// PT: TODO: use Gu::intersectLineTriangle
static bool raycastTriangle(
PxVec3& hit,
PxReal& t,
const PxVec3& rayOrigin,
const PxVec3& rayDir,
const PxVec3& p0,
const PxVec3& p1,
const PxVec3& p2)
{
PxVec3 d1 = p1 - p0;
PxVec3 d2 = p2 - p0;
PxVec3 n = d1.cross(d2);
t = rayDir.dot(n);
if (t == 0.0f)
return false;
t = n.dot(p0 - rayOrigin) / t;
if (t < 0.0f)
return false;
hit = rayOrigin + rayDir * t;
PxVec3 d0 = p0 - hit;
d1 = p1-hit;
d2 = p2-hit;
PxVec3 c = d0.cross(d1);
if (c.dot(n) < 0.0f)
return false;
c = d1.cross(d2);
if (c.dot(n) < 0.0f)
return false;
c = d2.cross(d0);
if (c.dot(n) < 0.0f)
return false;
return true;
}
void SampleVehicleWayPoints::update(const PxTransform& playerTransform, const PxF32 timestep)
{
//Increment the elapsed time
mTimeElapsed+=timestep;
//Work out the point on the crossing line of the next way-point that is closest to the player.
const PxTransform& nextWayPoint=mWayPoints[mProgress+1];
const PxVec3 v=nextWayPoint.p;
const PxVec3 w=nextWayPoint.q.getBasisVector0();
const PxVec3 p=playerTransform.p;
const PxVec3 pv=p-v;
const PxF32 t=pv.dot(w);
//Test if the player's position is inside the width of the line crossing the next way-point.
if(PxAbs(t) < LINEWIDTH)
{
//Now test if the shortest distance to the next crossing line is smaller than a threshold.
const PxVec3 linePos=v+w*t;
const PxVec3 diff=p-linePos;
const PxF32 dist2=diff.magnitudeSquared();
if(dist2<LINEDISTANCE2)
{
mProgress++;
}
}
if(mProgress == mNumWayPoints-1)
{
mMinTimeElapsed=PxMin(mTimeElapsed, mMinTimeElapsed);
mTimeElapsed=0;
mProgress=0;
}
}
// Based on GD Mag code, but now works correctly when origin is inside the sphere.
// This version has limited accuracy.
bool Gu::intersectRaySphereBasic(const PxVec3& origin, const PxVec3& dir, PxReal length, const PxVec3& center, PxReal radius, PxReal& dist, PxVec3* hit_pos)
{
// get the offset vector
const PxVec3 offset = center - origin;
// get the distance along the ray to the center point of the sphere
const PxReal ray_dist = dir.dot(offset);
// get the squared distances
const PxReal off2 = offset.dot(offset);
const PxReal rad_2 = radius * radius;
if(off2 <= rad_2)
{
// we're in the sphere
if(hit_pos)
*hit_pos = origin;
dist = 0.0f;
return true;
}
if(ray_dist <= 0 || (ray_dist - length) > radius)
{
// moving away from object or too far away
return false;
}
// find hit distance squared
const PxReal d = rad_2 - (off2 - ray_dist * ray_dist);
if(d<0.0f)
{
// ray passes by sphere without hitting
return false;
}
// get the distance along the ray
dist = ray_dist - PxSqrt(d);
if(dist > length)
{
// hit point beyond length
return false;
}
// sort out the details
if(hit_pos)
*hit_pos = origin + dir * dist;
return true;
}
static SPU_INLINE int testAxis( const PxTriangle& tri, const PxVec3& extents,
const PxVec3& dir, const PxVec3& axis,
bool& bValidMTD, float& tfirst, float& tlast)
#endif
{
const float d0t = tri.verts[0].dot(axis);
const float d1t = tri.verts[1].dot(axis);
const float d2t = tri.verts[2].dot(axis);
float TriMin = physx::intrinsics::selectMin(d0t, d1t);
float TriMax = physx::intrinsics::selectMax(d0t, d1t);
TriMin = physx::intrinsics::selectMin(TriMin, d2t);
TriMax = physx::intrinsics::selectMax(TriMax, d2t);
////////
const float BoxExt = physx::intrinsics::abs(axis.x)*extents.x + physx::intrinsics::abs(axis.y)*extents.y + physx::intrinsics::abs(axis.z)*extents.z;
TEST_OVERLAP
const float v = dir.dot(axis);
if(physx::intrinsics::abs(v) < 1.0E-6f)
#ifdef _XBOX
// return float(bIntersect);
return bIntersect;
#else
return bIntersect;
#endif
const float oneOverV = -1.0f / v;
// float t0 = d0 * oneOverV;
// float t1 = d1 * oneOverV;
// if(t0 > t1) TSwap(t0, t1);
const float t0_ = d0 * oneOverV;
const float t1_ = d1 * oneOverV;
float t0 = physx::intrinsics::selectMin(t0_, t1_);
float t1 = physx::intrinsics::selectMax(t0_, t1_);
#ifdef _XBOX
const float cndt0 = physx::intrinsics::fsel(tlast - t0, 1.0f, 0.0f);
const float cndt1 = physx::intrinsics::fsel(t1 - tfirst, 1.0f, 0.0f);
#else
if(t0 > tlast) return false;
if(t1 < tfirst) return false;
#endif
// if(t1 < tlast) tlast = t1;
tlast = physx::intrinsics::selectMin(t1, tlast);
// if(t0 > tfirst) tfirst = t0;
tfirst = physx::intrinsics::selectMax(t0, tfirst);
#ifdef _XBOX
// return int(cndt0*cndt1);
return cndt0*cndt1;
#else
return true;
#endif
}
// Logic to determine if vehicle needs to be reset and does so if needed
void Vehicle::resetIfNeeded()
{
PxVec3 up(0, 1, 0);
PxVec3 vehUp = actor->getGlobalPose().rotate(up);
PxF32 cos = vehUp.dot(up);
PxVec3 vel = ((PxRigidDynamic*)actor)->getLinearVelocity();
if (cos <= 0.707f && vel.x == 0 && vel.y == 0 && vel.z == 0)
{
PxVec3 forw(0, 0, 1);
PxVec3 vehForw = actor->getGlobalPose().rotate(forw);
PxVec3 vehLeft = PxTransform(PxVec3(0), PxQuat(-PxPi/2, PxVec3(0, 1, 0))).rotate(vehForw);
PxF32 angleRad = (vehLeft.dot(forw) < 0) ? -acos(vehForw.dot(forw)) : acos(vehForw.dot(forw));
PxTransform cur = actor->getGlobalPose();
actor->setGlobalPose(PxTransform(PxVec3(cur.p.x, cur.p.y + 0.5f, cur.p.z), PxQuat(angleRad, up)));
}
}
// -------------------------------------------------------------------------------------
void PolygonTriangulator::importPoints(const PxVec3 *points, int numPoints, const int *indices, PxVec3 *planeNormal, bool &isConvex)
{
// find projection 3d -> 2d;
PxVec3 n;
isConvex = true;
if (planeNormal)
n = *planeNormal;
else {
PX_ASSERT(numPoints >= 3);
n = PxVec3(0.0f, 0.0f, 0.0f);
for (int i = 1; i < numPoints-1; i++) {
int i0 = 0;
int i1 = i;
int i2 = i+1;
if (indices) {
i0 = indices[i0];
i1 = indices[i1];
i2 = indices[i2];
}
const PxVec3 &p0 = points[i0];
const PxVec3 &p1 = points[i1];
const PxVec3 &p2 = points[i2];
PxVec3 ni = (p1-p0).cross(p2-p0);
if (i > 1 && ni.dot(n) < 0.0f)
isConvex = false;
n += ni;
}
}
n.normalize();
PxVec3 t0,t1;
if (fabs(n.x) < fabs(n.y) && fabs(n.x) < fabs(n.z))
t0 = PxVec3(1.0f, 0.0f, 0.0f);
else if (fabs(n.y) < fabs(n.z))
t0 = PxVec3(0.0f, 1.0f, 0.0f);
else
t0 = PxVec3(0.0f, 0.0f, 1.0f);
t1 = n.cross(t0);
t1.normalize();
t0 = t1.cross(n);
mPoints.resize((uint32_t)numPoints);
if (indices == NULL) {
for (uint32_t i = 0; i < (uint32_t)numPoints; i++)
mPoints[i] = PxVec3(points[i].dot(t0), points[i].dot(t1), 0.0f);
}
else {
for (uint32_t i = 0; i < (uint32_t)numPoints; i++) {
const PxVec3 &p = points[(uint32_t)indices[i]];
mPoints[i] = PxVec3(p.dot(t0), p.dot(t1), 0.0f);
}
}
}
static bool sphereSphereSweep( const PxReal ra, //radius of sphere A
const PxVec3& A0, //previous position of sphere A
const PxVec3& A1, //current position of sphere A
const PxReal rb, //radius of sphere B
const PxVec3& B0, //previous position of sphere B
const PxVec3& B1, //current position of sphere B
PxReal& u0, //normalized time of first collision
PxReal& u1 //normalized time of second collision
)
{
const PxVec3 va = A1 - A0;
const PxVec3 vb = B1 - B0;
const PxVec3 AB = B0 - A0;
const PxVec3 vab = vb - va; // relative velocity (in normalized time)
const PxReal rab = ra + rb;
const PxReal a = vab.dot(vab); //u*u coefficient
const PxReal b = 2.0f*(vab.dot(AB)); //u coefficient
const PxReal c = (AB.dot(AB)) - rab*rab; //constant term
//check if they're currently overlapping
if(c<=0.0f || a==0.0f)
{
u0 = 0.0f;
u1 = 0.0f;
return true;
}
//check if they hit each other during the frame
if(quadraticFormula(a, b, c, u0, u1))
{
if(u0>u1)
Ps::swap(u0, u1);
// u0<u1
// if(u0<0.0f || u1>1.0f) return false;
if(u1<0.0f || u0>1.0f) return false;
return true;
}
return false;
}
bool Character::faceToward(const PxVec3& targetDir, PxReal angleLimitPerFrame)
{
PxVec3 oldDir = mCharacterPose.q.rotate(PxVec3(0,0,1));
PxVec3 up(0,1,0);
PxVec3 newDir = PxVec3(targetDir.x, 0, targetDir.z).getNormalized();
PxVec3 right = -1.0f * oldDir.cross(up);
PxReal cos = newDir.dot(oldDir);
PxReal sin = newDir.dot(right);
PxReal angle = atan2(sin, cos);
PxReal limit = angleLimitPerFrame * (PxPi / 180.0f);
if (angle > limit) angle = limit;
else if (angle < -limit) angle = -limit;
PxQuat qdel(angle, up);
mCharacterPose.q = qdel * mCharacterPose.q;
return true;
}
// PT: SAT-based version, in box space
// AP: uninlining on SPU doesn't help
int Gu::triBoxSweepTestBoxSpace(const PxTriangle& tri, const PxVec3& extents, const PxVec3& dir, const PxVec3& oneOverDir, float tmax, float& toi, bool doBackfaceCulling)
{
// Create triangle normal
PxVec3 triNormal;
tri.denormalizedNormal(triNormal);
// Backface culling
if(doBackfaceCulling && (triNormal.dot(dir)) >= 0.0f) // ">=" is important !
return 0;
// The SAT test will properly detect initial overlaps, no need for extra tests
return testSeparationAxes(tri, extents, triNormal, dir, oneOverDir, tmax, toi);
}
PX_INLINE void computeFrictionTangents(const PxVec3& vrel,const PxVec3& unitNormal, PxVec3& t0, PxVec3& t1)
{
PX_ASSERT(PxAbs(unitNormal.magnitude()-1)<1e-3f);
t0 = vrel - unitNormal * unitNormal.dot(vrel);
PxReal ll = t0.magnitudeSquared();
if (ll > 0.1f) //can set as low as 0.
{
t0 *= PxRecipSqrt(ll);
t1 = unitNormal.cross(t0);
}
else
Ps::normalToTangents(unitNormal, t0, t1); //fallback
}
// PT: modified version calls the previous function, but moves the ray origin closer to the sphere. The test accuracy is
// greatly improved as a result. This is an idea proposed on the GD-Algorithms list by Eddie Edwards.
