FSqrt(sqDist);
++ const FloatV pen = FSub(dist, sumRadius);
++ const Vec3V normal = V3ScaleInv(v, dist);
++ PX_ASSERT(isFiniteVec3V(normal));
++ const Vec3V _p = V3NegScaleSub(normal, r0, projE1);
++ const Vec3V p = V3Add(_p, positionOffset);
++ storeContact(p, normal, pen, contactBuffer);
++ numContact++;
++ }
++ }
++
++ if(BAllEqTTTT(con10))
++ {
++ const Vec3V projS0 = V3ScaleAdd(d1, V4GetZ(t), s1);
++ const Vec3V v = V3Sub(s0, projS0);
++ const FloatV sqDist = V3Dot(v, v);
++ const BoolV bCon = BAnd(FIsGrtr(sqDist, eps), FIsGrtr(inflatedSumSquared, sqDist));
++
++ if(BAllEqTTTT(bCon))
++ {
++ const FloatV dist = FSqrt(sqDist);
++ const FloatV pen = FSub(dist, sumRadius);
++ const Vec3V normal = V3ScaleInv(v, dist);
++ PX_ASSERT(isFiniteVec3V(normal));
++ const Vec3V _p = V3NegScaleSub(normal, r0, s0);
++ const Vec3V p = V3Add(_p, positionOffset);
++ //const Vec3V p = V3ScaleAdd(normal, r0, s0);
++ storeContact(p, normal, pen, contactBuffer);
++ numContact++;
++ }
++ }
++
++ if(BAllEqTTTT(con11))
++ {
++ const Vec3V projE0 = V3ScaleAdd(d1, V4GetW(t), s1);
++ const Vec3V v = V3Sub(e0, projE0);
++ const FloatV sqDist = V3Dot(v, v);
++ const BoolV bCon = BAnd(FIsGrtr(sqDist, eps), FIsGrtr(inflatedSumSquared, sqDist));
++
++ if(BAllEqTTTT(bCon))
++ {
++ const FloatV dist = FSqrt(sqDist);
++ const FloatV pen = FSub(dist, sumRadius);
++ const Vec3V normal = V3ScaleInv(v, dist);
++ PX_ASSERT(isFiniteVec3V(normal));
++ const Vec3V _p = V3NegScaleSub(normal, r0, e0);
++ const Vec3V p = V3Add(_p, positionOffset);
++ //const Vec3V p = V3ScaleAdd(normal, r0, e0);
++ storeContact(p, normal, pen, contactBuffer);
++ numContact++;
++ }
++ }
++
++ if(numContact)
++ return true;
++ }
++
++ const Vec3V closestA = V3ScaleAdd(d0, t0, s0);
++ const Vec3V closestB = V3ScaleAdd(d1, t1, s1);
++
++ const BoolV con = FIsGrtr(eps, sqDist0);
++ //const Vec3V normal = V3Sel(FIsEq(dist, zero), V3Sel(FIsGrtr(a, eps), V3Normalise(d0), V3Scale(V3Sub(closestA, closestB), FRecip(dist)));
++ const Vec3V _normal = V3Sel(con, V3Sel(FIsGrtr(a, eps), d0, V3UnitX()), V3Sub(closestA, closestB));
++ const Vec3V normal = V3Normalize(_normal);
++ PX_ASSERT(isFiniteVec3V(normal));
++ const Vec3V _point = V3NegScaleSub(normal, r0, closestA);
++ const Vec3V p = V3Add(_point, positionOffset);
++ const FloatV dist = FSel(con, zero, FSqrt(sqDist0));
++ const FloatV pen = FSub(dist, sumRadius);
++ //PX_ASSERT(FAllGrtrOrEq(zero, pen));
++ storeContact(p, normal, pen, contactBuffer);
++ return true;
++ }
++ return false;
++ }