void physx::Pt::collideCellsWithStaticMesh(ParticleCollData* collData, const LocalCellHash& localCellHash,
const GeometryUnion& meshShape, const PxTransform& world2Shape,
const PxTransform& shape2World, PxReal /*cellSize*/,
PxReal /*collisionRange*/, PxReal proxRadius, const PxVec3& /*packetCorner*/)
{
PX_ASSERT(collData);
PX_ASSERT(localCellHash.isHashValid);
PX_ASSERT(localCellHash.numParticles <= PT_SUBPACKET_PARTICLE_LIMIT_COLLISION);
PX_ASSERT(localCellHash.numHashEntries <= PT_LOCAL_HASH_SIZE_MESH_COLLISION);
const PxTriangleMeshGeometryLL& meshShapeData = meshShape.get<const PxTriangleMeshGeometryLL>();
const TriangleMesh* meshData = meshShapeData.meshData;
PX_ASSERT(meshData);
// mesh bounds in world space (conservative)
const PxBounds3 shapeBounds =
meshData->getLocalBoundsFast().transformSafe(world2Shape.getInverse() * meshShapeData.scale);
const bool idtScaleMesh = meshShapeData.scale.isIdentity();
Cm::FastVertex2ShapeScaling meshScaling;
if(!idtScaleMesh)
meshScaling.init(meshShapeData.scale);
// process the particle cells
for(PxU32 c = 0; c < localCellHash.numHashEntries; c++)
{
const ParticleCell& cell = localCellHash.hashEntries[c];
if(cell.numParticles == PX_INVALID_U32)
continue;
PxBounds3 cellBounds;
cellBounds.setEmpty();
PxBounds3 cellBoundsNew(PxBounds3::empty());
PxU32* it = localCellHash.particleIndices + cell.firstParticle;
const PxU32* end = it + cell.numParticles;
for(; it != end; it++)
{
const ParticleCollData& particle = collData[*it];
cellBounds.include(particle.oldPos);
cellBoundsNew.include(particle.newPos);
}
PX_ASSERT(!cellBoundsNew.isEmpty());
cellBoundsNew.fattenFast(proxRadius);
cellBounds.include(cellBoundsNew);
if(!cellBounds.intersects(shapeBounds))
continue; // early out if (inflated) cell doesn't intersect mesh bounds
// opcode query: cell bounds against shape bounds in unscaled mesh space
PxcContactCellMeshCallback callback(collData, &(localCellHash.particleIndices[cell.firstParticle]),
cell.numParticles, *meshData, meshScaling, proxRadius, NULL, shape2World);
testBoundsMesh(*meshData, world2Shape, meshScaling, idtScaleMesh, cellBounds, callback);
}
}
bool getPCMConvexData(const Gu::GeometryUnion& shape, Cm::FastVertex2ShapeScaling& scaling, PxBounds3& bounds, PolygonalData& polyData)
{
const PxConvexMeshGeometryLL& shapeConvex = shape.get<const PxConvexMeshGeometryLL>();
const bool idtScale = shapeConvex.scale.isIdentity();
if(!idtScale)
scaling.init(shapeConvex.scale);
PX_ASSERT(!shapeConvex.hullData->mAABB.isEmpty());
bounds = PxBounds3::transformFast(scaling.getVertex2ShapeSkew(), shapeConvex.hullData->mAABB);
getPCMPolygonalData_Convex(&polyData, shapeConvex.hullData, scaling);
return idtScale;
}
bool Gu::getConvexData(const Gu::GeometryUnion& shape, Cm::FastVertex2ShapeScaling& scaling, PxBounds3& bounds, PolygonalData& polyData)
{
const PxConvexMeshGeometryLL& shapeConvex = shape.get<const PxConvexMeshGeometryLL>();
const bool idtScale = shapeConvex.scale.isIdentity();
if(!idtScale)
scaling.init(shapeConvex.scale);
// PT: this version removes all the FCMPs and almost all LHS. This is temporary until
// the legacy 3x3 matrix totally vanishes but meanwhile do NOT do useless matrix conversions,
// it's a perfect recipe for LHS.
