Subversion Repository Public Repository

Divide-Dependencies

This repository has no backups
This repository's network speed is throttled to 100KB/sec

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
//  * Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//  * Redistributions in binary form must reproduce the above copyright
//    notice, this list of conditions and the following disclaimer in the
//    documentation and/or other materials provided with the distribution.
//  * Neither the name of NVIDIA CORPORATION nor the names of its
//    contributors may be used to endorse or promote products derived
//    from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2018 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  

#include "RaycastCCD.h"

#include "geometry/PxBoxGeometry.h"
#include "geometry/PxSphereGeometry.h"
#include "geometry/PxCapsuleGeometry.h"
#include "geometry/PxConvexMeshGeometry.h"
#include "geometry/PxConvexMesh.h"
#include "PxQueryReport.h"
#include "PxScene.h"
#include "PxRigidDynamic.h"
#include "extensions/PxShapeExt.h"
#include <stdio.h>

//#define RAYCAST_CCD_PRINT_DEBUG

PxVec3 getShapeCenter(PxRigidActor* actor, PxShape* shape, const PxVec3& localOffset)
{
	PxVec3 offset = localOffset;

	switch(shape->getGeometryType())
	{
		case PxGeometryType::eCONVEXMESH:
		{
			PxConvexMeshGeometry geometry;
			bool status = shape->getConvexMeshGeometry(geometry);
			PX_UNUSED(status);
			PX_ASSERT(status);

			PxReal mass;
			PxMat33 localInertia;
			PxVec3 localCenterOfMass;
			geometry.convexMesh->getMassInformation(mass, localInertia, localCenterOfMass);

			offset += localCenterOfMass;
		}
		break;
		default:
		break;
	}
	const PxTransform pose = PxShapeExt::getGlobalPose(*shape, *actor);
	return pose.transform(offset);
}

static PxReal computeInternalRadius(PxRigidActor* actor, PxShape* shape, const PxVec3& dir, /*PxVec3& offset,*/ const PxVec3& centerOffset)
{
	const PxBounds3 bounds = PxShapeExt::getWorldBounds(*shape, *actor);
	const PxReal diagonal = (bounds.maximum - bounds.minimum).magnitude();
	const PxReal offsetFromOrigin = diagonal * 2.0f;

	PxTransform pose = PxShapeExt::getGlobalPose(*shape, *actor);

	PxReal internalRadius = 0.0f;
	const PxReal length = offsetFromOrigin*2.0f;

	// PT: we do a switch here anyway since the code is not *exactly* the same all the time
	{
		switch(shape->getGeometryType())
		{
			case PxGeometryType::eBOX:
			case PxGeometryType::eCAPSULE:
			{
				pose.p = PxVec3(0);
				const PxVec3 virtualOrigin = pose.p + dir * offsetFromOrigin;

				PxRaycastHit hit;

				const PxHitFlags sceneQueryFlags = PxHitFlag::ePOSITION|PxHitFlag::eNORMAL|PxHitFlag::eDISTANCE;
				PxU32 nbHits = PxGeometryQuery::raycast(virtualOrigin, -dir, shape->getGeometry().any(), pose, length, sceneQueryFlags, 1, &hit);
				PX_UNUSED(nbHits);
				PX_ASSERT(nbHits);

				internalRadius = offsetFromOrigin - hit.distance;
	//			offset = PxVec3(0.0f);
			}
			break;

			case PxGeometryType::eSPHERE:
			{
				PxSphereGeometry geometry;
				bool status = shape->getSphereGeometry(geometry);
				PX_UNUSED(status);
				PX_ASSERT(status);

				internalRadius = geometry.radius;
	//			offset = PxVec3(0.0f);
			}
			break;

			case PxGeometryType::eCONVEXMESH:
			{
	/*PxVec3 saved = pose.p;
				pose.p = PxVec3(0);

	//			pose.p = geometry.convexMesh->getCenterOfMass();
	//			const PxVec3 virtualOrigin = pose.p + dir * offsetFromOrigin;

	//			const PxVec3 localCenter = computeCenter(geometry.convexMesh);
	//			const PxVec3 localCenter = geometry.convexMesh->getCenterOfMass();
	//			const PxVec3 virtualOrigin = pose.rotate(localCenter) + dir * offsetFromOrigin;
				const PxVec3 localCenter = pose.rotate(geometry.convexMesh->getCenterOfMass());
				const PxVec3 virtualOrigin = localCenter + dir * offsetFromOrigin;

				PxRaycastHit hit;
				PxU32 nbHits = Gu::raycast_convexMesh(geometry, pose, virtualOrigin, -dir, length, 0xffffffff, 1, &hit);
				PX_ASSERT(nbHits);
				internalRadius = offsetFromOrigin - hit.distance;

				pose.p = localCenter;

