Revision control
- //
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//
- // Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved.
+ // Copyright (c) 2008-2026 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
- #include "geomutils/GuContactBuffer.h"
-
+ #include "geomutils/PxContactBuffer.h"
#include "GuGJKPenetration.h"
#include "GuEPA.h"
#include "GuVecBox.h"
#include "GuVecConvexHull.h"
#include "GuVecConvexHullNoScale.h"
- #include "GuGeometryUnion.h"
#include "GuContactMethodImpl.h"
#include "GuPCMContactGen.h"
#include "GuPCMShapeConvex.h"
-
#define PCM_BOX_HULL_DEBUG 0
- namespace physx
- {
-
- using namespace Ps::aos;
-
- namespace Gu
- {
+ using namespace physx;
+ using namespace Gu;
+ using namespace aos;
- static bool fullContactsGenerationBoxConvex(const GjkConvex* relativeConvex, const GjkConvex* localConvex, const PsTransformV& transf0, const PsTransformV& transf1,
- PersistentContact* manifoldContacts, ContactBuffer& contactBuffer, Gu::PersistentContactManifold& manifold, Vec3VArg normal,
- const Vec3VArg closestA, const Vec3VArg closestB, const FloatVArg contactDist, const bool idtScale, const bool doOverlapTest, Cm::RenderOutput* renderOutput,
- const PxReal toleranceLength)
+ static bool fullContactsGenerationBoxConvex(const GjkConvex* relativeConvex, const GjkConvex* localConvex, const PxTransformV& transf0, const PxTransformV& transf1,
+ PersistentContact* manifoldContacts, PxContactBuffer& contactBuffer, PersistentContactManifold& manifold, Vec3VArg normal,
+ const Vec3VArg closestA, const Vec3VArg closestB, const FloatVArg contactDist, bool idtScale, bool doOverlapTest, PxRenderOutput* renderOutput,
+ PxReal toleranceLength)
{
- Gu::PolygonalData polyData0;
+ PolygonalData polyData0;
const BoxV& box = relativeConvex->getConvex<BoxV>();
const ConvexHullV& convexHull = localConvex->getConvex<ConvexHullV>();
PxVec3 halfExtents;
V3StoreU(box.extents, halfExtents);
PCMPolygonalBox polyBox0(halfExtents);
polyBox0.getPolygonalData(&polyData0);
polyData0.mPolygonVertexRefs = gPCMBoxPolygonData;
- Gu::PolygonalData polyData1;
+ PolygonalData polyData1;
getPCMConvexData(convexHull, idtScale, polyData1);
- Mat33V identity = M33Identity();
+ const Mat33V identity = M33Identity();
SupportLocalImpl<BoxV> map0(box, transf0, identity, identity, true);
- PxU8 buff1[sizeof(SupportLocalImpl<ConvexHullV>)];
+ PX_ALIGN(16, PxU8 buff1[sizeof(SupportLocalImpl<ConvexHullV>)]);
SupportLocal* map1 = (idtScale ? static_cast<SupportLocal*>(PX_PLACEMENT_NEW(buff1, SupportLocalImpl<ConvexHullNoScaleV>)(static_cast<const ConvexHullNoScaleV&>(convexHull), transf1, convexHull.vertex2Shape, convexHull.shape2Vertex, idtScale)) :
static_cast<SupportLocal*>(PX_PLACEMENT_NEW(buff1, SupportLocalImpl<ConvexHullV>)(convexHull, transf1, convexHull.vertex2Shape, convexHull.shape2Vertex, idtScale)));
PxU32 numContacts = 0;
if(generateFullContactManifold(polyData0, polyData1, &map0, map1, manifoldContacts, numContacts, contactDist, normal, closestA, closestB, box.getMarginF(), convexHull.getMarginF(),
doOverlapTest, renderOutput, toleranceLength))
{
if (numContacts > 0)
{
//reduce contacts
manifold.addBatchManifoldContacts(manifoldContacts, numContacts, toleranceLength);