// See: http://www.codercorner.com/blog/?p=321
bool Gu::intersectRaySphere(const PxVec3& origin, const PxVec3& dir, PxReal length, const PxVec3& center, PxReal radius, PxReal& dist, PxVec3* hit_pos)
{
const PxVec3 x = origin - center;
PxReal l = PxSqrt(x.dot(x)) - radius - 10.0f;
// if(l<0.0f)
// l=0.0f;
l = physx::intrinsics::selectMax(l, 0.0f);
bool status = intersectRaySphereBasic(origin + l*dir, dir, length - l, center, radius, dist, hit_pos);
if(status)
{
// dist += l/length;
dist += l;
}
return status;
}
static PX_FORCE_INLINE Ps::IntBool planeBoxOverlap(const PxVec3& normal, PxReal d, const PxVec3& maxbox)
{
PxVec3 vmin,vmax;
if (normal.x>0.0f)
{
vmin.x = -maxbox.x;
vmax.x = maxbox.x;
}
else
{
vmin.x = maxbox.x;
vmax.x = -maxbox.x;
}
if (normal.y>0.0f)
{
vmin.y = -maxbox.y;
vmax.y = maxbox.y;
}
else
{
vmin.y = maxbox.y;
vmax.y = -maxbox.y;
}
if (normal.z>0.0f)
{
vmin.z = -maxbox.z;
vmax.z = maxbox.z;
}
else
{
vmin.z = maxbox.z;
vmax.z = -maxbox.z;
}
if( normal.dot(vmin) + d > 0.0f) return Ps::IntFalse;
if( normal.dot(vmax) + d >= 0.0f) return Ps::IntTrue;
return Ps::IntFalse;
}
// AP: function version to reduce SPU code size
void sweepCapsuleTrianglesOutputTri2(
const PxVec3& p0, const PxVec3& p1, const PxVec3& p2, const PxVec3& d, PxTriangle* extrudedTris,
PxU32& nbExtrudedTris, PxVec3* extrudedTrisNormals
)
{
PxTriangle& t = extrudedTris[nbExtrudedTris];
t.verts[0] = p0;
t.verts[1] = p1;
t.verts[2] = p2;
PxVec3 nrm;
t.denormalizedNormal(nrm);
if(nrm.dot(d)>0.0f)
{
PxVec3 tmp = t.verts[1];
t.verts[1] = t.verts[2];
t.verts[2] = tmp;
nrm = -nrm;
}
extrudedTrisNormals[nbExtrudedTris] = nrm;
nbExtrudedTris++;
}
/**
@brief generate triangle index buffer
@date 2014-01-30
*/
void SampleRenderer::GenerateTriangleFrom3Vector( void *positions, void *normals, PxU32 stride,
const PxVec3 ¢er, const vector<PxU16> &triangle, OUT vector<PxU16> &outTriangle )
{
const PxVec3 p0 = *(PxVec3*)(((PxU8*)positions) + (stride * triangle[ 0]));
const PxVec3 p1 = *(PxVec3*)(((PxU8*)positions) + (stride * triangle[ 1]));
const PxVec3 p2 = *(PxVec3*)(((PxU8*)positions) + (stride * triangle[ 2]));
PxVec3 faceCenter = (p0 + p1 + p2) / 3.f;
PxVec3 n = faceCenter - center;
n.normalize();
// ccw check
//
// p0
// / \
// / \
// p2 ------ p1
//
PxVec3 v10 = p1 - p0;
v10.normalize();
PxVec3 v20 = p2 - p0;
v20.normalize();
PxVec3 crossV = v10.cross(v20);
crossV.normalize();
if (n.dot(crossV) >= 0)
{
outTriangle.push_back( triangle[ 0] );
outTriangle.push_back( triangle[ 2] );
outTriangle.push_back( triangle[ 1] );
}
else
{
outTriangle.push_back( triangle[ 0] );
outTriangle.push_back( triangle[ 1] );
outTriangle.push_back( triangle[ 2] );
}
}
static PxQuat rotationArc(const PxVec3& v0, const PxVec3& v1, bool& res)
{
PxVec3 _v0 = v0;
PxVec3 _v1 = v1;
_v0.normalize();
_v1.normalize();
float s = sqrtf((1.0f + (v0.dot(v1))) * 2.0f);
if(s<0.001f)
{
res = false;
return PxQuat::createIdentity();
}
PxVec3 p = (_v0.cross(_v1)) / s;
float w = s * 0.5f;
PxQuat q(p.x, p.y, p.z, w);
q.normalize();
res = true;
return q;
}
PX_FORCE_INLINE void collideWithSphere(PxsParticleCollData& collData, const PxSphereGeometry& sphereShapeData,
PxReal proxRadius)
{
PxVec3& oldPos = collData.localOldPos;
PxVec3& newPos = collData.localNewPos;
PxReal radius = sphereShapeData.radius;
PxReal oldPosDist2 = oldPos.magnitudeSquared();
PxReal radius2 = radius * radius;
bool oldInSphere = (oldPosDist2 < radius2);
if(oldInSphere)
{
// old position inside the skeleton
// add ccd with time 0.0
collData.localSurfaceNormal = oldPos;
if (oldPosDist2 > 0.0f)
collData.localSurfaceNormal *= PxRecipSqrt(oldPosDist2);
else
collData.localSurfaceNormal = PxVec3(0,1.0f,0);
// Push particle to surface such that the distance to the surface is equal to the collision radius
collData.localSurfacePos = collData.localSurfaceNormal * (radius + collData.restOffset);
collData.ccTime = 0.0;
collData.localFlags |= PXS_FLUID_COLL_FLAG_L_CC;
}
else
{
// old position is outside of the skeleton
PxVec3 motion = newPos - oldPos;
// Discriminant
PxReal b = motion.dot(oldPos) * 2.0f;
PxReal a2 = 2.0f * motion.magnitudeSquared();
PxReal disc = (b*b) - (2.0f * a2 * (oldPosDist2 - radius2));
bool intersection = disc > 0.0f;
if ((!intersection) || (a2 == 0.0f))
{
// the ray does not intersect the sphere
collideWithSphereNonContinuous(collData, newPos, radius, proxRadius);
}
else
{
// the ray intersects the sphere
PxReal t = -(b + PxSqrt(disc)) / a2; // Compute intersection point
if (t < 0.0f || t > 1.0f)
{
// intersection point lies outside motion vector
collideWithSphereNonContinuous(collData, newPos, radius, proxRadius);
}
else if(t < collData.ccTime)
{
// intersection point lies on sphere, add lcc
//collData.localSurfacePos = oldPos + (motion * t);
//collData.localSurfaceNormal = collData.localSurfacePos;
//collData.localSurfaceNormal *= (1.0f / radius);
//collData.localSurfacePos += (collData.localSurfaceNormal * collData.restOffset);
PxVec3 relativeImpact = motion*t;
collData.localSurfaceNormal = oldPos + relativeImpact;
collData.localSurfaceNormal *= (1.0f / radius);
computeContinuousTargetPosition(collData.localSurfacePos, collData.localOldPos, relativeImpact, collData.localSurfaceNormal, collData.restOffset);
collData.ccTime = t;
collData.localFlags |= PXS_FLUID_COLL_FLAG_L_CC;
}
}
}
}
void SampleVehicle_CameraController::update(const PxReal dtime, const PxRigidDynamic* actor, PxScene& scene)
{
PxTransform carChassisTransfm;
if(mLockOnFocusVehTransform)
{
carChassisTransfm = actor->getGlobalPose();
mLastFocusVehTransform = carChassisTransfm;
}
else
{
carChassisTransfm = mLastFocusVehTransform;
}
PxF32 camDist = 15.0f;
PxF32 cameraYRotExtra = 0.0f;
PxVec3 velocity = mLastCarPos-carChassisTransfm.p;
if (mCameraInit)
{
//Work out the forward and sideways directions.
PxVec3 unitZ(0,0,1);
PxVec3 carDirection = carChassisTransfm.q.rotate(unitZ);
PxVec3 unitX(1,0,0);
PxVec3 carSideDirection = carChassisTransfm.q.rotate(unitX);
//Acceleration (note that is not scaled by time).
PxVec3 acclVec = mLastCarVelocity-velocity;
//Higher forward accelerations allow the car to speed away from the camera.
PxF32 acclZ = carDirection.dot(acclVec);
camDist = PxMax(camDist+acclZ*400.0f, 5.0f);
//Higher sideways accelerations allow the car's rotation to speed away from the camera's rotation.
PxF32 acclX = carSideDirection.dot(acclVec);
cameraYRotExtra = -acclX*10.0f;
//At very small sideways speeds the camera greatly amplifies any numeric error in the body and leads to a slight jitter.
//Scale cameraYRotExtra by a value in range (0,1) for side speeds in range (0.1,1.0) and by zero for side speeds less than 0.1.
PxFixedSizeLookupTable<4> table;
table.addPair(0.0f, 0.0f);
table.addPair(0.1f*dtime, 0);
table.addPair(1.0f*dtime, 1);
PxF32 velX = carSideDirection.dot(velocity);
cameraYRotExtra *= table.getYVal(PxAbs(velX));
}
mCameraRotateAngleY+=mRotateInputY*mMaxCameraRotateSpeed*dtime;
mCameraRotateAngleY=physx::intrinsics::fsel(mCameraRotateAngleY-10*PxPi, mCameraRotateAngleY-10*PxPi, physx::intrinsics::fsel(-mCameraRotateAngleY-10*PxPi, mCameraRotateAngleY + 10*PxPi, mCameraRotateAngleY));
mCameraRotateAngleZ+=mRotateInputZ*mMaxCameraRotateSpeed*dtime;
mCameraRotateAngleZ=PxClamp(mCameraRotateAngleZ,-PxPi*0.05f,PxPi*0.45f);
PxVec3 cameraDir=PxVec3(0,0,1)*PxCos(mCameraRotateAngleY+cameraYRotExtra) + PxVec3(1,0,0)*PxSin(mCameraRotateAngleY+cameraYRotExtra);
cameraDir=cameraDir*PxCos(mCameraRotateAngleZ)-PxVec3(0,1,0)*PxSin(mCameraRotateAngleZ);
const PxVec3 direction = carChassisTransfm.q.rotate(cameraDir);
PxVec3 target = carChassisTransfm.p;
target.y+=0.5f;
PxRaycastHit hit;
PxSceneQueryFilterData filterData(PxSceneQueryFilterFlag::eSTATIC);
scene.raycastSingle(target, -direction, camDist, PxSceneQueryFlag::eDISTANCE, hit, filterData, NULL, NULL);
if (hit.shape != NULL)
{
camDist = hit.distance-0.25f;
}
camDist = PxMax(5.0f, PxMin(camDist, 50.0f));
PxVec3 position = target-direction*camDist;
if (mCameraInit)
{
dampVec3(mCameraPos, position, dtime);
dampVec3(mCameraTargetPos, target, dtime);
}
mCameraPos = position;
mCameraTargetPos = target;
mCameraInit = true;
mLastCarVelocity = velocity;
mLastCarPos = carChassisTransfm.p;
}
//! Compute the smallest distance from the (infinite) line to the box.
static PxReal distanceLineBoxSquared(const PxVec3& lineOrigin, const PxVec3& lineDirection,
const PxVec3& boxOrigin, const PxVec3& boxExtent, const PxMat33& boxBase,
PxReal* lineParam,
PxVec3* boxParam)
{
const PxVec3& axis0 = boxBase.column0;
const PxVec3& axis1 = boxBase.column1;
const PxVec3& axis2 = boxBase.column2;
// compute coordinates of line in box coordinate system
const PxVec3 diff = lineOrigin - boxOrigin;
PxVec3 pnt(diff.dot(axis0), diff.dot(axis1), diff.dot(axis2));
PxVec3 dir(lineDirection.dot(axis0), lineDirection.dot(axis1), lineDirection.dot(axis2));
// Apply reflections so that direction vector has nonnegative components.
