Revision control
++ // 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 "GuVecBox.h"
++ #include "GuBounds.h"
++ #include "GuContactMethodImpl.h"
++ #include "GuPCMShapeConvex.h"
++ #include "GuPCMContactGen.h"
++
++ using namespace physx;
++ using namespace aos;
++ using namespace Gu;
++
++ static bool pcmContactCustomGeometryGeometry(GU_CONTACT_METHOD_ARGS)
++ {
++ PX_UNUSED(renderOutput);
++
++ const PxCustomGeometry& customGeom = checkedCast<PxCustomGeometry>(shape0);
++ const PxGeometry& otherGeom = shape1;
++
++ float breakingThreshold = 0.01f * params.mToleranceLength;
++ bool usePCM = customGeom.callbacks->usePersistentContactManifold(customGeom, breakingThreshold);
++ if (otherGeom.getType() == PxGeometryType::eCUSTOM)
++ {
++ float breakingThreshold1 = breakingThreshold;
++ if (checkedCast<PxCustomGeometry>(shape1).callbacks->usePersistentContactManifold(otherGeom, breakingThreshold1))
++ {
++ breakingThreshold = PxMin(breakingThreshold, breakingThreshold1);
++ usePCM = true;
++ }
++ }
++ else if (otherGeom.getType() > PxGeometryType::eCONVEXMESH)
++ {
++ usePCM = true;
++ }
++
++ if (usePCM)
++ {
++ MultiplePersistentContactManifold& multiManifold = cache.getMultipleManifold();
++
++ const PxTransformV transf0 = loadTransformA(transform0), transf1 = loadTransformA(transform1);
++ const PxTransformV curRTrans = transf1.transformInv(transf0);
++ const FloatV cos5 = FLoad(0.9962f); // Cos of 5 degrees
++ if (multiManifold.invalidate(curRTrans, FLoad(breakingThreshold)))
++ {
++ customGeom.callbacks->generateContacts(customGeom, otherGeom, transform0, transform1,
++ params.mContactDistance, params.mMeshContactMargin, params.mToleranceLength,
++ contactBuffer);
++
++ multiManifold.initialize();
++ multiManifold.setRelativeTransform(curRTrans);
++
++ for (PxU32 ci = 0; ci < contactBuffer.count; ++ci)
++ {
++ const PxContactPoint& c = contactBuffer.contacts[ci];
++ const Vec3V cP = V3LoadU(c.point);
++ const Vec3V cN = V3LoadU(c.normal);
++ const FloatV cD = FLoad(c.separation);
++
++ SinglePersistentContactManifold* manifold = NULL;
++ for (PxU8 mi = 0; mi < multiManifold.mNumManifolds; ++mi)
++ {
++ const Vec3V mN = multiManifold.mManifolds[mi].getWorldNormal(transf1);
++ const BoolV cmp = FIsGrtr(V3Dot(cN, mN), cos5);
++ if (BAllEqTTTT(cmp))
++ {
++ manifold = &multiManifold.mManifolds[mi];
++ break;
++ }
++ }
++
++ if (!manifold)
++ {
++ manifold = multiManifold.getEmptyManifold();
++ if (manifold) multiManifold.mNumManifolds++;
++ }
++
++ if (manifold)
++ {
++ SinglePersistentContactManifold& m = *manifold;
++ MeshPersistentContact pc;
++ pc.mLocalPointA = transf0.transformInv(cP);
++ pc.mLocalPointB = transf1.transformInv(cP);
++ pc.mLocalNormalPen = V4SetW(transf1.rotateInv(cN), cD);
++ pc.mFaceIndex = c.internalFaceIndex1;
++ m.mContactPoints[m.mNumContacts++] = pc;
++ m.mNumContacts = SinglePersistentContactManifold::reduceContacts(m.mContactPoints, m.mNumContacts);
++ }
++ }
++
++ contactBuffer.count = 0;
++ }
++
++ #if PCM_LOW_LEVEL_DEBUG
++ multiManifold.drawManifold(*renderOutput, transf0, transf1);
++ #endif
++ return multiManifold.addManifoldContactsToContactBuffer(contactBuffer, transf1);
++ }
++
++ return customGeom.callbacks->generateContacts(customGeom, otherGeom, transform0, transform1,
++ params.mContactDistance, params.mMeshContactMargin, params.mToleranceLength,
++ contactBuffer);
++ }
++
++ bool Gu::pcmContactGeometryCustomGeometry(GU_CONTACT_METHOD_ARGS)
++ {
++ bool res = pcmContactCustomGeometryGeometry(shape1, shape0, transform1, transform0, params, cache, contactBuffer, renderOutput);
++
++ for (PxU32 i = 0; i < contactBuffer.count; ++i)
++ contactBuffer.contacts[i].normal = -contactBuffer.contacts[i].normal;
++
++ return res;
++ }
++