#if PCM_LOW_LEVEL_DEBUG
manifold.drawManifold(*renderOutput, transf0, transf1);
#endif
-
const Vec3V worldNormal = manifold.getWorldNormal(transf1);
manifold.addManifoldContactsToContactBuffer(contactBuffer, worldNormal, transf1, contactDist);
}
else
{
//if doOverlapTest is true, which means GJK/EPA degenerate so we won't have any contact in the manifoldContacts array
if (!doOverlapTest)
{
const Vec3V worldNormal = manifold.getWorldNormal(transf1);
manifold.addManifoldContactsToContactBuffer(contactBuffer, worldNormal, transf1, contactDist);
}
}
return true;
}
-
return false;
-
}
- static bool generateOrProcessContactsBoxConvex(const GjkConvex* relativeConvex, const GjkConvex* localConvex, const PsTransformV& transf0, const PsTransformV& transf1,
- const PsMatTransformV& aToB, GjkStatus status, GjkOutput& output, PersistentContactManifold& manifold, ContactBuffer& contactBuffer,
- const PxU32 initialContacts, const FloatV minMargin, const FloatV contactDist,
- const bool idtScale, const PxReal toleranceLength, Cm::RenderOutput* renderOutput)
+ static bool generateOrProcessContactsBoxConvex( const GjkConvex* relativeConvex, const GjkConvex* localConvex, const PxTransformV& transf0, const PxTransformV& transf1,
+ const PxMatTransformV& aToB, GjkStatus status, GjkOutput& output, PersistentContactManifold& manifold, PxContactBuffer& contactBuffer,
+ PxU32 initialContacts, const FloatV minMargin, const FloatV contactDist,
+ bool idtScale, PxReal toleranceLength, PxRenderOutput* renderOutput)
{
-
if (status == GJK_NON_INTERSECT)
{
return false;
}
else
{
- Gu::PersistentContact* manifoldContacts = PX_CP_TO_PCP(contactBuffer.contacts);
+ PersistentContact* manifoldContacts = PX_CP_TO_PCP(contactBuffer.contacts);
const Vec3V localNor = manifold.mNumContacts ? manifold.getLocalNormal() : V3Zero();
const FloatV replaceBreakingThreshold = FMul(minMargin, FLoad(0.05f));
//addGJKEPAContacts will increase the number of contacts in manifold. If status == EPA_CONTACT, we need to run epa algorithm and generate closest points, normal and
//pentration. If epa doesn't degenerate, we will store the contacts information in the manifold. Otherwise, we will return true to do the fallback test
const bool doOverlapTest = addGJKEPAContacts(relativeConvex, localConvex, aToB, status, manifoldContacts, replaceBreakingThreshold, FLoad(toleranceLength), output, manifold);
#if PCM_LOW_LEVEL_DEBUG
manifold.drawManifold(*renderOutput, transf0, transf1);
#endif
//ML: after we refresh the contacts(newContacts) and generate a GJK/EPA contacts(we will store that in the manifold), if the number of contacts is still less than the original contacts,
- //which means we lose too mang contacts and we should regenerate all the contacts in the current configuration
+ //which means we lose too many contacts and we should regenerate all the contacts in the current configuration
//Also, we need to look at the existing contacts, if the existing contacts has very different normal than the GJK/EPA contacts,
//which means we should throw away the existing contacts and do full contact gen
const bool fullContactGen = FAllGrtr(FLoad(0.707106781f), V3Dot(localNor, output.normal)) || (manifold.mNumContacts < initialContacts);