bool reflect[3];
for(unsigned int i=0;i<3;i++)
{
if(dir[i]<0.0f)
{
pnt[i] = -pnt[i];
dir[i] = -dir[i];
reflect[i] = true;
}
else
{
reflect[i] = false;
}
}
PxReal sqrDistance = 0.0f;
if(dir.x>0.0f)
{
if(dir.y>0.0f)
{
if(dir.z>0.0f) caseNoZeros(pnt, dir, boxExtent, lineParam, sqrDistance); // (+,+,+)
else case0(0, 1, 2, pnt, dir, boxExtent, lineParam, sqrDistance); // (+,+,0)
}
else
{
if(dir.z>0.0f) case0(0, 2, 1, pnt, dir, boxExtent, lineParam, sqrDistance); // (+,0,+)
else case00(0, 1, 2, pnt, dir, boxExtent, lineParam, sqrDistance); // (+,0,0)
}
}
else
{
if(dir.y>0.0f)
{
if(dir.z>0.0f) case0(1, 2, 0, pnt, dir, boxExtent, lineParam, sqrDistance); // (0,+,+)
else case00(1, 0, 2, pnt, dir, boxExtent, lineParam, sqrDistance); // (0,+,0)
}
else
{
if(dir.z>0.0f) case00(2, 0, 1, pnt, dir, boxExtent, lineParam, sqrDistance); // (0,0,+)
else
{
case000(pnt, boxExtent, sqrDistance); // (0,0,0)
if(lineParam)
*lineParam = 0.0f;
}
}
}
if(boxParam)
{
// undo reflections
for(unsigned int i=0;i<3;i++)
{
if(reflect[i])
pnt[i] = -pnt[i];
}
*boxParam = pnt;
}
return sqrDistance;
}
bool Gu::intersectOBBOBB(const PxVec3& e0, const PxVec3& c0, const PxMat33& r0, const PxVec3& e1, const PxVec3& c1, const PxMat33& r1, bool full_test)
{
// Translation, in parent frame
const PxVec3 v = c1 - c0;
// Translation, in A's frame
const PxVec3 T(v.dot(r0[0]), v.dot(r0[1]), v.dot(r0[2]));
// B's basis with respect to A's local frame
PxReal R[3][3];
PxReal FR[3][3];
PxReal ra, rb, t;
// Calculate rotation matrix
for(PxU32 i=0;i<3;i++)
{
for(PxU32 k=0;k<3;k++)
{
R[i][k] = r0[i].dot(r1[k]);
FR[i][k] = 1e-6f + PxAbs(R[i][k]); // Precompute fabs matrix
}
}
// A's basis vectors
for(PxU32 i=0;i<3;i++)
{
ra = e0[i];
rb = e1[0]*FR[i][0] + e1[1]*FR[i][1] + e1[2]*FR[i][2];
t = PxAbs(T[i]);
if(t > ra + rb) return false;
}
// B's basis vectors
for(PxU32 k=0;k<3;k++)
{
ra = e0[0]*FR[0][k] + e0[1]*FR[1][k] + e0[2]*FR[2][k];
rb = e1[k];
t = PxAbs(T[0]*R[0][k] + T[1]*R[1][k] + T[2]*R[2][k]);
if( t > ra + rb ) return false;
}
if(full_test)
{
//9 cross products
//L = A0 x B0
ra = e0[1]*FR[2][0] + e0[2]*FR[1][0];
rb = e1[1]*FR[0][2] + e1[2]*FR[0][1];
t = PxAbs(T[2]*R[1][0] - T[1]*R[2][0]);
if(t > ra + rb) return false;
//L = A0 x B1
ra = e0[1]*FR[2][1] + e0[2]*FR[1][1];
rb = e1[0]*FR[0][2] + e1[2]*FR[0][0];
t = PxAbs(T[2]*R[1][1] - T[1]*R[2][1]);
if(t > ra + rb) return false;
//L = A0 x B2
ra = e0[1]*FR[2][2] + e0[2]*FR[1][2];
rb = e1[0]*FR[0][1] + e1[1]*FR[0][0];
t = PxAbs(T[2]*R[1][2] - T[1]*R[2][2]);
if(t > ra + rb) return false;
//L = A1 x B0
ra = e0[0]*FR[2][0] + e0[2]*FR[0][0];
rb = e1[1]*FR[1][2] + e1[2]*FR[1][1];
t = PxAbs(T[0]*R[2][0] - T[2]*R[0][0]);
if(t > ra + rb) return false;
//L = A1 x B1
ra = e0[0]*FR[2][1] + e0[2]*FR[0][1];
rb = e1[0]*FR[1][2] + e1[2]*FR[1][0];
t = PxAbs(T[0]*R[2][1] - T[2]*R[0][1]);
if(t > ra + rb) return false;
//L = A1 x B2
ra = e0[0]*FR[2][2] + e0[2]*FR[0][2];
rb = e1[0]*FR[1][1] + e1[1]*FR[1][0];
t = PxAbs(T[0]*R[2][2] - T[2]*R[0][2]);
if(t > ra + rb) return false;
//L = A2 x B0
ra = e0[0]*FR[1][0] + e0[1]*FR[0][0];
rb = e1[1]*FR[2][2] + e1[2]*FR[2][1];
t = PxAbs(T[1]*R[0][0] - T[0]*R[1][0]);
if(t > ra + rb) return false;
//L = A2 x B1
ra = e0[0]*FR[1][1] + e0[1]*FR[0][1];
rb = e1[0] *FR[2][2] + e1[2]*FR[2][0];
t = PxAbs(T[1]*R[0][1] - T[0]*R[1][1]);
if(t > ra + rb) return false;
//L = A2 x B2
ra = e0[0]*FR[1][2] + e0[1]*FR[0][2];
rb = e1[0]*FR[2][1] + e1[1]*FR[2][0];
t = PxAbs(T[1]*R[0][2] - T[0]*R[1][2]);
if(t > ra + rb) return false;
}
return true;
}
bool setupFinalizeExtSolverContactsCoulomb(
const ContactBuffer& buffer,
const CorrelationBuffer& c,
const PxTransform& bodyFrame0,
const PxTransform& bodyFrame1,
PxU8* workspace,
PxReal invDt,
PxReal bounceThresholdF32,
const SolverExtBody& b0,
const SolverExtBody& b1,
PxU32 frictionCountPerPoint,
PxReal invMassScale0, PxReal invInertiaScale0,
PxReal invMassScale1, PxReal invInertiaScale1,
PxReal restDist,
PxReal ccdMaxDistance)
{
// NOTE II: the friction patches are sparse (some of them have no contact patches, and
// therefore did not get written back to the cache) but the patch addresses are dense,
// corresponding to valid patches
const FloatV ccdMaxSeparation = FLoad(ccdMaxDistance);
PxU8* PX_RESTRICT ptr = workspace;
//KS - TODO - this should all be done in SIMD to avoid LHS
const PxF32 maxPenBias0 = b0.mLinkIndex == PxSolverConstraintDesc::NO_LINK ? b0.mBodyData->penBiasClamp : getMaxPenBias(*b0.mFsData)[b0.mLinkIndex];
const PxF32 maxPenBias1 = b1.mLinkIndex == PxSolverConstraintDesc::NO_LINK ? b1.mBodyData->penBiasClamp : getMaxPenBias(*b1.mFsData)[b1.mLinkIndex];
const FloatV maxPenBias = FLoad(PxMax(maxPenBias0, maxPenBias1)/invDt);
const FloatV restDistance = FLoad(restDist);
const FloatV bounceThreshold = FLoad(bounceThresholdF32);
const FloatV invDtV = FLoad(invDt);
const FloatV pt8 = FLoad(0.8f);
const FloatV invDtp8 = FMul(invDtV, pt8);
Ps::prefetchLine(c.contactID);
Ps::prefetchLine(c.contactID, 128);
const PxU32 frictionPatchCount = c.frictionPatchCount;
const PxU32 pointStride = sizeof(SolverContactPointExt);
const PxU32 frictionStride = sizeof(SolverContactFrictionExt);
const PxU8 pointHeaderType = DY_SC_TYPE_EXT_CONTACT;
const PxU8 frictionHeaderType = DY_SC_TYPE_EXT_FRICTION;
PxReal d0 = invMassScale0;
PxReal d1 = invMassScale1;
PxReal angD0 = invInertiaScale0;
PxReal angD1 = invInertiaScale1;
PxU8 flags = 0;
for(PxU32 i=0;i< frictionPatchCount;i++)
{
const PxU32 contactCount = c.frictionPatchContactCounts[i];
if(contactCount == 0)
continue;
const Gu::ContactPoint* contactBase0 = buffer.contacts + c.contactPatches[c.correlationListHeads[i]].start;
const Vec3V normalV = Ps::aos::V3LoadA(contactBase0->normal);
const Vec3V normal = V3LoadA(contactBase0->normal);
const PxReal combinedRestitution = contactBase0->restitution;
SolverContactCoulombHeader* PX_RESTRICT header = reinterpret_cast<SolverContactCoulombHeader*>(ptr);
ptr += sizeof(SolverContactCoulombHeader);
Ps::prefetchLine(ptr, 128);
Ps::prefetchLine(ptr, 256);
Ps::prefetchLine(ptr, 384);
const FloatV restitution = FLoad(combinedRestitution);
header->numNormalConstr = PxU8(contactCount);
header->type = pointHeaderType;
//header->setRestitution(combinedRestitution);
header->setDominance0(d0);
header->setDominance1(d1);
header->angDom0 = angD0;
header->angDom1 = angD1;
header->flags = flags;
header->setNormal(normalV);
for(PxU32 patch=c.correlationListHeads[i];
patch!=CorrelationBuffer::LIST_END;
patch = c.contactPatches[patch].next)
{
const PxU32 count = c.contactPatches[patch].count;
const Gu::ContactPoint* contactBase = buffer.contacts + c.contactPatches[patch].start;
PxU8* p = ptr;
for(PxU32 j=0;j<count;j++)
{
const Gu::ContactPoint& contact = contactBase[j];
SolverContactPointExt* PX_RESTRICT solverContact = reinterpret_cast<SolverContactPointExt*>(p);
p += pointStride;
setupExtSolverContact(b0, b1, d0, d1, angD0, angD1, bodyFrame0, bodyFrame1, normal, invDtV, invDtp8, restDistance, maxPenBias, restitution,
bounceThreshold, contact, *solverContact, ccdMaxSeparation);
}
ptr = p;
}
}
//construct all the frictions
PxU8* PX_RESTRICT ptr2 = workspace;
const PxF32 orthoThreshold = 0.70710678f;
const PxF32 eps = 0.00001f;
bool hasFriction = false;
for(PxU32 i=0;i< frictionPatchCount;i++)
{
const PxU32 contactCount = c.frictionPatchContactCounts[i];
if(contactCount == 0)
continue;
SolverContactCoulombHeader* header = reinterpret_cast<SolverContactCoulombHeader*>(ptr2);
header->frictionOffset = PxU16(ptr - ptr2);
ptr2 += sizeof(SolverContactCoulombHeader) + header->numNormalConstr * pointStride;
const Gu::ContactPoint* contactBase0 = buffer.contacts + c.contactPatches[c.correlationListHeads[i]].start;
PxVec3 normal = contactBase0->normal;
const PxReal staticFriction = contactBase0->staticFriction;
const bool disableStrongFriction = !!(contactBase0->materialFlags & PxMaterialFlag::eDISABLE_FRICTION);
const bool haveFriction = (disableStrongFriction == 0);
SolverFrictionHeader* frictionHeader = reinterpret_cast<SolverFrictionHeader*>(ptr);
frictionHeader->numNormalConstr = Ps::to8(c.frictionPatchContactCounts[i]);
frictionHeader->numFrictionConstr = Ps::to8(haveFriction ? c.frictionPatchContactCounts[i] * frictionCountPerPoint : 0);
frictionHeader->flags = flags;
ptr += sizeof(SolverFrictionHeader);
PxF32* forceBuffer = reinterpret_cast<PxF32*>(ptr);
ptr += frictionHeader->getAppliedForcePaddingSize(c.frictionPatchContactCounts[i]);
PxMemZero(forceBuffer, sizeof(PxF32) * c.frictionPatchContactCounts[i]);
Ps::prefetchLine(ptr, 128);
Ps::prefetchLine(ptr, 256);
Ps::prefetchLine(ptr, 384);
const PxVec3 t0Fallback1(0.f, -normal.z, normal.y);
const PxVec3 t0Fallback2(-normal.y, normal.x, 0.f) ;
const PxVec3 tFallback1 = orthoThreshold > PxAbs(normal.x) ? t0Fallback1 : t0Fallback2;
const PxVec3 vrel = b0.getLinVel() - b1.getLinVel();
const PxVec3 t0_ = vrel - normal * (normal.dot(vrel));
const PxReal sqDist = t0_.dot(t0_);
const PxVec3 tDir0 = (sqDist > eps ? t0_: tFallback1).getNormalized();
const PxVec3 tDir1 = tDir0.cross(normal);
PxVec3 tFallback[2] = {tDir0, tDir1};
PxU32 ind = 0;
if(haveFriction)