PX_ASSERT(!shapeConvex.hullData->mAABB.isEmpty());
bounds = PxBounds3::transformFast(scaling.getVertex2ShapeSkew(), shapeConvex.hullData->mAABB);
getPolygonalData_Convex(&polyData, shapeConvex.hullData, scaling);
// PT: non-uniform scaling invalidates the "internal objects" optimization, since our internal sphere
// might become an ellipsoid or something. Just disable the optimization if scaling is used...
if(!idtScale)
polyData.mInternal.reset();
return idtScale;
}
void physx::collideWithStaticMesh(PxU32 numParticles, PxsParticleCollData* collData,
PxsFluidParticleOpcodeCache* opcodeCaches, const Gu::GeometryUnion& meshShape,
const PxTransform& world2Shape, const PxTransform& shape2World, PxReal /*cellSize*/, PxReal collisionRange, PxReal proxRadius)
{
PX_ASSERT(collData);
PX_ASSERT(opcodeCaches);
const PxTriangleMeshGeometryLL& meshShapeData = meshShape.get<const PxTriangleMeshGeometryLL>();
const bool idtScaleMesh = meshShapeData.scale.isIdentity();
Cm::FastVertex2ShapeScaling meshScaling;
if(!idtScaleMesh)
meshScaling.init(meshShapeData.scale);
const PxF32 maxCacheBoundsExtent = 4*collisionRange + proxRadius;
const PxsFluidParticleOpcodeCache::QuantizationParams quantizationParams =
PxsFluidParticleOpcodeCache::getQuantizationParams(maxCacheBoundsExtent);
const Gu::InternalTriangleMeshData* meshData = meshShapeData.meshData;
PX_ASSERT(meshData);
bool isSmallMesh = meshData->mNumTriangles <= 0xffff;
PxU32 cachedTriangleBuffer[PxsFluidParticleOpcodeCache::sMaxCachedTriangles];
PxVec3 extent(proxRadius);
for (PxU32 i = 0; i < numParticles; ++i)
{
//had to make this non-const to be able to update cache bits
PxsParticleCollData& particle = collData[i];
PxsFluidParticleOpcodeCache& cache = opcodeCaches[i];
PxBounds3 bounds;
{
bounds = PxBounds3(particle.newPos - extent, particle.newPos + extent);
bounds.include(particle.oldPos);
}
PxU32 numTriangles = 0;
const PxU32* triangles = NULL;
bool isCached = cache.read(particle.particleFlags.low, numTriangles, cachedTriangleBuffer, bounds, quantizationParams, &meshShape, isSmallMesh);
if (isCached)
{
triangles = cachedTriangleBuffer;
if (numTriangles > 0)
{
PxVec3 triangleVerts[PxsFluidParticleOpcodeCache::sMaxCachedTriangles*3];
const PxU32* triangleIndexIt = triangles;
for (PxU32 j = 0; j < numTriangles; ++j, ++triangleIndexIt)
{
Gu::MeshInterface::GetTriangleVerts((PxU32)isSmallMesh, (Cm::MemFetchPtr)meshData->mTriangles, (Cm::MemFetchPtr)meshData->mVertices, *triangleIndexIt,
triangleVerts[j*3], triangleVerts[j*3 + 1], triangleVerts[j*3 + 2]);
}
collData[i].localDcNum = 0.0f;
collData[i].localSurfaceNormal = PxVec3(0);
collData[i].localSurfacePos = PxVec3(0);
collideWithMeshTriangles(collData[i], *meshData, meshScaling, triangleVerts, numTriangles, proxRadius, shape2World);
}
}
else if ((particle.particleFlags.low & PxvInternalParticleFlag::eGEOM_CACHE_BIT_0) != 0 && (particle.particleFlags.low & PxvInternalParticleFlag::eGEOM_CACHE_BIT_1) != 0)
{
// don't update the cache since it's already successfully in use
PxcContactCellMeshCallback callback(collData, &i, 1, *meshData, meshScaling, proxRadius, NULL, shape2World);
