Revision control
+ // Redistribution and use in source and binary forms, with or without
+ // modification, are permitted provided that the following conditions
+ // are met:
+ // * Redistributions of source code must retain the above copyright
+ // notice, this list of conditions and the following disclaimer.
+ // * Redistributions in binary form must reproduce the above copyright
+ // notice, this list of conditions and the following disclaimer in the
+ // documentation and/or other materials provided with the distribution.
+ // * Neither the name of NVIDIA CORPORATION nor the names of its
+ // contributors may be used to endorse or promote products derived
+ // from this software without specific prior written permission.
+ //
+ // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
+ // EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ // PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ // CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ // EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ // PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+ // OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ //
+ // 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/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;
+ }
+