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CctCharacterController.cpp
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CctCharacterController.cpp
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// 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) 2008-2023 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 "common/PxProfileZone.h"
#include "geometry/PxMeshQuery.h"
#include "foundation/PxMathUtils.h"
#include "PxRigidDynamic.h"
#include "CctCharacterController.h"
#include "CctCharacterControllerManager.h"
#include "CctSweptBox.h"
#include "CctSweptCapsule.h"
#include "CctObstacleContext.h"
#include "GuIntersectionBoxBox.h"
#include "GuDistanceSegmentBox.h"
#include "foundation/PxFPU.h"
#include "CmVisualization.h"
#include "CmUtils.h"
// PT: TODO: remove those includes.... shouldn't be allowed from here
#include "characterkinematic/PxControllerObstacles.h" // (*)
#include "characterkinematic/PxControllerManager.h" // (*)
#include "characterkinematic/PxControllerBehavior.h" // (*)
#include "CctInternalStructs.h" // (*)
//#define DEBUG_MTD
#ifdef DEBUG_MTD
#include <stdio.h>
#endif
#define MAX_ITER 10
using namespace physx;
using namespace Cct;
using namespace Gu;
using namespace Cm;
static const PxU32 gObstacleDebugColor = PxU32(PxDebugColor::eARGB_CYAN);
//static const PxU32 gCCTBoxDebugColor = PxU32(PxDebugColor::eARGB_YELLOW);
static const PxU32 gTBVDebugColor = PxU32(PxDebugColor::eARGB_MAGENTA);
static const bool gUsePartialUpdates = true;
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
static PX_FORCE_INLINE PxHitFlags getSweepHitFlags(const CCTParams& params)
{
PxHitFlags sweepHitFlags = PxHitFlag::eDEFAULT/*|PxHitFlag::eMESH_BOTH_SIDES*/;
// sweepHitFlags |= PxHitFlag::eASSUME_NO_INITIAL_OVERLAP;
if(params.mPreciseSweeps)
sweepHitFlags |= PxHitFlag::ePRECISE_SWEEP;
return sweepHitFlags;
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
static bool shouldApplyRecoveryModule(const PxRigidActor& rigidActor)
{
// PT: we must let the dynamic objects go through the CCT for proper 2-way interactions.
// But we should still apply the recovery module for kinematics.
const PxType type = rigidActor.getConcreteType();
if(type==PxConcreteType::eRIGID_STATIC)
return true;
if(type!=PxConcreteType::eRIGID_DYNAMIC)
return false;
return static_cast<const PxRigidBody&>(rigidActor).getRigidBodyFlags() & PxRigidBodyFlag::eKINEMATIC;
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
static const bool gUseLocalSpace = true;
static PxVec3 worldToLocal(const PxObstacle& obstacle, const PxExtendedVec3& worldPos)
{
const PxTransform tr(toVec3(obstacle.mPos), obstacle.mRot);
return tr.transformInv(toVec3(worldPos));
}
static PxVec3 localToWorld(const PxObstacle& obstacle, const PxVec3& localPos)
{
const PxTransform tr(toVec3(obstacle.mPos), obstacle.mRot);
return tr.transform(localPos);
}
///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
#ifdef PX_BIG_WORLDS
typedef PxExtendedBounds3 PxCCTBounds3;
typedef PxExtendedVec3 PxCCTVec3;
#else
typedef PxBounds3 PxCCTBounds3;
typedef PxVec3 PxCCTVec3;
#endif
static PX_INLINE void scale(PxCCTBounds3& b, const PxVec3& scale)
{
PxCCTVec3 center; getCenter(b, center);
PxVec3 extents; getExtents(b, extents);
extents.x *= scale.x;
extents.y *= scale.y;
extents.z *= scale.z;
setCenterExtents(b, center, extents);
}
static PX_INLINE void computeReflexionVector(PxVec3& reflected, const PxVec3& incomingDir, const PxVec3& outwardNormal)
