PxU32 physx::PxFindFaceIndex(const PxConvexMeshGeometry& convexGeom, const PxTransform& pose,
const PxVec3& impactPos, const PxVec3& unitDir)
{
PX_ASSERT(unitDir.isFinite());
PX_ASSERT(unitDir.isNormalized());
PX_ASSERT(impactPos.isFinite());
PX_ASSERT(pose.isFinite());
const PxVec3 impact = impactPos - unitDir * gEpsilon;
const PxVec3 localPoint = pose.transformInv(impact);
const PxVec3 localDir = pose.rotateInv(unitDir);
// Create shape to vertex scale transformation matrix
const PxMeshScale& meshScale = convexGeom.scale;
const PxMat33 rot(meshScale.rotation);
PxMat33 shape2VertexSkew = rot.getTranspose();
const PxMat33 diagonal = PxMat33::createDiagonal(PxVec3(1.0f / meshScale.scale.x, 1.0f / meshScale.scale.y, 1.0f / meshScale.scale.z));
shape2VertexSkew = shape2VertexSkew * diagonal;
shape2VertexSkew = shape2VertexSkew * rot;
const PxU32 nbPolys = convexGeom.convexMesh->getNbPolygons();
PxU32 minIndex = 0;
PxReal minD = PX_MAX_REAL;
for (PxU32 j = 0; j < nbPolys; j++)
{
PxHullPolygon hullPolygon;
convexGeom.convexMesh->getPolygonData(j, hullPolygon);
// transform hull plane into shape space
PxPlane plane;
const PxVec3 tmp = shape2VertexSkew.transformTranspose(PxVec3(hullPolygon.mPlane[0],hullPolygon.mPlane[1],hullPolygon.mPlane[2]));
const PxReal denom = 1.0f / tmp.magnitude();
plane.n = tmp * denom;
plane.d = hullPolygon.mPlane[3] * denom;
PxReal d = plane.distance(localPoint);
if (d < 0.0f)
continue;
const PxReal tweak = plane.n.dot(localDir) * gEpsilon;
d += tweak;
if (d < minD)
{
minIndex = j;
minD = d;
}
}
return minIndex;
}
/** Helper to transform a normal when non-uniform scale is present. */
static PxVec3 TransformNormalToShapeSpace(const PxMeshScale& meshScale, const PxVec3& nIn)
{
// Uniform scale makes this unnecessary
if (meshScale.scale.x == meshScale.scale.y &&
meshScale.scale.x == meshScale.scale.z)
{
return nIn;
}
if (PxQuatIsIdentity(meshScale.rotation))
{
// Inverse transpose: inverse is 1/scale, transpose = original when rotation is identity.
const PxVec3 tmp = PxVec3(nIn.x / meshScale.scale.x, nIn.y / meshScale.scale.y, nIn.z / meshScale.scale.z);
const PxReal denom = 1.0f / tmp.magnitude();
return tmp * denom;
}
else
{
const PxMat33 rot(meshScale.rotation);
const PxMat33 diagonal = PxMat33::createDiagonal(meshScale.scale);
const PxMat33 vertex2Shape = (rot.getTranspose() * diagonal) * rot;
const PxMat33 shape2Vertex = vertex2Shape.getInverse();
const PxVec3 tmp = shape2Vertex.transformTranspose(nIn);
const PxReal denom = 1.0f / tmp.magnitude();
return tmp * denom;
}
}
void scalePlanes(PxPlane* scaledPlaneBuf, const Gu::ConvexHullData* convexHullData, const PxMat33& invScaling)
{
PxU32 numPlanes = convexHullData->mNbPolygons;
PxPlane* planeIt = scaledPlaneBuf;
const Gu::HullPolygonData* polygonIt = convexHullData->mPolygons;
for(; numPlanes>0; --numPlanes, ++planeIt, ++polygonIt)
{
PxVec3 normal=polygonIt->mPlane.n;
PxF32 d=polygonIt->mPlane.d;
normal = invScaling.transformTranspose(normal);