{
hasFriction = true;
frictionHeader->setStaticFriction(staticFriction);
frictionHeader->invMass0D0 = d0;
frictionHeader->invMass1D1 = d1;
frictionHeader->angDom0 = angD0;
frictionHeader->angDom1 = angD1;
frictionHeader->type = frictionHeaderType;
PxU32 totalPatchContactCount = 0;
for(PxU32 patch=c.correlationListHeads[i];
patch!=CorrelationBuffer::LIST_END;
patch = c.contactPatches[patch].next)
{
const PxU32 count = c.contactPatches[patch].count;
const PxU32 start = c.contactPatches[patch].start;
const Gu::ContactPoint* contactBase = buffer.contacts + start;
PxU8* p = ptr;
for(PxU32 j =0; j < count; j++)
{
const Gu::ContactPoint& contact = contactBase[j];
const PxVec3 ra = contact.point - bodyFrame0.p;
const PxVec3 rb = contact.point - bodyFrame1.p;
const PxVec3 targetVel = contact.targetVel;
const PxVec3 pVRa = b0.getLinVel() + b0.getAngVel().cross(ra);
const PxVec3 pVRb = b1.getLinVel() + b1.getAngVel().cross(rb);
//const PxVec3 vrel = pVRa - pVRb;
for(PxU32 k = 0; k < frictionCountPerPoint; ++k)
{
SolverContactFrictionExt* PX_RESTRICT f0 = reinterpret_cast<SolverContactFrictionExt*>(p);
p += frictionStride;
PxVec3 t0 = tFallback[ind];
ind = 1 - ind;
PxVec3 raXn = ra.cross(t0);
PxVec3 rbXn = rb.cross(t0);
Cm::SpatialVector deltaV0, deltaV1;
const Cm::SpatialVector resp0 = createImpulseResponseVector(t0, raXn, b0);
const Cm::SpatialVector resp1 = createImpulseResponseVector(-t0, -rbXn, b1);
PxReal unitResponse = getImpulseResponse(b0, resp0, deltaV0, d0, angD0,
b1, resp1, deltaV1, d1, angD1);
PxReal tv = targetVel.dot(t0);
if(b0.mLinkIndex == PxSolverConstraintDesc::NO_LINK)
tv += pVRa.dot(t0);
else if(b1.mLinkIndex == PxSolverConstraintDesc::NO_LINK)
tv -= pVRb.dot(t0);
f0->setVelMultiplier(FLoad(unitResponse>0.0f ? 1.f/unitResponse : 0.0f));
f0->setRaXn(resp0.angular);
f0->setRbXn(-resp1.angular);
f0->targetVel = tv;
f0->setNormal(t0);
f0->setAppliedForce(0.0f);
f0->linDeltaVA = V3LoadA(deltaV0.linear);
f0->angDeltaVA = V3LoadA(deltaV0.angular);
f0->linDeltaVB = V3LoadA(deltaV1.linear);
f0->angDeltaVB = V3LoadA(deltaV1.angular);
}
}
totalPatchContactCount += c.contactPatches[patch].count;
ptr = p;
}
}
}
//PX_ASSERT(ptr - workspace == n.solverConstraintSize);
return hasFriction;
}
// this code is shared between capsule vertices and sphere
bool GuContactSphereHeightFieldShared(GU_CONTACT_METHOD_ARGS, bool isCapsule)
{
#if 1
PX_UNUSED(cache);
PX_UNUSED(renderOutput);
// Get actual shape data
const PxSphereGeometry& shapeSphere = shape0.get<const PxSphereGeometry>();
const PxHeightFieldGeometryLL& hfGeom = shape1.get<const PxHeightFieldGeometryLL>();
const Gu::HeightField& hf = *static_cast<Gu::HeightField*>(hfGeom.heightField);
const Gu::HeightFieldUtil hfUtil(hfGeom, hf);
const PxReal radius = shapeSphere.radius;
const PxReal eps = PxReal(0.1) * radius;
const PxVec3 sphereInHfShape = transform1.transformInv(transform0.p);
PX_ASSERT(isCapsule || contactBuffer.count==0);
const PxReal oneOverRowScale = hfUtil.getOneOverRowScale();
const PxReal oneOverColumnScale = hfUtil.getOneOverColumnScale();
// check if the sphere is below the HF surface
if (hfUtil.isShapePointOnHeightField(sphereInHfShape.x, sphereInHfShape.z))
{
PxReal fracX, fracZ;
const PxU32 vertexIndex = hfUtil.getHeightField().computeCellCoordinates(sphereInHfShape.x * oneOverRowScale, sphereInHfShape.z * oneOverColumnScale, fracX, fracZ);
// The sphere origin projects within the bounds of the heightfield in the X-Z plane
// const PxReal sampleHeight = hfShape.getHeightAtShapePoint(sphereInHfShape.x, sphereInHfShape.z);
const PxReal sampleHeight = hfUtil.getHeightAtShapePoint2(vertexIndex, fracX, fracZ);
const PxReal deltaHeight = sphereInHfShape.y - sampleHeight;
//if (hfShape.isDeltaHeightInsideExtent(deltaHeight, eps))
if (hf.isDeltaHeightInsideExtent(deltaHeight, eps))
{
// The sphere origin is 'below' the heightfield surface
// Actually there is an epsilon involved to make sure the
// 'above' surface calculations can deliver a good normal
const PxU32 faceIndex = hfUtil.getFaceIndexAtShapePointNoTest2(vertexIndex, fracX, fracZ);
if (faceIndex != 0xffffffff)
{
//hfShape.getAbsPoseFast().M.getColumn(1, hfShapeUp);
const PxVec3 hfShapeUp = transform1.q.getBasisVector1();
if (hf.getThicknessFast() <= 0)
contactBuffer.contact(transform0.p, hfShapeUp, deltaHeight-radius, faceIndex);
else
contactBuffer.contact(transform0.p, -hfShapeUp, -deltaHeight-radius, faceIndex);
return true;
}
return false;
}
}
const PxReal epsSqr = eps * eps;
const PxReal inflatedRadius = radius + params.mContactDistance;
const PxReal inflatedRadiusSquared = inflatedRadius * inflatedRadius;
const PxVec3 sphereInHF = hfUtil.shape2hfp(sphereInHfShape);
const PxReal radiusOverRowScale = inflatedRadius * PxAbs(oneOverRowScale);
const PxReal radiusOverColumnScale = inflatedRadius * PxAbs(oneOverColumnScale);
const PxU32 minRow = hf.getMinRow(sphereInHF.x - radiusOverRowScale);
const PxU32 maxRow = hf.getMaxRow(sphereInHF.x + radiusOverRowScale);
const PxU32 minColumn = hf.getMinColumn(sphereInHF.z - radiusOverColumnScale);
const PxU32 maxColumn = hf.getMaxColumn(sphereInHF.z + radiusOverColumnScale);
// this assert is here because the following code depends on it for reasonable performance for high-count situations
PX_COMPILE_TIME_ASSERT(ContactBuffer::MAX_CONTACTS == 64);
const PxU32 nbColumns = hf.getNbColumnsFast();
#define HFU Gu::HeightFieldUtil
PxU32 numFaceContacts = 0;
for (PxU32 i = 0; i<2; i++)
{
const bool facesOnly = (i == 0);
// first we go over faces-only meaning only contacts directly in Voronoi regions of faces
// at second pass we consider edges and vertices and clamp the normals to adjacent feature's normal
// if there was a prior contact. it is equivalent to clipping the normal to it's feature's Voronoi region
for (PxU32 r = minRow; r < maxRow; r++)
{
for (PxU32 c = minColumn; c < maxColumn; c++)
{
// x--x--x
// | x |
// x x x
// | x |
// x--x--x
PxVec3 closestPoints[11];
PxU32 closestFeatures[11];
PxU32 npcp = hfUtil.findClosestPointsOnCell(
r, c, sphereInHfShape, closestPoints, closestFeatures, facesOnly, !facesOnly, true);
for(PxU32 pi = 0; pi < npcp; pi++)
{
PX_ASSERT(closestFeatures[pi] != 0xffffffff);
const PxVec3 d = sphereInHfShape - closestPoints[pi];
if (hf.isDeltaHeightOppositeExtent(d.y)) // See if we are 'above' the heightfield
{
const PxReal dMagSq = d.magnitudeSquared();
if (dMagSq > inflatedRadiusSquared)
// Too far above
continue;
PxReal dMag = -1.0f; // dMag is sqrt(sMadSq) and comes up as a byproduct of other calculations in computePointNormal
PxVec3 n; // n is in world space, rotated by transform1
PxU32 featureType = HFU::getFeatureType(closestFeatures[pi]);
if (featureType == HFU::eEDGE)
{
PxU32 edgeIndex = HFU::getFeatureIndex(closestFeatures[pi]);
PxU32 adjFaceIndices[2];
const PxU32 adjFaceCount = hf.getEdgeTriangleIndices(edgeIndex, adjFaceIndices);
PxVec3 origin;
PxVec3 direction;
const PxU32 vertexIndex = edgeIndex / 3;
const PxU32 row = vertexIndex / nbColumns;
const PxU32 col = vertexIndex % nbColumns;
hfUtil.getEdge(edgeIndex, vertexIndex, row, col, origin, direction);
n = hfUtil.computePointNormal(
hfGeom.heightFieldFlags, d, transform1, dMagSq,
closestPoints[pi].x, closestPoints[pi].z, epsSqr, dMag);
PxVec3 localN = transform1.rotateInv(n);
// clamp the edge's normal to its Voronoi region
for (PxU32 j = 0; j < adjFaceCount; j++)
{
const PxVec3 adjNormal = hfUtil.hf2shapen(hf.getTriangleNormalInternal(adjFaceIndices[j])).getNormalized();
PxU32 triCell = adjFaceIndices[j] >> 1;
PxU32 triRow = triCell/hf.getNbColumnsFast();
PxU32 triCol = triCell%hf.getNbColumnsFast();
PxVec3 tv0, tv1, tv2, tvc;
hf.getTriangleVertices(adjFaceIndices[j], triRow, triCol, tv0, tv1, tv2);
tvc = hfUtil.hf2shapep((tv0+tv1+tv2)/3.0f); // compute adjacent triangle center
PxVec3 perp = adjNormal.cross(direction).getNormalized(); // adj face normal cross edge dir
if (perp.dot(tvc-origin) < 0.0f) // make sure perp is pointing toward the center of the triangle
perp = -perp;
// perp is now a vector sticking out of the edge of the triangle (also the test edge) pointing toward the center
// perpendicular to the normal (in triangle plane)
if (perp.dot(localN) > 0.0f) // if the normal is in perp halfspace, clamp it to Voronoi region
{
n = transform1.rotate(adjNormal);
break;
}
}
} else if(featureType == HFU::eVERTEX)
{
// AP: these contacts are rare so hopefully it's ok
const PxU32 bufferCount = contactBuffer.count;
const PxU32 vertIndex = HFU::getFeatureIndex(closestFeatures[pi]);
EdgeData adjEdges[8];
const PxU32 row = vertIndex / nbColumns;
const PxU32 col = vertIndex % nbColumns;
const PxU32 numAdjEdges = ::getVertexEdgeIndices(hf, vertIndex, row, col, adjEdges);
for (PxU32 iPrevEdgeContact = numFaceContacts; iPrevEdgeContact < bufferCount; iPrevEdgeContact++)
{
if (contactBuffer.contacts[iPrevEdgeContact].forInternalUse != HFU::eEDGE)
continue; // skip non-edge contacts (can be other vertex contacts)
for (PxU32 iAdjEdge = 0; iAdjEdge < numAdjEdges; iAdjEdge++)
// does adjacent edge index for this vertex match a previously encountered edge index?
