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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 "GuVecConvexHull.h"
++ #include "GuContactMethodImpl.h"
++ #include "GuPersistentContactManifold.h"
++
++ using namespace physx;
++
++ bool Gu::pcmContactPlaneConvex(GU_CONTACT_METHOD_ARGS)
++ {
++ PX_UNUSED(shape0);
++ PX_UNUSED(renderOutput);
++
++ using namespace aos;
++
++ PersistentContactManifold& manifold = cache.getManifold();
++ PxPrefetchLine(&manifold, 256);
++
++ // Get actual shape data
++ const PxConvexMeshGeometry& shapeConvex = checkedCast<PxConvexMeshGeometry>(shape1);
++
++ const PxTransformV transf0 = loadTransformA(transform1);//convex transform
++ const PxTransformV transf1 = loadTransformA(transform0);//plane transform
++ //convex to plane
++ const PxTransformV curTransf(transf1.transformInv(transf0));
++
++ const Vec3V vScale = V3LoadU_SafeReadW(shapeConvex.scale.scale); // PT: safe because 'rotation' follows 'scale' in PxMeshScale
++ const ConvexHullData* hullData = _getHullData(shapeConvex);
++
++ const PxReal toleranceLength = params.mToleranceLength;
++ const FloatV convexMargin = CalculatePCMConvexMargin(hullData, vScale, toleranceLength);
++
++ //in world space
++ const Vec3V planeNormal = V3Normalize(QuatGetBasisVector0(transf1.q));
++ const Vec3V negPlaneNormal = V3Neg(planeNormal);
++
++ const FloatV contactDist = FLoad(params.mContactDistance);
++
++ //const FloatV replaceBreakingThreshold = FMul(convexMargin, FLoad(0.001f));
++ const FloatV projectBreakingThreshold = FMul(convexMargin, FLoad(0.2f));
++ const PxU32 initialContacts = manifold.mNumContacts;
++
++ manifold.refreshContactPoints(curTransf, projectBreakingThreshold, contactDist);
++
++ const PxU32 newContacts = manifold.mNumContacts;
++ const bool bLostContacts = (newContacts != initialContacts);//((initialContacts == 0) || (newContacts != initialContacts));
++
++ if(bLostContacts || manifold.invalidate_PrimitivesPlane(curTransf, convexMargin, FLoad(0.2f)))
++ {
++ const PxMatTransformV aToB(curTransf);
++ const QuatV vQuat = QuatVLoadU(&shapeConvex.scale.rotation.x);
++
++ const Mat33V vertex2Shape = ConstructVertex2ShapeMatrix(vScale, vQuat);
++
++ //ML:localNormal is the local space of plane normal, however, because shape1 is box and shape0 is plane, we need to use the reverse of contact normal(which will be the plane normal) to make the refreshContactPoints
++ //work out the correct pentration for points
++ const Vec3V localNormal = V3UnitX();
++
++ manifold.mNumContacts = 0;
++ manifold.setRelativeTransform(curTransf);
++ const PxVec3* PX_RESTRICT verts = hullData->getHullVertices();
++
++ const PxU32 nbPolygons = hullData->mNbPolygons;
++
++ const Vec3V n = V3Normalize(M33MulV3(vertex2Shape, aToB.rotateInv(localNormal)));
++ const Vec3V nnormal = V3Neg(n);
++ const FloatV zero = FZero();
++
++ PersistentContact* manifoldContacts = PX_CP_TO_PCP(contactBuffer.contacts);
++ PxU32 numContacts = 0;
++
++ const PxMatTransformV aToBVertexSpace(aToB.p, M33MulM33(aToB.rot, vertex2Shape));
++
++ FloatV minProj = FMax();
++ PxU32 closestFaceIndex = 0;
++ PxU32 polyIndex2 = 0xFFFFFFFF;
++
++ for (PxU32 i = 0; i < nbPolygons; ++i)
++ {
++ const HullPolygonData& polyData = hullData->mPolygons[i];
++ const Vec3V planeN = V3LoadU_SafeReadW(polyData.mPlane.n); // PT: safe because 'd' follows 'n' in the plane class
++ const FloatV proj = V3Dot(n, planeN);
++ if (FAllGrtr(minProj, proj))
++ {
++ minProj = proj;
++ closestFaceIndex = PxI32(i);
++ }
++ }
++
++ const PxU32 numEdges = hullData->mNbEdges;
++ const PxU8* const edgeToFace = hullData->getFacesByEdges8();
++
++ //Loop through edges
++ PxU32 closestEdge = 0xffffffff;
++ //We subtract a small bias to increase the chances of selecting an edge below