PxReal magnitude = normal.normalize();
*planeIt = PxPlane(normal, d / magnitude);
}
}
// Transform Vec4 (tangent) by PxMat33, ignoring tangent.w
PX_INLINE void transform_FLOAT4_by_PxMat33(FLOAT4_TYPE& dst, const FLOAT4_TYPE& src, const PxMat33& m)
{
const PxVec4 source = (const PxVec4&)src;
(PxVec4&)dst = PxVec4(m * source.getXYZ(), PxSign(m.getDeterminant()) * source.w);
}
/**
input scaledPlaneBuf needs a capacity of the number of planes in convexShape
*/
void physx::collideWithConvex(PxPlane* scaledPlaneBuf, PxsParticleCollData* particleCollData, PxU32 numCollData,
const Gu::GeometryUnion& convexShape, const PxReal proxRadius)
{
PX_ASSERT(scaledPlaneBuf);
PX_ASSERT(particleCollData);
const PxConvexMeshGeometryLL& convexShapeData = convexShape.get<const PxConvexMeshGeometryLL>();
const Gu::ConvexHullData* convexHullData = convexShapeData.hullData;
PX_ASSERT(convexHullData);
// convex bounds in local space
PxMat33 scaling = convexShapeData.scale.toMat33(), invScaling;
invScaling = scaling.getInverse();
PX_ASSERT(!convexHullData->mAABB.isEmpty());
PxBounds3 shapeBounds = PxBounds3::transformFast(scaling, convexHullData->mAABB);
PX_ASSERT(!shapeBounds.isEmpty());
shapeBounds.fattenFast(proxRadius);
bool scaledPlanes = false;
#if PXS_FLUID_USE_SIMD_CONVEX_COLLISION
const Vec3V boundMin = V3LoadU(shapeBounds.minimum);
const Vec3V boundMax = V3LoadU(shapeBounds.maximum);
const Vec4V boundMinX = V4SplatElement<0>(Vec4V_From_Vec3V(boundMin));
const Vec4V boundMinY = V4SplatElement<1>(Vec4V_From_Vec3V(boundMin));
const Vec4V boundMinZ = V4SplatElement<2>(Vec4V_From_Vec3V(boundMin));
const Vec4V boundMaxX = V4SplatElement<0>(Vec4V_From_Vec3V(boundMax));
const Vec4V boundMaxY = V4SplatElement<1>(Vec4V_From_Vec3V(boundMax));
const Vec4V boundMaxZ = V4SplatElement<2>(Vec4V_From_Vec3V(boundMax));
PxsParticleCollDataV4 collDataV4;
const VecU32V u4Zero = VecU32VLoadXYZW(0,0,0,0);
const VecU32V u4One = VecU32VLoadXYZW(1,1,1,1);
PX_ALIGN(16, PxsParticleCollData fakeCsd);
fakeCsd.localOldPos = PxVec3(FLT_MAX, FLT_MAX, FLT_MAX);
fakeCsd.localNewPos = PxVec3(FLT_MAX, FLT_MAX, FLT_MAX);
PX_ALIGN(16, PxU32 overlapArray[128]);
PxU32 start = 0;
while(start < numCollData)
{
const PxU32 batchSize = PxMin(numCollData-start, (PxU32)128);
PxU32 v4Count = 0;
PxsParticleCollData* particleCollDataIt = &particleCollData[start];
for(PxU32 i=0; i<batchSize; i+=4)
{
PxsParticleCollData* collData[4];
collData[0] = particleCollDataIt++;
collData[1] = (i+1 < numCollData) ? particleCollDataIt++ : &fakeCsd;
collData[2] = (i+2 < numCollData) ? particleCollDataIt++ : &fakeCsd;
collData[3] = (i+3 < numCollData) ? particleCollDataIt++ : &fakeCsd;
Vec4V oldPosV0 = V4LoadU((PxF32*)&collData[0]->localOldPos);
Vec4V newPosV0 = V4LoadU((PxF32*)&collData[0]->localNewPos);
Vec4V oldPosV1 = V4LoadU((PxF32*)&collData[1]->localOldPos);
Vec4V newPosV1 = V4LoadU((PxF32*)&collData[1]->localNewPos);
Vec4V oldPosV2 = V4LoadU((PxF32*)&collData[2]->localOldPos);
Vec4V newPosV2 = V4LoadU((PxF32*)&collData[2]->localNewPos);