	PxVec3 shapeCenter = getShapeCenter(shape);
	offset = shapeCenter - saved;*/


				PxVec3 shapeCenter = getShapeCenter(actor, shape, centerOffset);
				shapeCenter -= pose.p;
				pose.p = PxVec3(0);

				const PxVec3 virtualOrigin = shapeCenter + dir * offsetFromOrigin;
				PxRaycastHit hit;
				const PxHitFlags sceneQueryFlags = PxHitFlag::ePOSITION|PxHitFlag::eNORMAL|PxHitFlag::eDISTANCE;
				PxU32 nbHits = PxGeometryQuery::raycast(virtualOrigin, -dir, shape->getGeometry().any(), pose, length, sceneQueryFlags, 1, &hit);
				PX_UNUSED(nbHits);
				PX_ASSERT(nbHits);

				internalRadius = offsetFromOrigin - hit.distance;
	//			offset = shapeCenter;
			}
			break;
			default:
			break;
		}
	}
	return internalRadius;
}

static bool CCDRaycast(PxScene* scene, const PxVec3& origin, const PxVec3& unitDir, const PxReal distance, PxRaycastHit& hit)
{
	const PxHitFlags outputFlags = PxHitFlag::ePOSITION|PxHitFlag::eNORMAL|PxHitFlag::eDISTANCE;

	PxQueryFilterData filterData;
	filterData.flags = PxQueryFlag::eSTATIC;

	PxQueryFilterCallback* filterCall = NULL;

	PxRaycastBuffer buf1;
	scene->raycast(origin, unitDir, distance, buf1, outputFlags, filterData, filterCall, NULL);
	hit = buf1.block;
	return buf1.hasBlock;
}

static PxRigidDynamic* canDoCCD(PxRigidActor& actor, PxShape* shape)
{
	PxRigidDynamic* dyna = actor.is<PxRigidDynamic>();
	if(!dyna)
		return NULL;	// PT: no need to do it for statics

	const PxU32 nbShapes = dyna->getNbShapes();
	if(nbShapes!=1)
		return NULL;	// PT: only works with simple actors for now

	if(dyna->getRigidBodyFlags() & PxRigidBodyFlag::eKINEMATIC)
		return NULL;	// PT: no need to do it for kinematics

	return dyna;
}

bool doRaycastCCD(PxRigidActor* actor, PxShape* shape, PxTransform& newPose, PxVec3& newShapeCenter, const PxVec3& ccdWitness, const PxVec3& ccdWitnessOffset)
{
	PxRigidDynamic* dyna = canDoCCD(*actor, shape);
	if(!dyna)
		return true;

	bool updateCCDWitness = true;

	const PxVec3 offset = newPose.p - newShapeCenter;
	const PxVec3& origin = ccdWitness;
	const PxVec3& dest = newShapeCenter;

	PxVec3 dir = dest - origin;
	const PxReal length = dir.magnitude();
	if(length!=0.0f)
	{
		dir /= length;

		// Compute internal radius
		const PxReal internalRadius = computeInternalRadius(actor, shape, dir, ccdWitnessOffset);

		// Compute distance to impact
		PxRaycastHit hit;
		if(internalRadius!=0.0f && CCDRaycast(actor->getScene(), origin, dir, length, hit))
		{
#ifdef RAYCAST_CCD_PRINT_DEBUG
			static int count=0;
			shdfnd::printFormatted("CCD hit %d\n", count++);
#endif
			updateCCDWitness = false;
			const PxReal radiusLimit = internalRadius * 0.75f;
			if(hit.distance>radiusLimit)
			{
				newShapeCenter = origin + dir * (hit.distance - radiusLimit);
#ifdef RAYCAST_CCD_PRINT_DEBUG
				shdfnd::printFormatted("  Path0: %f | %f\n", hit.distance, radiusLimit);
#endif
			}
			else
			{
				newShapeCenter = origin;
#ifdef RAYCAST_CCD_PRINT_DEBUG
				shdfnd::printFormatted("  Path1: %f\n", hit.distance);
#endif
			}

			{
				newPose.p = offset + newShapeCenter;
				const PxTransform shapeLocalPose = shape->getLocalPose();
				const PxTransform inverseShapeLocalPose = shapeLocalPose.getInverse();
				PxTransform newGlobalPose = newPose * inverseShapeLocalPose;
				dyna->setGlobalPose(newGlobalPose);
			}
		}
	}
	return updateCCDWitness;
}

Commits for Divide-Dependencies/physx/PhysX_3.4/Samples/SampleBase/RaycastCCD.cpp

Diff revisions: vs.
Revision Author Commited Message
105 IonutCava picture IonutCava Tue 16 Apr, 2019 19:55:41 +0000

Forgot to actually add physx