if (adjEdges[iAdjEdge].edgeIndex == contactBuffer.contacts[iPrevEdgeContact].internalFaceIndex1)
{
// if so, clamp the normal for this vertex to that edge's normal
n = contactBuffer.contacts[iPrevEdgeContact].normal;
dMag = PxSqrt(dMagSq);
break;
}
}
}
if (dMag == -1.0f)
n = hfUtil.computePointNormal(hfGeom.heightFieldFlags, d, transform1,
dMagSq, closestPoints[pi].x, closestPoints[pi].z, epsSqr, dMag);
PxVec3 p = transform0.p - n * radius;
#if DEBUG_RENDER_HFCONTACTS
printf("n=%.5f %.5f %.5f; ", n.x, n.y, n.z);
if (n.y < 0.8f)
int a = 1;
PxScene *s; PxGetPhysics().getScenes(&s, 1, 0);
Cm::RenderOutput((Cm::RenderBuffer&)s->getRenderBuffer()) << Cm::RenderOutput::LINES << PxDebugColor::eARGB_BLUE // red
<< p << (p + n * 10.0f);
#endif
// temporarily use the internalFaceIndex0 slot in the contact buffer for featureType
contactBuffer.contact(
p, n, dMag - radius, PxU16(featureType), HFU::getFeatureIndex(closestFeatures[pi]));
}
}
}
}
PxVec3 RandomOrthogonalVector(PxVec3 normal)
{
PxVec3 random = CreateRandomVector(10);
return random - (normal * random.dot(normal));
}
static PX_FORCE_INLINE int testSeparationAxes( const PxTriangle& tri, const PxVec3& extents,
const PxVec3& normal, const PxVec3& dir, const PxVec3& oneOverDir, float tmax, float& tcoll)
{
#ifdef _XBOX
float bValidMTD = 1.0f;
#else
bool bValidMTD = true;
#endif
tcoll = tmax;
float tfirst = -FLT_MAX;
float tlast = FLT_MAX;
// Triangle normal
#ifdef _XBOX
if(testAxis(tri, extents, dir, normal, bValidMTD, tfirst, tlast)==0.0f)
#else
if(!testAxis(tri, extents, dir, normal, bValidMTD, tfirst, tlast))
#endif
return 0;
// Box normals
#ifdef _XBOX
if(testAxisXYZ(tri, extents, dir, oneOverDir.x, bValidMTD, tfirst, tlast, 0)==0.0f)
return 0;
if(testAxisXYZ(tri, extents, dir, oneOverDir.y, bValidMTD, tfirst, tlast, 1)==0.0f)
return 0;
if(testAxisXYZ(tri, extents, dir, oneOverDir.z, bValidMTD, tfirst, tlast, 2)==0.0f)
return 0;
#else
if(!testAxisXYZ(tri, extents, dir, oneOverDir.x, bValidMTD, tfirst, tlast, 0))
return 0;
if(!testAxisXYZ(tri, extents, dir, oneOverDir.y, bValidMTD, tfirst, tlast, 1))
return 0;
if(!testAxisXYZ(tri, extents, dir, oneOverDir.z, bValidMTD, tfirst, tlast, 2))
return 0;
#endif
// Edges
for(PxU32 i=0; i<3; i++)
{
int ip1 = int(i+1);
if(i>=2) ip1 = 0;
const PxVec3 TriEdge = tri.verts[ip1] - tri.verts[i];
#ifdef _XBOX
{
const PxVec3 Sep = Ps::cross100(TriEdge);
if((Sep.dot(Sep))>=1.0E-6f && testAxis(tri, extents, dir, Sep, bValidMTD, tfirst, tlast)==0.0f)
return 0;
}
{
const PxVec3 Sep = Ps::cross010(TriEdge);
if((Sep.dot(Sep))>=1.0E-6f && testAxis(tri, extents, dir, Sep, bValidMTD, tfirst, tlast)==0.0f)
return 0;
}
{
const PxVec3 Sep = Ps::cross001(TriEdge);
if((Sep.dot(Sep))>=1.0E-6f && testAxis(tri, extents, dir, Sep, bValidMTD, tfirst, tlast)==0.0f)
return 0;
}
#else
{
const PxVec3 Sep = Ps::cross100(TriEdge);
if((Sep.dot(Sep))>=1.0E-6f && !testAxis(tri, extents, dir, Sep, bValidMTD, tfirst, tlast))
return 0;
}
{
const PxVec3 Sep = Ps::cross010(TriEdge);
if((Sep.dot(Sep))>=1.0E-6f && !testAxis(tri, extents, dir, Sep, bValidMTD, tfirst, tlast))
return 0;
}
{
const PxVec3 Sep = Ps::cross001(TriEdge);
if((Sep.dot(Sep))>=1.0E-6f && !testAxis(tri, extents, dir, Sep, bValidMTD, tfirst, tlast))
return 0;
}
#endif
}
if(tfirst > tmax || tlast < 0.0f) return 0;
if(tfirst <= 0.0f)
{
#ifdef _XBOX
if(bValidMTD==0.0f) return 0;
#else
if(!bValidMTD) return 0;
#endif
tcoll = 0.0f;
}
else tcoll = tfirst;
return 1;
}
bool PxFabricCookerImpl::cook(const PxClothMeshDesc& desc, PxVec3 gravity, bool useGeodesicTether)
{
if(!desc.isValid())
{
shdfnd::getFoundation().error(PxErrorCode::eINVALID_PARAMETER, __FILE__, __LINE__,
"PxFabricCookerImpl::cook: desc.isValid() failed!");
return false;
}
gravity = gravity.getNormalized();
mNumParticles = desc.points.count;
// assemble points
shdfnd::Array<PxVec4> particles;
particles.reserve(mNumParticles);
PxStrideIterator<const PxVec3> pIt((const PxVec3*)desc.points.data, desc.points.stride);
PxStrideIterator<const PxReal> wIt((const PxReal*)desc.invMasses.data, desc.invMasses.stride);
for(PxU32 i=0; i<mNumParticles; ++i)
particles.pushBack(PxVec4(*pIt++, wIt.ptr() ? *wIt++ : 1.0f));
// build adjacent vertex list
shdfnd::Array<PxU32> valency(mNumParticles+1, 0);
shdfnd::Array<PxU32> adjacencies;
if(desc.flags & PxMeshFlag::e16_BIT_INDICES)
gatherAdjacencies<PxU16>(valency, adjacencies, desc.triangles, desc.quads);
else
gatherAdjacencies<PxU32>(valency, adjacencies, desc.triangles, desc.quads);
// build unique neighbors from adjacencies
shdfnd::Array<PxU32> mark(valency.size(), 0);
shdfnd::Array<PxU32> neighbors; neighbors.reserve(adjacencies.size());
for(PxU32 i=1, j=0; i<valency.size(); ++i)
{
for(; j<valency[i]; ++j)
{
PxU32 k = adjacencies[j];
if(mark[k] != i)
{
mark[k] = i;
neighbors.pushBack(k);
}
}
valency[i] = neighbors.size();
}
// build map of unique edges and classify
shdfnd::HashMap<Pair, Edge> edges;
for(PxU32 i=0; i<mNumParticles; ++i)
{
PxReal wi = particles[i].w;
// iterate all neighbors
PxU32 jlast = valency[i+1];
for(PxU32 j=valency[i]; j<jlast; ++j)
{
// add 1-ring edge
PxU32 m = neighbors[j];
if(wi + particles[m].w > 0.0f)
edges[Pair(PxMin(i, m), PxMax(i, m))].classify();
// iterate all neighbors of neighbor
PxU32 klast = valency[m+1];
for(PxU32 k=valency[m]; k<klast; ++k)
{
PxU32 n = neighbors[k];
if(n != i && wi + particles[n].w > 0.0f)
{
// add 2-ring edge
edges[Pair(PxMin(i, n), PxMax(i, n))].classify(
particles[i], particles[m], particles[n]);
}
}
}
}
// copy classified edges to constraints array
// build histogram of constraints per vertex
shdfnd::Array<Entry> constraints;
constraints.reserve(edges.size());
valency.resize(0); valency.resize(mNumParticles+1, 0);
const PxReal sqrtHalf = PxSqrt(0.4f);
for(shdfnd::HashMap<Pair, Edge>::Iterator eIt = edges.getIterator(); !eIt.done(); ++eIt)
{
const Edge& edge = eIt->second;
const Pair& pair = eIt->first;
if((edge.mStretching + edge.mBending + edge.mShearing) > 0.0f)
{
PxClothFabricPhaseType::Enum type = PxClothFabricPhaseType::eINVALID;
if(edge.mBending > PxMax(edge.mStretching, edge.mShearing))
type = PxClothFabricPhaseType::eBENDING;
else if(edge.mShearing > PxMax(edge.mStretching, edge.mBending))
type = PxClothFabricPhaseType::eSHEARING;
else
{
PxVec4 diff = particles[pair.first]-particles[pair.second];
PxReal dot = gravity.dot(reinterpret_cast<const PxVec3&>(diff).getNormalized());
type = fabsf(dot) < sqrtHalf ? PxClothFabricPhaseType::eHORIZONTAL : PxClothFabricPhaseType::eVERTICAL;
}
++valency[pair.first];
++valency[pair.second];
constraints.pushBack(Entry(pair, type));
}
}
prefixSum(valency.begin(), valency.end(), valency.begin());
PxU32 numConstraints = constraints.size();
// build adjacent constraint list
adjacencies.resize(0); adjacencies.resize(valency.back(), 0);
for(PxU32 i=0; i<numConstraints; ++i)
{
adjacencies[--valency[constraints[i].first.first]] = i;
adjacencies[--valency[constraints[i].first.second]] = i;
}
shdfnd::Array<PxU32>::ConstIterator aFirst = adjacencies.begin();
shdfnd::Array<PxU32> colors(numConstraints, numConstraints); // constraint -> color, initialily not colored
mark.resize(0); mark.resize(numConstraints+1, PX_MAX_U32); // color -> constraint index
shdfnd::Array<PxU32> adjColorCount(numConstraints, 0); // # of neighbors that are already colored
shdfnd::Array<ConstraintGraphColorCount> constraintHeap;
constraintHeap.reserve(numConstraints); // set of constraints to color (added in edge distance order)
// Do graph coloring based on edge distance.
// For each constraint, we add its uncolored neighbors to the heap
// ,and we pick the constraint with most colored neighbors from the heap.
while (1)
{
PxU32 constraint = 0;
while ( (constraint < numConstraints) && (colors[constraint] != numConstraints))
constraint++; // start with the first uncolored constraint
if (constraint >= numConstraints)
break;
constraintHeap.clear();
pushHeap(constraintHeap, ConstraintGraphColorCount((int)constraint, (int)adjColorCount[constraint]));
PxClothFabricPhaseType::Enum type = constraints[constraint].second;
while (!constraintHeap.empty())
{
ConstraintGraphColorCount heapItem = popHeap(constraintHeap);
constraint = heapItem.constraint;
if (colors[constraint] != numConstraints)
continue; // skip if already colored
const Pair& pair = constraints[constraint].first;
for(PxU32 j=0; j<2; ++j)
{
PxU32 index = j ? pair.first : pair.second;
if(particles[index].w == 0.0f)
continue; // don't mark adjacent particles if attached
for(shdfnd::Array<PxU32>::ConstIterator aIt = aFirst + valency[index], aEnd = aFirst + valency[index+1]; aIt != aEnd; ++aIt)
{
PxU32 adjacentConstraint = *aIt;
if ((constraints[adjacentConstraint].second != type) || (adjacentConstraint == constraint))
continue;
mark[colors[adjacentConstraint]] = constraint;
++adjColorCount[adjacentConstraint];
pushHeap(constraintHeap, ConstraintGraphColorCount((int)adjacentConstraint, (int)adjColorCount[adjacentConstraint]));
}
}
// find smallest color with matching type
PxU32 color = 0;
while((color < mPhases.size() && mPhases[color].phaseType != type) || mark[color] == constraint)
++color;
// create a new color set
if(color == mPhases.size())
{
PxClothFabricPhase phase(type, mPhases.size());
mPhases.pushBack(phase);
mSets.pushBack(0);
}
colors[constraint] = color;
++mSets[color];
}
}
#if 0 // PX_DEBUG
printf("set[%u] = ", mSets.size());
for(PxU32 i=0; i<mSets.size(); ++i)
printf("%u ", mSets[i]);
#endif
prefixSum(mSets.begin(), mSets.end(), mSets.begin());
#if 0 // PX_DEBUG
printf(" = %u\n", mSets.back());
#endif
// write indices and rest lengths
// convert mSets to exclusive sum
PxU32 back = mSets.back();
mSets.pushBack(back);
mIndices.resize(numConstraints*2);
mRestvalues.resize(numConstraints);
for(PxU32 i=0; i<numConstraints; ++i)
{
PxU32 first = constraints[i].first.first;
PxU32 second = constraints[i].first.second;
PxU32 index = --mSets[colors[i]];
mIndices[2*index ] = first;
mIndices[2*index+1] = second;
PxVec4 diff = particles[second] - particles[first];
mRestvalues[index] = reinterpret_cast<
const PxVec3&>(diff).magnitude();
}
// reorder constraints and rest values for more efficient cache access (linear)
shdfnd::Array<PxU32> newIndices(mIndices.size());
shdfnd::Array<PxF32> newRestValues(mRestvalues.size());
// sort each constraint set in vertex order
for (PxU32 i=0; i < mSets.size()-1; ++i)
{
// create a re-ordering list
shdfnd::Array<PxU32> reorder(mSets[i+1]-mSets[i]);
for (PxU32 r=0; r < reorder.size(); ++r)
reorder[r] = r;