Vec4V oldPosV3 = V4LoadU((PxF32*)&collData[3]->localOldPos);
Vec4V newPosV3 = V4LoadU((PxF32*)&collData[3]->localNewPos);
Vec4V particleMin0 = V4Min(oldPosV0, newPosV0);
Vec4V particleMax0 = V4Max(oldPosV0, newPosV0);
Vec4V particleMin1 = V4Min(oldPosV1, newPosV1);
Vec4V particleMax1 = V4Max(oldPosV1, newPosV1);
Vec4V particleMin2 = V4Min(oldPosV2, newPosV2);
Vec4V particleMax2 = V4Max(oldPosV2, newPosV2);
Vec4V particleMin3 = V4Min(oldPosV3, newPosV3);
Vec4V particleMax3 = V4Max(oldPosV3, newPosV3);
Mat44V particleMin44(particleMin0, particleMin1, particleMin2, particleMin3);
const Mat44V particleMinTrans44 = M44Trnsps(particleMin44);
Mat44V particleMax44(particleMax0, particleMax1, particleMax2, particleMax3);
const Mat44V particleMaxTrans44 = M44Trnsps(particleMax44);
BoolV mask = V4IsGrtr(boundMaxX, particleMinTrans44.col0);
mask = BAnd(V4IsGrtr(boundMaxY, particleMinTrans44.col1), mask);
mask = BAnd(V4IsGrtr(boundMaxZ, particleMinTrans44.col2), mask);
mask = BAnd(V4IsGrtr(particleMaxTrans44.col0, boundMinX), mask);
mask = BAnd(V4IsGrtr(particleMaxTrans44.col1, boundMinY), mask);
mask = BAnd(V4IsGrtr(particleMaxTrans44.col2, boundMinZ), mask);
VecU32V overlap4 = V4U32Sel(mask, u4One, u4Zero);
V4U32StoreAligned(overlap4,(VecU32V*)&overlapArray[i]);
}
particleCollDataIt = &particleCollData[start];
for(PxU32 k=0; k<batchSize; k++, ++particleCollDataIt)
{
if (overlapArray[k])
{
if(!scaledPlanes)
{
scalePlanes(scaledPlaneBuf, convexHullData, invScaling);
scaledPlanes = true;
}
collDataV4.localOldPos[v4Count].v3 = particleCollDataIt->localOldPos;
collDataV4.localNewPos[v4Count].v3 = particleCollDataIt->localNewPos;
collDataV4.localFlags[v4Count] = particleCollDataIt->localFlags;
collDataV4.restOffset[v4Count] = particleCollDataIt->restOffset;
collDataV4.ccTime[v4Count] = particleCollDataIt->ccTime;
collDataV4.collData[v4Count] = particleCollDataIt;
v4Count++;
}
if(v4Count == 4 || (v4Count > 0 && (k == batchSize-1)))
{
collideWithConvexPlanesSIMD(collDataV4, scaledPlaneBuf, convexHullData->mNbPolygons, proxRadius);
for(PxU32 j =0 ; j < v4Count; j++)
{
PxsParticleCollData* collData = collDataV4.collData[j];
PxU32 stateFlag = collDataV4.localFlags[j];
if(stateFlag)
{
collData->localFlags |= stateFlag;
collData->ccTime = collDataV4.ccTime[j];
collData->localSurfaceNormal = collDataV4.localSurfaceNormal[j].v3;
collData->localSurfacePos = collDataV4.localSurfacePos[j].v3;
}
}
v4Count = 0;
}
}
start += batchSize;
}
#else
PxsParticleCollData* particleCollDataIt = particleCollData;
for(PxU32 i=0; i<numCollData; ++i, ++particleCollDataIt)
{
PxBounds3 particleBounds = PxBounds3::boundsOfPoints(particleCollDataIt->localOldPos, particleCollDataIt->localNewPos);
if (particleBounds.intersects(shapeBounds))
{
if(!scaledPlanes)
{
scalePlanes(scaledPlaneBuf, convexHullData, invScaling);
scaledPlanes = true;
}
collideWithConvexPlanes(*particleCollDataIt, scaledPlaneBuf, convexHullData->mNbPolygons, proxRadius);
}
}
#endif
}