++ minProj = FSub(minProj, FLoad(5e-4f));
++ FloatV maxDpSq = FMul(minProj, minProj);
++
++ for (PxU32 i = 0; i < numEdges; ++i)//, inc = VecI32V_Add(inc, vOne))
++ {
++ const PxU32 index = i * 2;
++ const PxU8 f0 = edgeToFace[index];
++ const PxU8 f1 = edgeToFace[index + 1];
++
++ const Vec3V planeNormal0 = V3LoadU_SafeReadW(hullData->mPolygons[f0].mPlane.n); // PT: safe because 'd' follows 'n' in the plane class
++ const Vec3V planeNormal1 = V3LoadU_SafeReadW(hullData->mPolygons[f1].mPlane.n); // PT: safe because 'd' follows 'n' in the plane class
++
++ // unnormalized edge normal
++ const Vec3V edgeNormal = V3Add(planeNormal0, planeNormal1);//polys[f0].mPlane.n + polys[f1].mPlane.n;
++ const FloatV enMagSq = V3Dot(edgeNormal, edgeNormal);//edgeNormal.magnitudeSquared();
++ //Test normal of current edge - squared test is valid if dp and maxDp both >= 0
++ const FloatV dp = V3Dot(edgeNormal, nnormal);//edgeNormal.dot(normal);
++ const FloatV sqDp = FMul(dp, dp);
++
++ const BoolV con0 = FIsGrtrOrEq(dp, zero);
++ const BoolV con1 = FIsGrtr(sqDp, FMul(maxDpSq, enMagSq));
++ const BoolV con = BAnd(con0, con1);
++ if (BAllEqTTTT(con))
++ {
++ maxDpSq = FDiv(sqDp, enMagSq);
++ closestEdge = i;
++ }
++ }
++
++ if (closestEdge != 0xffffffff)
++ {
++ const PxU8* FBE = edgeToFace;
++
++ const PxU32 index = closestEdge * 2;
++ const PxU32 f0 = FBE[index];
++ const PxU32 f1 = FBE[index + 1];
++
++ const Vec3V planeNormal0 = V3LoadU_SafeReadW(hullData->mPolygons[f0].mPlane.n); // PT: safe because 'd' follows 'n' in the plane class
++ const Vec3V planeNormal1 = V3LoadU_SafeReadW(hullData->mPolygons[f1].mPlane.n); // PT: safe because 'd' follows 'n' in the plane class
++
++ const FloatV dp0 = V3Dot(planeNormal0, nnormal);
++ const FloatV dp1 = V3Dot(planeNormal1, nnormal);
++ if (FAllGrtr(dp0, dp1))
++ {
++ closestFaceIndex = PxI32(f0);
++ polyIndex2 = PxI32(f1);
++ }
++ else
++ {
++ closestFaceIndex = PxI32(f1);
++ polyIndex2 = PxI32(f0);
++ }
++ }
++
++ for (PxU32 index = closestFaceIndex; index != 0xFFFFFFFF; index = polyIndex2, polyIndex2 = 0xFFFFFFFF)
++ {
++ const HullPolygonData& face = hullData->mPolygons[closestFaceIndex];
++ const PxU32 nbFaceVerts = face.mNbVerts;
++
++ const PxU8* vertInds = hullData->getVertexData8() + face.mVRef8;
++
++ for (PxU32 i = 0; i < nbFaceVerts; ++i)
++ {
++ const Vec3V pInVertexSpace = V3LoadU(verts[vertInds[i]]);
++
++ //transform p into plane space
++ const Vec3V pInPlaneSpace = aToBVertexSpace.transform(pInVertexSpace);//V3Add(aToB.p, M33MulV3(temp1, pInVertexSpace));
++
++ const FloatV signDist = V3GetX(pInPlaneSpace);
++
++ if (FAllGrtr(contactDist, signDist))
++ {
++ //transform p into shape space
++ const Vec3V pInShapeSpace = M33MulV3(vertex2Shape, pInVertexSpace);
++ //add to manifold
++
++ manifoldContacts[numContacts].mLocalPointA = pInShapeSpace;
++ manifoldContacts[numContacts].mLocalPointB = V3NegScaleSub(localNormal, signDist, pInPlaneSpace);
++ manifoldContacts[numContacts++].mLocalNormalPen = V4SetW(Vec4V_From_Vec3V(localNormal), signDist);
++
++ if (numContacts == 64)
++ {
++ manifold.reduceBatchContactsCluster(manifoldContacts, numContacts);
++ numContacts = GU_MANIFOLD_CACHE_SIZE;
++
++ for (PxU32 c = 0; c < GU_MANIFOLD_CACHE_SIZE; ++c)
++ manifoldContacts[c] = manifold.mContactPoints[c];
++ }
++ }
++ }
++ }
++
++ //reduce contacts
++ //manifold.addBatchManifoldContactsCluster(manifoldContacts, numContacts);
++
++ manifold.addBatchManifoldContacts(manifoldContacts, numContacts, toleranceLength);
++ }
++
++ manifold.addManifoldContactsToContactBuffer(contactBuffer, negPlaneNormal, transf1, contactDist);
++ #if PCM_LOW_LEVEL_DEBUG
++ manifold.drawManifold(*renderOutput, transf0, transf1);
++ #endif
++ return manifold.getNumContacts() > 0;
++ }
++