const PxU32 indicesOffset = mSets[i]*2;
const PxU32 restOffset = mSets[i];
ConstraintSorter predicate(&mIndices[indicesOffset]);
shdfnd::sort(&reorder[0], reorder.size(), predicate);
for (PxU32 r=0; r < reorder.size(); ++r)
{
newIndices[indicesOffset + r*2] = mIndices[indicesOffset + reorder[r]*2];
newIndices[indicesOffset + r*2+1] = mIndices[indicesOffset + reorder[r]*2+1];
newRestValues[restOffset + r] = mRestvalues[restOffset + reorder[r]];
}
}
mIndices = newIndices;
mRestvalues = newRestValues;
PX_ASSERT(mIndices.size() == mRestvalues.size()*2);
PX_ASSERT(mRestvalues.size() == mSets.back());
#if 0 // PX_DEBUG
for (PxU32 i = 1; i < mSets.size(); i++)
{
PxClothFabricPhase phase = mPhases[i-1];
printf("%d : type %d, size %d\n",
i-1, phase.phaseType, mSets[i] - mSets[i-1]);
}
#endif
if (useGeodesicTether)
{
PxClothGeodesicTetherCooker tetherCooker(desc);
if (tetherCooker.getCookerStatus() == 0)
{
PxU32 numTethersPerParticle = tetherCooker.getNbTethersPerParticle();
PxU32 tetherSize = mNumParticles * numTethersPerParticle;
mTetherAnchors.resize(tetherSize);
mTetherLengths.resize(tetherSize);
tetherCooker.getTetherData(mTetherAnchors.begin(), mTetherLengths.begin());
}
else
useGeodesicTether = false;
}
if (!useGeodesicTether)
{
PxClothSimpleTetherCooker tetherCooker(desc);
mTetherAnchors.resize(mNumParticles);
mTetherLengths.resize(mNumParticles);
tetherCooker.getTetherData(mTetherAnchors.begin(), mTetherLengths.begin());
}
return true;
}
/**
@brief
@date 2014-01-04
*/
void RendererCompositionShape::GenerateTriangleFrom4Vector( void *positions, PxU32 positionStride,
void *normals, PxU32 normalStride, PxU32 startVtxIdx, PxU16 *indices, PxU32 startIndexIdx,
const PxVec3 ¢er, PxVec3 v0, PxVec3 v1, PxVec3 v2, PxVec3 v3 )
{
// test cw
{
PxVec3 n0 = v2 - v0;
n0.normalize();
PxVec3 n1 = v3 - v0;
n1.normalize();
PxVec3 n = n0.cross(n1);
n.normalize();
PxVec3 faceCenter = v0 + v2 + v3;
faceCenter /= 3.f;
PxVec3 cn = center - faceCenter;
cn.normalize();
const float d = n.dot(cn);
if (d >= 0)
{ // cw
}
else
{ // ccw
// switching
PxVec3 tmp = v3;
v3 = v2;
v2 = tmp;
}
}
// triangle 1
{
PxU32 face1VtxIdx = startVtxIdx;
PxVec3 n0 = v1 - v0;
n0.normalize();
PxVec3 n1 = v2 - v0;
n1.normalize();
PxVec3 n = n0.cross(n1);
n.normalize();
PxVec3 faceCenter = v0 + v1 + v2;
faceCenter /= 3.f;
PxVec3 cn = center - faceCenter;
cn.normalize();
const float d = n.dot(cn);
if (d >= 0)
{ // cw
*(PxVec3*)(((PxU8*)positions) + (positionStride * startVtxIdx++)) = v0;
*(PxVec3*)(((PxU8*)positions) + (positionStride * startVtxIdx++)) = v1;
*(PxVec3*)(((PxU8*)positions) + (positionStride * startVtxIdx++)) = v2;
*(PxVec3*)(((PxU8*)normals) + (normalStride * face1VtxIdx)) = -n;
*(PxVec3*)(((PxU8*)normals) + (normalStride * (face1VtxIdx+1))) = -n;
*(PxVec3*)(((PxU8*)normals) + (normalStride * (face1VtxIdx+2))) = -n;
}
else
{ // ccw
*(PxVec3*)(((PxU8*)positions) + (positionStride * startVtxIdx++)) = v0;
*(PxVec3*)(((PxU8*)positions) + (positionStride * startVtxIdx++)) = v2;
*(PxVec3*)(((PxU8*)positions) + (positionStride * startVtxIdx++)) = v1;
*(PxVec3*)(((PxU8*)normals) + (normalStride * face1VtxIdx)) = n;
*(PxVec3*)(((PxU8*)normals) + (normalStride * (face1VtxIdx+1))) = n;
*(PxVec3*)(((PxU8*)normals) + (normalStride * (face1VtxIdx+2))) = n;
}
indices[ startIndexIdx++] = face1VtxIdx;
indices[ startIndexIdx++] = face1VtxIdx+1;
indices[ startIndexIdx++] = face1VtxIdx+2;
}
// triangle2
{
PxU32 face2VtxIdx = startVtxIdx;
PxVec3 n0 = v2 - v0;
n0.normalize();
PxVec3 n1 = v3 - v0;
n1.normalize();
PxVec3 n = n0.cross(n1);
n.normalize();
PxVec3 faceCenter = v0 + v2 + v3;
faceCenter /= 3.f;
PxVec3 cn = center - faceCenter;
cn.normalize();
const float d = n.dot(cn);
if (d >= 0)
{ // cw
*(PxVec3*)(((PxU8*)positions) + (positionStride * startVtxIdx++)) = v0;
*(PxVec3*)(((PxU8*)positions) + (positionStride * startVtxIdx++)) = v2;
*(PxVec3*)(((PxU8*)positions) + (positionStride * startVtxIdx++)) = v3;
*(PxVec3*)(((PxU8*)normals) + (normalStride * face2VtxIdx)) = -n;
*(PxVec3*)(((PxU8*)normals) + (normalStride * (face2VtxIdx+1))) = -n;
*(PxVec3*)(((PxU8*)normals) + (normalStride * (face2VtxIdx+2))) = -n;
}
else
{ // ccw
*(PxVec3*)(((PxU8*)positions) + (positionStride * startVtxIdx++)) = v0;
*(PxVec3*)(((PxU8*)positions) + (positionStride * startVtxIdx++)) = v3;
*(PxVec3*)(((PxU8*)positions) + (positionStride * startVtxIdx++)) = v2;
*(PxVec3*)(((PxU8*)normals) + (normalStride * face2VtxIdx)) = n;
*(PxVec3*)(((PxU8*)normals) + (normalStride * (face2VtxIdx+1))) = n;
*(PxVec3*)(((PxU8*)normals) + (normalStride * (face2VtxIdx+2))) = n;
}
indices[ startIndexIdx++] = face2VtxIdx;
indices[ startIndexIdx++] = face2VtxIdx+1;
indices[ startIndexIdx++] = face2VtxIdx+2;
}
}
void SampleCustomGravityCameraController::update(Camera& camera, PxReal dtime)
{
const PxExtendedVec3& currentPos = mCCT.getPosition();
const PxVec3 curPos = toVec3(currentPos);
// Compute up vector for current CCT position
PxVec3 upVector;
mBase.mPlanet.getUpVector(upVector, curPos);
PX_ASSERT(upVector.isFinite());
// Update CCT
if(!mBase.isPaused())
{
if(1)
{
bool recordPos = true;
const PxU32 currentSize = mNbRecords;
if(currentSize)
{
const PxVec3 lastPos = mHistory[currentSize-1];
// const float limit = 0.1f;
const float limit = 0.5f;
if((curPos - lastPos).magnitude()<limit)
recordPos = false;
}
if(recordPos)
{
if(mNbRecords==POS_HISTORY_LIMIT)
{
for(PxU32 i=1;i<mNbRecords;i++)
mHistory[i-1] = mHistory[i];
mNbRecords--;
}
mHistory[mNbRecords++] = curPos;
}
}
// Subtract off the 'up' component of the view direction to get our forward motion vector.
PxVec3 viewDir = camera.getViewDir();
PxVec3 forward = (viewDir - upVector * upVector.dot(viewDir)).getNormalized();
// PxVec3 forward = mForward;
// Compute "right" vector
PxVec3 right = forward.cross(upVector);
right.normalize();
// PxVec3 right = mRightV;
PxVec3 targetKeyDisplacement(0);
if(mFwd) targetKeyDisplacement += forward;
if(mBwd) targetKeyDisplacement -= forward;
if(mRight) targetKeyDisplacement += right;
if(mLeft) targetKeyDisplacement -= right;
targetKeyDisplacement *= mKeyShiftDown ? mRunningSpeed : mWalkingSpeed;
// targetKeyDisplacement += PxVec3(0,-9.81,0);
targetKeyDisplacement *= dtime;
PxVec3 targetPadDisplacement(0);
targetPadDisplacement += forward * mGamepadForwardInc * mRunningSpeed;
targetPadDisplacement += right * mGamepadLateralInc * mRunningSpeed;
// targetPadDisplacement += PxVec3(0,-9.81,0);
targetPadDisplacement *= dtime;
const PxF32 heightDelta = gJump.getHeight(dtime);
// printf("%f\n", heightDelta);
PxVec3 upDisp = upVector;
if(heightDelta!=0.0f)
upDisp *= heightDelta;
else
upDisp *= -9.81f * dtime;
const PxVec3 disp = targetKeyDisplacement + targetPadDisplacement + upDisp;
//upDisp.normalize();
//printf("%f | %f | %f\n", upDisp.x, upDisp.y, upDisp.z);
// printf("%f | %f | %f\n", targetKeyDisplacement.x, targetKeyDisplacement.y, targetKeyDisplacement.z);
// printf("%f | %f | %f\n\n", targetPadDisplacement.x, targetPadDisplacement.y, targetPadDisplacement.z);
mCCT.setUpDirection(upVector);
const PxU32 flags = mCCT.move(disp, 0.001f, dtime, PxControllerFilters());
if(flags & PxControllerFlag::eCOLLISION_DOWN)
{
gJump.stopJump();
// printf("Stop jump\n");
}
}
// Update camera
if(1)
{
mTargetYaw += mGamepadYawInc * dtime;
mTargetPitch += mGamepadPitchInc * dtime;
// Clamp pitch
// if(mTargetPitch<mPitchMin) mTargetPitch = mPitchMin;
// if(mTargetPitch>mPitchMax) mTargetPitch = mPitchMax;
}
if(1)
{
PxVec3 up = upVector;
PxQuat localPitchQ(mTargetPitch, PxVec3(1.0f, 0.0f, 0.0f));
PX_ASSERT(localPitchQ.isSane());
PxMat33 localPitchM(localPitchQ);
const PxVec3 upRef(0.0f, 1.0f, 0.0f);
PxQuat localYawQ(mTargetYaw, upRef);
PX_ASSERT(localYawQ.isSane());
PxMat33 localYawM(localYawQ);
bool res;
PxQuat localToWorldQ = rotationArc(upRef, up, res);
static PxQuat memory(0,0,0,1);
if(!res)
{
localToWorldQ = memory;
}
else
{
memory = localToWorldQ;
}
PX_ASSERT(localToWorldQ.isSane());
PxMat33 localToWorld(localToWorldQ);
static PxVec3 previousUp(0.0f, 1.0f, 0.0f);
static PxQuat incLocalToWorldQ(0.0f, 0.0f, 0.0f, 1.0f);
PxQuat incQ = rotationArc(previousUp, up, res);
PX_ASSERT(incQ.isSane());
// incLocalToWorldQ = incLocalToWorldQ * incQ;
incLocalToWorldQ = incQ * incLocalToWorldQ;
PX_ASSERT(incLocalToWorldQ.isSane());
incLocalToWorldQ.normalize();
PxMat33 incLocalToWorldM(incLocalToWorldQ);
localToWorld = incLocalToWorldM;
previousUp = up;
mTest = localToWorld;
//mTest = localToWorld * localYawM;
// PxMat33 rot = localYawM * localToWorld;
PxMat33 rot = localToWorld * localYawM * localPitchM;
// PxMat33 rot = localToWorld * localYawM;
PX_ASSERT(rot.column0.isFinite());
PX_ASSERT(rot.column1.isFinite());
PX_ASSERT(rot.column2.isFinite());
////
PxMat44 view(rot.column0, rot.column1, rot.column2, PxVec3(0));
mForward = -rot.column2;
mRightV = rot.column0;
camera.setView(PxTransform(view));
PxVec3 viewDir = camera.getViewDir();
PX_ASSERT(viewDir.isFinite());
////
PxRigidActor* characterActor = mCCT.getActor();
PxShape* shape;
characterActor->getShapes(&shape,1);
PxCapsuleGeometry geom;
shape->getCapsuleGeometry(geom);
up *= geom.halfHeight+geom.radius;
const PxVec3 headPos = curPos + up;
const float distanceToTarget = 10.0f;
// const float distanceToTarget = 20.0f;
// const float distanceToTarget = 5.0f;
// const PxVec3 camPos = headPos - viewDir*distanceToTarget;
const PxVec3 camPos = headPos - mForward*distanceToTarget;// + up * 20.0f;
// view.t = camPos;
view.column3 = PxVec4(camPos,0);
// camera.setView(view);
camera.setView(PxTransform(view));
mTarget = headPos;
}
if(0)
{
PxControllerState cctState;
mCCT.getState(cctState);
printf("\nCCT state:\n");
printf("delta: %.02f | %.02f | %.02f\n", cctState.deltaXP.x, cctState.deltaXP.y, cctState.deltaXP.z);
printf("touchedShape: %p\n", cctState.touchedShape);
printf("touchedObstacle: %p\n", cctState.touchedObstacle);
printf("standOnAnotherCCT: %d\n", cctState.standOnAnotherCCT);
printf("standOnObstacle: %d\n", cctState.standOnObstacle);
printf("isMovingUp: %d\n", cctState.isMovingUp);
printf("collisionFlags: %d\n", cctState.collisionFlags);
}
}
// PT: ray-capsule intersection code, originally from the old Magic Software library.
PxU32 Gu::intersectRayCapsuleInternal(const PxVec3& origin, const PxVec3& dir, const PxVec3& p0, const PxVec3& p1, float radius, PxReal s[2])
{
// set up quadratic Q(t) = a*t^2 + 2*b*t + c
PxVec3 kW = p1 - p0;
const float fWLength = kW.magnitude();
if(fWLength!=0.0f)
kW /= fWLength;
// PT: if the capsule is in fact a sphere, switch back to dedicated sphere code.