testBoundsMesh(*meshData, world2Shape, shape2World, meshScaling, idtScaleMesh, bounds, callback);
}
else
{
// compute new conservative bounds for cache
PxBounds3 cachedBounds;
{
PxVec3 predictedExtent(proxRadius*1.5f);
//add future newpos + extent
PxVec3 newPosPredicted = particle.newPos + 3.f*(particle.newPos - particle.oldPos);
cachedBounds = PxBounds3(newPosPredicted - predictedExtent, newPosPredicted + predictedExtent);
//add next oldpos + extent
cachedBounds.include(PxBounds3(particle.newPos - predictedExtent, particle.newPos + predictedExtent));
//add old pos
cachedBounds.include(particle.oldPos);
}
cache.init(cachedTriangleBuffer);
//the callback function will call collideWithMeshTriangles()
PxcContactCellMeshCallback callback(collData, &i, 1, *meshData, meshScaling, proxRadius, &cache, shape2World);
// opcode query: cache bounds against shape bounds in unscaled mesh space
testBoundsMesh(*meshData, world2Shape, shape2World, meshScaling, idtScaleMesh, cachedBounds, callback);
//update cache
cache.write(particle.particleFlags.low, cachedBounds, quantizationParams, meshShape, isSmallMesh);
}
}
}
bool physx::Gu::computeConvex_HeightFieldMTD(const PxHeightFieldGeometry& heightFieldGeom, const PxTransform& pose, const PxConvexMeshGeometry& convexGeom, const PxTransform& convexPose, const PxReal inflation,
const PxReal distance, const bool isDoubleSided, const PxU32 flags, PxSweepHit& hit)
{
using namespace Ps::aos;
const Gu::HeightFieldUtil hfUtil(heightFieldGeom);
const Vec3V zeroV = V3Zero();
Gu::MeshPersistentContact manifoldContacts[64];
PxU32 numContacts = 0;
FloatV distV = FLoad(distance);
bool foundInitial = false;
static PxU32 iterations = 2;
Gu::ConvexMesh* cm = static_cast<Gu::ConvexMesh*>(convexGeom.convexMesh);
Gu::ConvexHullData* hullData = &cm->getHull();
const bool idtScaleConvex = convexGeom.scale.isIdentity();
Cm::FastVertex2ShapeScaling convexScaling;
if(!idtScaleConvex)
convexScaling.init(convexGeom.scale);
const PxVec3 _shapeSpaceCenterOfMass = convexScaling * hullData->mCenterOfMass;
const Vec3V shapeSpaceCenterOfMass = V3LoadU(_shapeSpaceCenterOfMass);
const QuatV q0 = QuatVLoadU(&convexPose.q.x);
const Vec3V p0 = V3LoadU(&convexPose.p.x);
PsTransformV convexTransformV(p0, q0);
const Vec3V vScale = V3LoadU(convexGeom.scale.scale);
const QuatV vQuat = QuatVLoadU(&convexGeom.scale.rotation.x);
Gu::ConvexHullV convexHull(hullData, zeroV, vScale, vQuat);
PX_ALIGN(16, PxU8 convexBuff[sizeof(SupportLocalImpl<ConvexHullV>)]);
const FloatV convexMargin = Gu::CalculatePCMConvexMargin(hullData, vScale);
const FloatV inflationV = FAdd(FLoad(inflation), convexMargin);
PxReal boundInflation;
FStore(inflationV, &boundInflation);
LocalContainer(tempContainer, 128);
Vec3V closestA = zeroV, closestB = zeroV, normal = zeroV;
Vec3V worldNormal=zeroV, worldContactA=zeroV;//, worldContactB=zeroV;
PxU32 triangleIndex = 0xfffffff;
Vec3V translation = zeroV;
Gu::PolygonalData polyData;
getPCMConvexData(convexHull, idtScaleConvex, polyData);
FloatV mtd;
Vec3V center = p0;
PxTransform tempConvexPose = convexPose;
Cm::Matrix34 meshToWorldSkew(pose);
for(PxU32 i=0; i<iterations; ++i)
{
tempContainer.Reset();
