GuPCMContactSphereHeightField.cpp

Enable keyboard shortcuts

// 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 "geometry/PxTriangleMesh.h"

#include "geomutils/PxContactBuffer.h"

#include "GuVecBox.h"

#include "GuVecConvexHull.h"

#include "GuVecConvexHullNoScale.h"

#include "GuVecTriangle.h"

#include "GuContactMethodImpl.h"

#include "GuHeightField.h"

#include "GuPCMContactConvexCommon.h"

#include "GuPCMContactMeshCallback.h"

using namespace physx;

using namespace Gu;

using namespace aos;

namespace

struct PCMSphereVsHeightfieldContactGenerationCallback : PCMHeightfieldContactGenerationCallback<PCMSphereVsHeightfieldContactGenerationCallback>

	PCMSphereVsMeshContactGeneration	mGeneration;

	PCMSphereVsHeightfieldContactGenerationCallback(

		const Vec3VArg sphereCenter,

		const FloatVArg sphereRadius,

		const FloatVArg contactDistance,

		const FloatVArg replaceBreakingThreshold,

		const PxTransformV& sphereTransform,

		const PxTransformV& heightfieldTransform,

		const PxTransform& heightfieldTransform1,

		MultiplePersistentContactManifold& multiManifold,

		PxContactBuffer& contactBuffer,

		PxInlineArray<PxU32, LOCAL_PCM_CONTACTS_SIZE>* deferredContacts,

		HeightFieldUtil& hfUtil

) :

		PCMHeightfieldContactGenerationCallback<PCMSphereVsHeightfieldContactGenerationCallback>(hfUtil, heightfieldTransform1),

		mGeneration(sphereCenter, sphereRadius, contactDistance, replaceBreakingThreshold, sphereTransform,

			heightfieldTransform, multiManifold, contactBuffer, deferredContacts)

	template<PxU32 CacheSize>

	void processTriangleCache(TriangleCache<CacheSize>& cache)

		mGeneration.processTriangleCache<CacheSize, PCMSphereVsMeshContactGeneration>(cache);

};

bool Gu::pcmContactSphereHeightField(GU_CONTACT_METHOD_ARGS)

	PX_UNUSED(renderOutput);

	const PxSphereGeometry& shapeSphere = checkedCast<PxSphereGeometry>(shape0);

	const PxHeightFieldGeometry& shapeHeight = checkedCast<PxHeightFieldGeometry>(shape1);

	MultiplePersistentContactManifold& multiManifold = cache.getMultipleManifold();

	const QuatV q0 = QuatVLoadA(&transform0.q.x);

	const Vec3V p0 = V3LoadA(&transform0.p.x);

	const QuatV q1 = QuatVLoadA(&transform1.q.x);

	const Vec3V p1 = V3LoadA(&transform1.p.x);

	const FloatV sphereRadius = FLoad(shapeSphere.radius);

	const FloatV contactDist = FLoad(params.mContactDistance);

	const PxTransformV sphereTransform(p0, q0);//sphere transform

	const PxTransformV heightfieldTransform(p1, q1);//height feild

	const PxTransformV curTransform = heightfieldTransform.transformInv(sphereTransform);

	// We must be in local space to use the cache

	if(multiManifold.invalidate(curTransform, sphereRadius, FLoad(0.02f)))

		multiManifold.mNumManifolds = 0;

		multiManifold.setRelativeTransform(curTransform);

		const FloatV replaceBreakingThreshold = FMul(sphereRadius, FLoad(0.001f));

		HeightFieldUtil hfUtil(shapeHeight);

		PxBounds3 localBounds;

		const PxVec3 localSphereCenter = getLocalSphereData(localBounds, transform0, transform1, shapeSphere.radius + params.mContactDistance);

		const Vec3V sphereCenter = V3LoadU(localSphereCenter);

		PxInlineArray<PxU32, LOCAL_PCM_CONTACTS_SIZE> delayedContacts;

		PCMSphereVsHeightfieldContactGenerationCallback blockCallback(

			sphereCenter,

			sphereRadius,

			contactDist,

			replaceBreakingThreshold,

			sphereTransform,

			heightfieldTransform,

			transform1,

			multiManifold,

			contactBuffer,

			&delayedContacts,

			hfUtil);

		hfUtil.overlapAABBTriangles(localBounds, blockCallback);

		blockCallback.mGeneration.generateLastContacts();

		blockCallback.mGeneration.processContacts(GU_SPHERE_MANIFOLD_CACHE_SIZE, false);

	else

		const PxMatTransformV aToB(curTransform);

		const FloatV projectBreakingThreshold = FMul(sphereRadius, FLoad(0.05f));

		const FloatV refereshDistance = FAdd(sphereRadius, contactDist);

		multiManifold.refreshManifold(aToB, projectBreakingThreshold, refereshDistance);

	return multiManifold.addManifoldContactsToContactBuffer(contactBuffer, sphereTransform, heightfieldTransform, sphereRadius);