- if (fullContactGen || doOverlapTest)
+ if(fullContactGen || doOverlapTest || initialContacts > 1)
{
return fullContactsGenerationBoxConvex(relativeConvex, localConvex, transf0, transf1, manifoldContacts, contactBuffer,
manifold, output.normal, output.closestA, output.closestB, contactDist, idtScale, doOverlapTest, renderOutput, toleranceLength);
}
else
{
const Vec3V newLocalNor = V3Add(localNor, output.normal);
const Vec3V worldNormal = V3Normalize(transf1.rotate(newLocalNor));
//const Vec3V worldNormal = transf1.rotate(normal);
manifold.addManifoldContactsToContactBuffer(contactBuffer, worldNormal, transf1, contactDist);
return true;
}
}
}
- bool pcmContactBoxConvex(GU_CONTACT_METHOD_ARGS)
+ bool Gu::pcmContactBoxConvex(GU_CONTACT_METHOD_ARGS)
{
- using namespace Ps::aos;
-
- const PxConvexMeshGeometryLL& shapeConvex = shape1.get<const PxConvexMeshGeometryLL>();
- const PxBoxGeometry& shapeBox = shape0.get<const PxBoxGeometry>();
-
- Gu::PersistentContactManifold& manifold = cache.getManifold();
- Ps::prefetchLine(shapeConvex.hullData);
-
PX_ASSERT(transform1.q.isSane());
PX_ASSERT(transform0.q.isSane());
+ const PxConvexMeshGeometry& shapeConvex = checkedCast<PxConvexMeshGeometry>(shape1);
+ const PxBoxGeometry& shapeBox = checkedCast<PxBoxGeometry>(shape0);
+
+ PersistentContactManifold& manifold = cache.getManifold();
+ const ConvexHullData* hullData = _getHullData(shapeConvex);
+ PxPrefetchLine(hullData);
+
const FloatV contactDist = FLoad(params.mContactDistance);
const Vec3V boxExtents = V3LoadU(shapeBox.halfExtents);
const Vec3V vScale = V3LoadU_SafeReadW(shapeConvex.scale.scale); // PT: safe because 'rotation' follows 'scale' in PxMeshScale
- const PsTransformV transf0 = loadTransformA(transform0);
- const PsTransformV transf1 = loadTransformA(transform1);
- const PsTransformV curRTrans(transf1.transformInv(transf0));
- const PsMatTransformV aToB(curRTrans);
+ const PxTransformV transf0 = loadTransformA(transform0);
+ const PxTransformV transf1 = loadTransformA(transform1);
+ const PxTransformV curRTrans(transf1.transformInv(transf0));
+ const PxMatTransformV aToB(curRTrans);
const PxReal toleranceLength = params.mToleranceLength;
- const Gu::ConvexHullData* hullData = shapeConvex.hullData;
- const FloatV convexMargin = Gu::CalculatePCMConvexMargin(hullData, vScale, toleranceLength);
- const FloatV boxMargin = Gu::CalculatePCMBoxMargin(boxExtents, toleranceLength);
-
+ const FloatV convexMargin = CalculatePCMConvexMargin(hullData, vScale, toleranceLength);
+ const FloatV boxMargin = CalculatePCMBoxMargin(boxExtents, toleranceLength);
#if PCM_BOX_HULL_DEBUG
const PxVec3* verts = hullData->getHullVertices();
for (PxU32 i = 0; i < hullData->mNbPolygons; ++i)
{
const HullPolygonData& polygon = hullData->mPolygons[i];
const PxU8* inds = hullData->getVertexData8() + polygon.mVRef8;
Vec3V* points = reinterpret_cast<Vec3V*>(PxAllocaAligned(sizeof(Vec3V)*polygon.mNbVerts, 16));
for (PxU32 j = 0; j < polygon.mNbVerts; ++j)
{
points[j] = V3LoadU_SafeReadW(verts[inds[j]]);
}
- Gu::PersistentContactManifold::drawPolygon(*renderOutput, transf1, points, (PxU32)polygon.mNbVerts, 0x00ff0000);
+ PersistentContactManifold::drawPolygon(*renderOutput, transf1, points, (PxU32)polygon.mNbVerts, 0x00ff0000);