//ML:: construct convex hull data
V3StoreU(center, tempConvexPose.p);
convexTransformV.p = center;
SupportLocal* convexMap = (idtScaleConvex ? (SupportLocal*)PX_PLACEMENT_NEW(convexBuff, SupportLocalImpl<ConvexHullNoScaleV>)((ConvexHullNoScaleV&)convexHull, convexTransformV, convexHull.vertex2Shape, convexHull.shape2Vertex, idtScaleConvex) :
(SupportLocal*)PX_PLACEMENT_NEW(convexBuff, SupportLocalImpl<ConvexHullV>)(convexHull, convexTransformV, convexHull.vertex2Shape, convexHull.shape2Vertex, idtScaleConvex));
convexMap->setShapeSpaceCenterofMass(shapeSpaceCenterOfMass);
Gu::Box hullOBB;
Gu::computeOBBAroundConvex(hullOBB, convexGeom, cm, tempConvexPose);
hullOBB.extents.x += boundInflation;
hullOBB.extents.y += boundInflation;
hullOBB.extents.z += boundInflation;
PxBounds3 bounds = PxBounds3::basisExtent(hullOBB.center, hullOBB.rot, hullOBB.extents);
midPhaseQueryHF(hfUtil, pose, bounds, tempContainer, flags);
// Get results
PxU32 nbTriangles = tempContainer.GetNbEntries();
if(!nbTriangles)
break;
// Move to AABB space
Cm::Matrix34 worldToConvex(tempConvexPose.getInverse());
const Cm::Matrix34 meshToConvex = worldToConvex*meshToWorldSkew;
Ps::aos::Mat33V rot(V3LoadU(meshToConvex.base0), V3LoadU(meshToConvex.base1), V3LoadU(meshToConvex.base2));
Ps::aos::PsMatTransformV meshToConvexV(V3LoadU(meshToConvex.base3), rot);
PxU32* indices = tempContainer.GetEntries();
bool hadContacts = false;
PxU32 nbBatches = (nbTriangles + BATCH_TRIANGLE_NUMBER-1)/BATCH_TRIANGLE_NUMBER;
mtd = FMax();
MTDTriangle triangles[BATCH_TRIANGLE_NUMBER];
for(PxU32 a = 0; a < nbBatches; ++a)
{
PxU32 startIndex = a * BATCH_TRIANGLE_NUMBER;
PxU32 nbTrigs = PxMin(nbTriangles - startIndex, BATCH_TRIANGLE_NUMBER);
for(PxU32 k=0; k<nbTrigs; k++)
{
//triangle vertext space
const PxU32 triangleIndex1 = indices[startIndex+k];
hfUtil.getTriangle(pose, triangles[k], NULL, NULL, triangleIndex1, false, false);
triangles[k].extraTriData = 0x38;
}
//ML: mtd has back face culling, so if the capsule's center is below the triangle, we won't generate any contacts
hadContacts = calculateMTD(polyData, convexMap, convexTransformV, meshToConvexV, isDoubleSided, inflationV, triangles, nbTrigs, startIndex, manifoldContacts, numContacts, normal, closestA, closestB, triangleIndex, mtd) || hadContacts;
}
if(!hadContacts)
break;
triangleIndex = indices[triangleIndex];
foundInitial = true;
distV =mtd;
worldNormal = convexTransformV.rotate(normal);
worldContactA = convexTransformV.transform(closestA);
if(FAllGrtrOrEq(FZero(), distV))
{
Vec3V t = V3Scale(worldNormal, mtd);
translation = V3Sub(translation, t);
center = V3Sub(center, t);
}
else
{
if(i == 0)
{
//First iteration so keep this normal
hit.distance = 0.f;
V3StoreU(worldContactA, hit.position);
V3StoreU(worldNormal, hit.normal);
hit.faceIndex = triangleIndex;
return true;
}
break;
}
}
worldNormal = V3Normalize(translation);
distV = FNeg(V3Length(translation));
if(foundInitial)
{
//transform closestA to world space
FStore(distV, &hit.distance);
V3StoreU(worldContactA, hit.position);
V3StoreU(worldNormal, hit.normal);
hit.faceIndex = triangleIndex;
}
return foundInitial;
}