// This is not just an optimization, the rest of the code fails otherwise.
if(fWLength<=1e-6f)
{
const float d0 = (origin - p0).magnitudeSquared();
const float d1 = (origin - p1).magnitudeSquared();
const float approxLength = (PxMax(d0, d1) + radius)*2.0f;
return PxU32(Gu::intersectRaySphere(origin, dir, approxLength, p0, radius, s[0]));
}
// generate orthonormal basis
PxVec3 kU(0.0f);
if (fWLength > 0.0f)
{
PxReal fInvLength;
if ( PxAbs(kW.x) >= PxAbs(kW.y) )
{
// W.x or W.z is the largest magnitude component, swap them
fInvLength = PxRecipSqrt(kW.x*kW.x + kW.z*kW.z);
kU.x = -kW.z*fInvLength;
kU.y = 0.0f;
kU.z = kW.x*fInvLength;
}
else
{
// W.y or W.z is the largest magnitude component, swap them
fInvLength = PxRecipSqrt(kW.y*kW.y + kW.z*kW.z);
kU.x = 0.0f;
kU.y = kW.z*fInvLength;
kU.z = -kW.y*fInvLength;
}
}
PxVec3 kV = kW.cross(kU);
kV.normalize(); // PT: fixed november, 24, 2004. This is a bug in Magic.
// compute intersection
PxVec3 kD(kU.dot(dir), kV.dot(dir), kW.dot(dir));
const float fDLength = kD.magnitude();
const float fInvDLength = fDLength!=0.0f ? 1.0f/fDLength : 0.0f;
kD *= fInvDLength;
const PxVec3 kDiff = origin - p0;
const PxVec3 kP(kU.dot(kDiff), kV.dot(kDiff), kW.dot(kDiff));
const PxReal fRadiusSqr = radius*radius;
// Is the velocity parallel to the capsule direction? (or zero)
if ( PxAbs(kD.z) >= 1.0f - PX_EPS_REAL || fDLength < PX_EPS_REAL )
{
const float fAxisDir = dir.dot(kW);
const PxReal fDiscr = fRadiusSqr - kP.x*kP.x - kP.y*kP.y;
if ( fAxisDir < 0 && fDiscr >= 0.0f )
{
// Velocity anti-parallel to the capsule direction
const PxReal fRoot = PxSqrt(fDiscr);
s[0] = (kP.z + fRoot)*fInvDLength;
s[1] = -(fWLength - kP.z + fRoot)*fInvDLength;
return 2;
}
else if ( fAxisDir > 0 && fDiscr >= 0.0f )
{
// Velocity parallel to the capsule direction
const PxReal fRoot = PxSqrt(fDiscr);
s[0] = -(kP.z + fRoot)*fInvDLength;
s[1] = (fWLength - kP.z + fRoot)*fInvDLength;
return 2;
}
else
{
// sphere heading wrong direction, or no velocity at all
return 0;
}
}
// test intersection with infinite cylinder
PxReal fA = kD.x*kD.x + kD.y*kD.y;
PxReal fB = kP.x*kD.x + kP.y*kD.y;
PxReal fC = kP.x*kP.x + kP.y*kP.y - fRadiusSqr;
PxReal fDiscr = fB*fB - fA*fC;
if ( fDiscr < 0.0f )
{
// line does not intersect infinite cylinder
return 0;
}
PxU32 iQuantity = 0;
if ( fDiscr > 0.0f )
{
// line intersects infinite cylinder in two places
const PxReal fRoot = PxSqrt(fDiscr);
const PxReal fInv = 1.0f/fA;
PxReal fT = (-fB - fRoot)*fInv;
PxReal fTmp = kP.z + fT*kD.z;
const float epsilon = 1e-3f; // PT: see TA35174
if ( fTmp >= -epsilon && fTmp <= fWLength+epsilon )
s[iQuantity++] = fT*fInvDLength;
fT = (-fB + fRoot)*fInv;
fTmp = kP.z + fT*kD.z;
if ( fTmp >= -epsilon && fTmp <= fWLength+epsilon )
s[iQuantity++] = fT*fInvDLength;
if ( iQuantity == 2 )
{
// line intersects capsule wall in two places
return 2;
}
}
else
{
// line is tangent to infinite cylinder
const PxReal fT = -fB/fA;
const PxReal fTmp = kP.z + fT*kD.z;
if ( 0.0f <= fTmp && fTmp <= fWLength )
{
s[0] = fT*fInvDLength;
return 1;
}
}
// test intersection with bottom hemisphere
// fA = 1
fB += kP.z*kD.z;
fC += kP.z*kP.z;
fDiscr = fB*fB - fC;
if ( fDiscr > 0.0f )
{
const PxReal fRoot = PxSqrt(fDiscr);
PxReal fT = -fB - fRoot;
PxReal fTmp = kP.z + fT*kD.z;
if ( fTmp <= 0.0f )
{
s[iQuantity++] = fT*fInvDLength;
if ( iQuantity == 2 )
return 2;
}
fT = -fB + fRoot;
fTmp = kP.z + fT*kD.z;
if ( fTmp <= 0.0f )
{
s[iQuantity++] = fT*fInvDLength;
if ( iQuantity == 2 )
return 2;
}
}
else if ( fDiscr == 0.0f )
{
const PxReal fT = -fB;
const PxReal fTmp = kP.z + fT*kD.z;
if ( fTmp <= 0.0f )
{
s[iQuantity++] = fT*fInvDLength;
if ( iQuantity == 2 )
return 2;
}
}
// test intersection with top hemisphere
// fA = 1
fB -= kD.z*fWLength;
fC += fWLength*(fWLength - 2.0f*kP.z);
fDiscr = fB*fB - fC;
if ( fDiscr > 0.0f )
{
const PxReal fRoot = PxSqrt(fDiscr);
PxReal fT = -fB - fRoot;
PxReal fTmp = kP.z + fT*kD.z;
if ( fTmp >= fWLength )
{
s[iQuantity++] = fT*fInvDLength;
if ( iQuantity == 2 )
return 2;
}
fT = -fB + fRoot;
fTmp = kP.z + fT*kD.z;
if ( fTmp >= fWLength )
{
s[iQuantity++] = fT*fInvDLength;
if ( iQuantity == 2 )
return 2;
}
}
else if ( fDiscr == 0.0f )
{
const PxReal fT = -fB;
const PxReal fTmp = kP.z + fT*kD.z;
if ( fTmp >= fWLength )
{
s[iQuantity++] = fT*fInvDLength;
if ( iQuantity == 2 )
return 2;
}
}
return iQuantity;
}
///////////////////////////////////////////////////////////////////////////////
// compute intersection of a ray from a source vertex in direction toward parent
int PxClothGeodesicTetherCookerImpl::computeVertexIntersection(PxU32 parent, PxU32 src, PathIntersection &path)
{
if (src == parent)
{
path = PathIntersection(true, src, 0.0);
return 0;
}
float maxdot = -1.0f;
int closestVert = -1;
// gradient is toward the parent vertex
PxVec3 g = (mVertices[parent] - mVertices[src]).getNormalized();
// for every triangle incident on this vertex, we intersect against opposite edge of the triangle
PxU32 sfirst = mFirstVertTriAdj[src];
PxU32 slast = (src < ((PxU32)mNumParticles-1)) ? mFirstVertTriAdj[src+1] : (PxU32)mVertTriAdjs.size();
for (PxU32 adj = sfirst; adj < slast; adj++)
{
PxU32 tid = mVertTriAdjs[adj];
PxU32 i0 = mIndices[tid*3];
PxU32 i1 = mIndices[tid*3+1];
PxU32 i2 = mIndices[tid*3+2];
int eid = 0;
if (i0 == src) eid = 1;
else if (i1 == src) eid = 2;
else if (i2 == src) eid = 0;
else continue; // error
// reshuffle so that src is located at i2
i0 = mIndices[tid*3 + eid];
i1 = mIndices[tid*3 + (eid+1)%3];
i2 = src;
PxVec3 p0 = mVertices[i0];
PxVec3 p1 = mVertices[i1];
PxVec3 p2 = mVertices[i2];
// check if we hit source immediately from this triangle
if (i0 == parent)
{
path = PathIntersection(true, parent, (p0 - p2).magnitude());
return 1;
}
if (i1 == parent)
{
path = PathIntersection(true, parent, (p1 - p2).magnitude());
return 1;
}
// ray direction is the gradient projected on the plane of this triangle
PxVec3 n = ((p0 - p2).cross(p1 - p2)).getNormalized();
PxVec3 d = (g - g.dot(n) * n).getNormalized();
// find intersection of ray (p2, d) against the edge (p0,p1)
float s, t;
bool result = intersectRayEdge(p2, d, p0, p1, s, t);
if (result == false)
continue;
// t should be positive, otherwise we just hit the triangle in opposite direction, so ignore
const float eps = 1e-5;
if (t > -eps)
{
PxVec3 ip; // intersection point
if (( s > -eps ) && (s < (1.0f + eps)))
{
// if intersection point is too close to each vertex, we record a vertex intersection
if ( ( s < eps) || (s > (1.0f-eps)))
{
path.vertOrTriangle = true;
path.index = (s < eps) ? i0 : i1;
path.distance = (p2 - mVertices[path.index]).magnitude();
}
else // found an edge instersection
{
ip = p0 + s * (p1 - p0);
path = PathIntersection(false, tid*3 + eid, (p2 - ip).magnitude(), s);
}
return 1;
}
}
// for fall back (see below)
PxVec3 d0 = (p0 - p2).getNormalized();
PxVec3 d1 = (p1 - p2).getNormalized();
float d0dotg = d0.dot(d);
float d1dotg = d1.dot(d);
if (d0dotg > maxdot)
{
closestVert = (int)i0;
maxdot = d0dotg;
}
if (d1dotg > maxdot)
{
closestVert = (int)i1;
maxdot = d1dotg;
}
} // end for (PxU32 adj = sfirst...
// Fall back to use greedy (Dijkstra-like) path selection.
// This happens as triangles are curved and we may not find intersection on any triangle.
// In this case, we choose a vertex closest to the gradient direction.