}
#endif
const FloatV minMargin = FMin(convexMargin, boxMargin);//FMin(boxMargin, convexMargin);
const FloatV projectBreakingThreshold = FMul(minMargin, FLoad(0.8f));
const PxU32 initialContacts = manifold.mNumContacts;
manifold.refreshContactPoints(aToB, projectBreakingThreshold, contactDist);
- const Vec3V extents = V3Mul(V3LoadU(hullData->mInternal.mExtents), vScale);
+ const Vec3V extents = V3Mul(V3LoadU_SafeReadW(hullData->mInternal.mInternalExtents), vScale);
const FloatV radiusA = V3Length(boxExtents);
const FloatV radiusB = V3Length(extents);
//After the refresh contact points, the numcontacts in the manifold will be changed
const bool bLostContacts = (manifold.mNumContacts != initialContacts);
if(bLostContacts || manifold.invalidate_BoxConvex(curRTrans, transf0.q, transf1.q, minMargin, radiusA, radiusB))
{
-
manifold.setRelativeTransform(curRTrans, transf0.q, transf1.q);
GjkStatus status = manifold.mNumContacts > 0 ? GJK_UNDEFINED : GJK_NON_INTERSECT;
const QuatV vQuat = QuatVLoadU(&shapeConvex.scale.rotation.x);
const bool idtScale = shapeConvex.scale.isIdentity();
- Gu::ConvexHullV convexHull(hullData, V3LoadU(hullData->mCenterOfMass), vScale, vQuat, idtScale);
- Gu::BoxV box(V3Zero(), boxExtents);
+ const ConvexHullV convexHull(hullData, V3LoadU(hullData->mCenterOfMass), vScale, vQuat, idtScale);
+ const BoxV box(V3Zero(), boxExtents);
GjkOutput output;
- RelativeConvex<BoxV> relativeConvex(box, aToB);
+ const RelativeConvex<BoxV> relativeConvex(box, aToB);
if(idtScale)
{
-
- LocalConvex<ConvexHullNoScaleV> localConvex(static_cast<ConvexHullNoScaleV&>(convexHull));
+ const LocalConvex<ConvexHullNoScaleV> localConvex(static_cast<const ConvexHullNoScaleV&>(convexHull));
status = gjkPenetration<RelativeConvex<BoxV>, LocalConvex<ConvexHullNoScaleV> >(relativeConvex, localConvex, aToB.p, contactDist, true,
manifold.mAIndice, manifold.mBIndice, manifold.mNumWarmStartPoints, output);
return generateOrProcessContactsBoxConvex(&relativeConvex, &localConvex, transf0, transf1, aToB,
status, output, manifold, contactBuffer, initialContacts,
- minMargin, contactDist, idtScale, toleranceLength, renderOutput);
-
+ minMargin, contactDist, idtScale, toleranceLength, renderOutput);
}
else
{
- LocalConvex<ConvexHullV> localConvex(convexHull);
+ const LocalConvex<ConvexHullV> localConvex(convexHull);
status = gjkPenetration<RelativeConvex<BoxV>, LocalConvex<ConvexHullV> >(relativeConvex, localConvex, aToB.p, contactDist, true,
manifold.mAIndice, manifold.mBIndice, manifold.mNumWarmStartPoints, output);
return generateOrProcessContactsBoxConvex(&relativeConvex, &localConvex, transf0, transf1, aToB,
status, output, manifold, contactBuffer, initialContacts,
minMargin, contactDist, idtScale, toleranceLength, renderOutput);
}
}
else if(manifold.getNumContacts()>0)
{
- const Vec3V worldNormal = manifold.getWorldNormal(transf1);
+ const Vec3V worldNormal = manifold.getWorldNormal(transf1);
manifold.addManifoldContactsToContactBuffer(contactBuffer, worldNormal, transf1, contactDist);
#if PCM_LOW_LEVEL_DEBUG
manifold.drawManifold(*renderOutput, transf0, transf1);
#endif
return true;
}
return false;
-
}
- }//Gu
- }//physx