if (closestVert > 0)
{
path = PathIntersection(true, (PxU32)closestVert, (mVertices[src] - mVertices[(PxU32)closestVert]).magnitude());
return 1;
}
// Error, (possibly dangling vertex)
return -1;
}
bool setupFinalizeExtSolverConstraintsCoulomb(PxcNpWorkUnit& n,
const ContactBuffer& buffer,
const PxcCorrelationBufferCoulomb& c,
const PxTransform& bodyFrame0,
const PxTransform& bodyFrame1,
bool /*perPointFriction*/,
PxU8* workspace,
PxReal invDt,
PxReal bounceThreshold,
PxsSolverExtBody& b0,
PxsSolverExtBody& b1,
PxU32 frictionCountPerPoint,
PxReal invMassScale0, PxReal invInertiaScale0,
PxReal invMassScale1, PxReal invInertiaScale1)
{
// NOTE II: the friction patches are sparse (some of them have no contact patches, and
// therefore did not get written back to the cache) but the patch addresses are dense,
// corresponding to valid patches
PxU8* PX_RESTRICT ptr = workspace;
const FloatV zero=FZero();
//KS - TODO - this should all be done in SIMD to avoid LHS
const PxF32 maxPenBias0 = b0.mLinkIndex == PxcSolverConstraintDesc::NO_LINK ? b0.mBodyData->penBiasClamp : getMaxPenBias(*b0.mFsData)[b0.mLinkIndex];
const PxF32 maxPenBias1 = b1.mLinkIndex == PxcSolverConstraintDesc::NO_LINK ? b1.mBodyData->penBiasClamp : getMaxPenBias(*b1.mFsData)[b0.mLinkIndex];
const FloatV maxPen = FLoad(PxMax(maxPenBias0, maxPenBias1)/invDt);
const FloatV restDistance = FLoad(n.restDistance);
Ps::prefetchLine(c.contactID);
Ps::prefetchLine(c.contactID, 128);
bool useExtContacts = (n.flags & (PxcNpWorkUnitFlag::eARTICULATION_BODY0|PxcNpWorkUnitFlag::eARTICULATION_BODY1))!=0;
const PxU32 frictionPatchCount = c.frictionPatchCount;
const bool staticBody = ((n.flags & PxcNpWorkUnitFlag::eDYNAMIC_BODY1) == 0);
const PxU32 pointStride = useExtContacts ? sizeof(PxcSolverContactExt) : sizeof(PxcSolverContact);
const PxU32 frictionStride = useExtContacts ? sizeof(PxcSolverFrictionExt) : sizeof(PxcSolverFriction);
const PxU8 pointHeaderType = Ps::to8(useExtContacts ? PXS_SC_TYPE_EXT_CONTACT : (staticBody ? PXS_SC_TYPE_STATIC_CONTACT : PXS_SC_TYPE_RB_CONTACT));
const PxU8 frictionHeaderType = Ps::to8(useExtContacts ? PXS_SC_TYPE_EXT_FRICTION : (staticBody ? PXS_SC_TYPE_STATIC_FRICTION : PXS_SC_TYPE_FRICTION));
PxReal d0 = n.dominance0 * invMassScale0;
PxReal d1 = n.dominance1 * invMassScale1;
PxReal angD0 = n.dominance0 * invInertiaScale0;
PxReal angD1 = n.dominance1 * invInertiaScale1;
for(PxU32 i=0;i< frictionPatchCount;i++)
{
const PxU32 contactCount = c.frictionPatchContactCounts[i];
if(contactCount == 0)
continue;
const Gu::ContactPoint* contactBase0 = buffer.contacts + c.contactPatches[c.correlationListHeads[i]].start;
const PxcFrictionPatchCoulomb& frictionPatch = c.frictionPatches[i];
const Vec3V normalV = Ps::aos::V3LoadU(frictionPatch.normal);
const PxVec3 normal = frictionPatch.normal;
const PxReal combinedRestitution = contactBase0->restitution;
PxcSolverContactCoulombHeader* PX_RESTRICT header = reinterpret_cast<PxcSolverContactCoulombHeader*>(ptr);
ptr += sizeof(PxcSolverContactCoulombHeader);
Ps::prefetchLine(ptr, 128);
Ps::prefetchLine(ptr, 256);
Ps::prefetchLine(ptr, 384);
header->numNormalConstr = (PxU8)contactCount;
header->type = pointHeaderType;
header->setRestitution(combinedRestitution);
header->setDominance0(d0);
header->setDominance1(d1);
header->angDom0 = angD0;
header->angDom1 = angD1;
header->setNormal(normalV);
for(PxU32 patch=c.correlationListHeads[i];
patch!=PxcCorrelationBuffer::LIST_END;
patch = c.contactPatches[patch].next)
{
const PxU32 count = c.contactPatches[patch].count;
const Gu::ContactPoint* contactBase = buffer.contacts + c.contactPatches[patch].start;
PxU8* p = ptr;
for(PxU32 j=0;j<count;j++)
{
const Gu::ContactPoint& contact = contactBase[j];
PxcSolverContactExt* PX_RESTRICT solverContact = reinterpret_cast<PxcSolverContactExt*>(p);
p += pointStride;
const FloatV separation = FLoad(contact.separation);
PxVec3 ra = contact.point - bodyFrame0.p;
PxVec3 rb = contact.point - bodyFrame1.p;
Vec3V targetVel = V3LoadU(contact.targetVel);
const FloatV maxImpulse = FLoad(contact.maxImpulse);
solverContact->scaledBiasX_targetVelocityY_maxImpulseZ = V3Merge(FMax(maxPen, FSub(separation, restDistance)), V3Dot(normalV,targetVel), maxImpulse);
//TODO - should we do cross only in vector land and then store. Could cause a LHS but probably no worse than
//what we already have (probably has a LHS from converting from vector to scalar above)
const PxVec3 raXn = ra.cross(normal);
const PxVec3 rbXn = rb.cross(normal);
Cm::SpatialVector deltaV0, deltaV1;
PxReal unitResponse = getImpulseResponse(b0, Cm::SpatialVector(normal, raXn), deltaV0, d0, angD0,
b1, Cm::SpatialVector(-normal, -rbXn), deltaV1, d1, angD1);
const PxReal vrel = b0.projectVelocity(normal, raXn)
- b1.projectVelocity(normal, rbXn);
solverContact->raXnXYZ_appliedForceW = V4SetW(Vec4V_From_Vec3V(V3LoadU(raXn)), zero);
solverContact->rbXnXYZ_velMultiplierW = V4SetW(Vec4V_From_Vec3V(V3LoadU(rbXn)), zero);
completeContactPoint(*solverContact, unitResponse, vrel, invDt, header->restitution, bounceThreshold);
solverContact->setDeltaVA(deltaV0.linear, deltaV0.angular);
solverContact->setDeltaVB(deltaV1.linear, deltaV1.angular);
}
ptr = p;
}
}
//construct all the frictions
PxU8* PX_RESTRICT ptr2 = workspace;
const PxF32 orthoThreshold = 0.70710678f;
const PxF32 eps = 0.00001f;
bool hasFriction = false;
for(PxU32 i=0;i< frictionPatchCount;i++)
{
const PxU32 contactCount = c.frictionPatchContactCounts[i];
if(contactCount == 0)
continue;
PxcSolverContactCoulombHeader* header = reinterpret_cast<PxcSolverContactCoulombHeader*>(ptr2);
header->frictionOffset = PxU16(ptr - ptr2);
ptr2 += sizeof(PxcSolverContactCoulombHeader) + header->numNormalConstr * pointStride;
PxVec3 normal = c.frictionPatches[i].normal;
const Gu::ContactPoint* contactBase0 = buffer.contacts + c.contactPatches[c.correlationListHeads[i]].start;
const PxReal staticFriction = contactBase0->staticFriction;
const PxU32 disableStrongFriction = contactBase0->internalFaceIndex1 & PxMaterialFlag::eDISABLE_FRICTION;
const bool haveFriction = (disableStrongFriction == 0);
PxcSolverFrictionHeader* frictionHeader = (PxcSolverFrictionHeader*)ptr;
frictionHeader->numNormalConstr = Ps::to8(c.frictionPatchContactCounts[i]);
frictionHeader->numFrictionConstr = Ps::to8(haveFriction ? c.frictionPatches[i].numConstraints : 0);
ptr += sizeof(PxcSolverFrictionHeader);
ptr += frictionHeader->getAppliedForcePaddingSize(c.frictionPatchContactCounts[i]);
Ps::prefetchLine(ptr, 128);
Ps::prefetchLine(ptr, 256);
Ps::prefetchLine(ptr, 384);
const PxVec3 t0Fallback1(0.f, -normal.z, normal.y);
const PxVec3 t0Fallback2(-normal.y, normal.x, 0.f) ;
const PxVec3 tFallback1 = orthoThreshold > PxAbs(normal.x) ? t0Fallback1 : t0Fallback2;
const PxVec3 vrel = b0.getLinVel() - b1.getLinVel();
const PxVec3 t0_ = vrel - normal * (normal.dot(vrel));
const PxReal sqDist = t0_.dot(t0_);
const PxVec3 tDir0 = (sqDist > eps ? t0_: tFallback1).getNormalized();
const PxVec3 tDir1 = tDir0.cross(normal);
PxVec3 tFallback[2] = {tDir0, tDir1};
PxU32 ind = 0;
if(haveFriction)
{
hasFriction = true;
frictionHeader->setStaticFriction(staticFriction);
frictionHeader->setDominance0(n.dominance0);
frictionHeader->setDominance1(n.dominance1);
frictionHeader->angDom0 = angD0;
frictionHeader->angDom1 = angD1;
frictionHeader->type = frictionHeaderType;
PxU32 totalPatchContactCount = 0;
for(PxU32 patch=c.correlationListHeads[i];
patch!=PxcCorrelationBuffer::LIST_END;
patch = c.contactPatches[patch].next)
{
const PxU32 count = c.contactPatches[patch].count;
const PxU32 start = c.contactPatches[patch].start;
const Gu::ContactPoint* contactBase = buffer.contacts + start;
PxU8* p = ptr;
for(PxU32 j =0; j < count; j++)
{
const PxU32 contactId = totalPatchContactCount + j;
const Gu::ContactPoint& contact = contactBase[j];
const PxVec3 ra = contact.point - bodyFrame0.p;
const PxVec3 rb = contact.point - bodyFrame1.p;
for(PxU32 k = 0; k < frictionCountPerPoint; ++k)
{
PxcSolverFrictionExt* PX_RESTRICT f0 = reinterpret_cast<PxcSolverFrictionExt*>(p);
p += frictionStride;
f0->contactIndex = contactId;
PxVec3 t0 = tFallback[ind];
ind = 1 - ind;
PxVec3 raXn = ra.cross(t0);
PxVec3 rbXn = rb.cross(t0);
Cm::SpatialVector deltaV0, deltaV1;
PxReal unitResponse = getImpulseResponse(b0, Cm::SpatialVector(t0, raXn), deltaV0, d0, angD0,
b1, Cm::SpatialVector(-t0, -rbXn), deltaV1, d1, angD1);
f0->setVelMultiplier(FLoad(unitResponse>0.0f ? 1.f/unitResponse : 0.0f));
f0->setRaXn(raXn);
f0->setRbXn(rbXn);
f0->setNormal(t0);
f0->setAppliedForce(0.0f);
f0->setDeltaVA(deltaV0.linear, deltaV0.angular);
f0->setDeltaVB(deltaV1.linear, deltaV1.angular);
}
}
totalPatchContactCount += c.contactPatches[patch].count;
ptr = p;
}
}
}
//PX_ASSERT(ptr - workspace == n.solverConstraintSize);
return hasFriction;
}
///////////////////////////////////////////////////////////////////////////////
// compute intersection of a ray from a source vertex in direction toward parent
int PxClothGeodesicTetherCookerImpl::computeEdgeIntersection(PxU32 parent, PxU32 edge, float in_s, PathIntersection &path)
{
int tid = (int)edge / 3;
int eid = (int)edge % 3;
PxU32 e0 = mIndices[PxU32(tid*3 + eid)];
PxU32 e1 = mIndices[PxU32(tid*3 + (eid+1)%3)];
PxVec3 v0 = mVertices[e0];
PxVec3 v1 = mVertices[e1];
PxVec3 v = v0 + in_s * (v1 - v0);
PxVec3 g = mVertices[parent] - v;
PxU32 triNbr = mTriNeighbors[edge];
if (triNbr == PxU32(-1)) // boundary edge
{
float dir = g.dot(v1-v0);
PxU32 vid = (dir > 0) ? e1 : e0;
path = PathIntersection(true, vid, (mVertices[vid] - v).magnitude());
return 1;
}
PxU32 i0 = mIndices[triNbr*3];
PxU32 i1 = mIndices[triNbr*3+1];
PxU32 i2 = mIndices[triNbr*3+2];
// vertex is sorted s.t i0,i1 contains the edge point
if ( checkEdge((int)i0, (int)i1, (int)e0, (int)e1)) {
eid = 0;
}
else if ( checkEdge((int)i1, (int)i2, (int)e0, (int)e1)) {
eid = 1;
PxU32 tmp = i2;
i2 = i0;
i0 = i1;
i1 = tmp;
}
else if ( checkEdge((int)i2, (int)i0, (int)e0, (int)e1))
{
eid = 2;
PxU32 tmp = i0;
i0 = i2;
i2 = i1;
i1 = tmp;
}
// we hit the parent
if (i2 == parent)
{
path = PathIntersection(true, i2, (mVertices[i2] - v).magnitude());
return 1;
}
PxVec3 p0 = mVertices[i0];
PxVec3 p1 = mVertices[i1];
PxVec3 p2 = mVertices[i2];
// project gradient vector on the plane of the triangle
PxVec3 n = ((p0 - p2).cross(p1 - p2)).getNormalized();
g = (g - g.dot(n) * n).getNormalized();
float s = 0.0f, t = 0.0f;
const float eps = 1e-5;
PxVec3 ip;
// intersect against edge form p2 to p0
if (intersectRayEdge(v, g, p2, p0, s, t) && ( s >= -eps) && ( s <= (1.0f+eps) ) && (t > -eps))
{
if ( ( s < eps) || (s > (1.0f-eps)))
{
path.vertOrTriangle = true;
path.index = (s < eps) ? i2 : i0;
path.distance = (mVertices[path.index] - v).magnitude();
}
else
{
ip = p2 + s * (p0 - p2);
path = PathIntersection(false, triNbr*3 + (eid + 2) % 3, (ip - v).magnitude(), s);
}
return 1;
}
// intersect against edge form p1 to p2
if (intersectRayEdge(v, g, p1, p2, s, t) && ( s >= -eps) && ( s <= (1.0f+eps) ) && (t > -eps))
{
if ( ( s < eps) || (s > (1.0f-eps)))
{
path.vertOrTriangle = true;
path.index = (s < eps) ? i1 : i2;
path.distance = (mVertices[path.index] - v).magnitude();
}
else
{
ip = p1 + s * (p2 - p1);
path = PathIntersection(false, triNbr*3 + (eid + 1) % 3, (ip - v).magnitude(), s);
}
return 1;
}
// fallback to pick closer vertex when no edges intersect
float dir = g.dot(v1-v0);
path.vertOrTriangle = true;
path.index = (dir > 0) ? e1 : e0;
path.distance = (mVertices[path.index] - v).magnitude();
return 1;
}