{
reflected = incomingDir - outwardNormal * 2.0f * (incomingDir.dot(outwardNormal));
}
static PX_INLINE void collisionResponse(PxExtendedVec3& targetPosition, const PxExtendedVec3& currentPosition, const PxVec3& currentDir, const PxVec3& hitNormal, PxF32 bump, PxF32 friction, bool normalize=false)
{
// Compute reflect direction
PxVec3 reflectDir;
computeReflexionVector(reflectDir, currentDir, hitNormal);
reflectDir.normalize();
// Decompose it
PxVec3 normalCompo, tangentCompo;
decomposeVector(normalCompo, tangentCompo, reflectDir, hitNormal);
// Compute new destination position
const PxF32 amplitude = diff(targetPosition, currentPosition).magnitude();
targetPosition = currentPosition;
if(bump!=0.0f)
{
if(normalize)
normalCompo.normalize();
add(targetPosition, normalCompo*bump*amplitude);
}
if(friction!=0.0f)
{
if(normalize)
tangentCompo.normalize();
add(targetPosition, tangentCompo*friction*amplitude);
}
}
static PX_INLINE void relocateBox(PxBoxGeometry& boxGeom, PxTransform& pose, const PxExtendedVec3& center, const PxVec3& extents, const PxExtendedVec3& origin, const PxQuat& quatFromUp)
{
boxGeom.halfExtents = extents;
pose.p.x = float(center.x - origin.x);
pose.p.y = float(center.y - origin.y);
pose.p.z = float(center.z - origin.z);
pose.q = quatFromUp;
}
static PX_INLINE void relocateBox(PxBoxGeometry& boxGeom, PxTransform& pose, const TouchedUserBox& userBox)
{
relocateBox(boxGeom, pose, userBox.mBox.center, userBox.mBox.extents, userBox.mOffset, userBox.mBox.rot);
}
static PX_INLINE void relocateBox(PxBoxGeometry& boxGeom, PxTransform& pose, const TouchedBox& box)
{
boxGeom.halfExtents = box.mExtents;
pose.p = box.mCenter;
pose.q = box.mRot;
}
static PX_INLINE void relocateCapsule(
PxCapsuleGeometry& capsuleGeom, PxTransform& pose, const SweptCapsule* sc,
const PxQuat& quatFromUp,
const PxExtendedVec3& center, const PxExtendedVec3& origin)
{
capsuleGeom.radius = sc->mRadius;
capsuleGeom.halfHeight = 0.5f * sc->mHeight;
pose.p.x = float(center.x - origin.x);
pose.p.y = float(center.y - origin.y);
pose.p.z = float(center.z - origin.z);
pose.q = quatFromUp;
}
static PX_INLINE void relocateCapsule(PxCapsuleGeometry& capsuleGeom, PxTransform& pose, const PxVec3& p0, const PxVec3& p1, PxReal radius)
{
capsuleGeom.radius = radius;
pose = PxTransformFromSegment(p0, p1, &capsuleGeom.halfHeight);
if(capsuleGeom.halfHeight==0.0f)
capsuleGeom.halfHeight = FLT_EPSILON;
}
static PX_INLINE void relocateCapsule(PxCapsuleGeometry& capsuleGeom, PxTransform& pose, const TouchedUserCapsule& userCapsule)
{
PxVec3 p0, p1;
p0.x = float(userCapsule.mCapsule.p0.x - userCapsule.mOffset.x);
p0.y = float(userCapsule.mCapsule.p0.y - userCapsule.mOffset.y);
p0.z = float(userCapsule.mCapsule.p0.z - userCapsule.mOffset.z);
p1.x = float(userCapsule.mCapsule.p1.x - userCapsule.mOffset.x);
p1.y = float(userCapsule.mCapsule.p1.y - userCapsule.mOffset.y);
p1.z = float(userCapsule.mCapsule.p1.z - userCapsule.mOffset.z);
relocateCapsule(capsuleGeom, pose, p0, p1, userCapsule.mCapsule.radius);
}
static bool SweepBoxUserBox(const SweepTest* test, const SweptVolume* volume, const TouchedGeom* geom, const PxExtendedVec3& center, const PxVec3& dir, SweptContact& impact)
{
PX_ASSERT(volume->getType()==SweptVolumeType::eBOX);
PX_ASSERT(geom->mType==TouchedGeomType::eUSER_BOX);
const SweptBox* SB = static_cast<const SweptBox*>(volume);
const TouchedUserBox* TC = static_cast<const TouchedUserBox*>(geom);
PxBoxGeometry boxGeom0;
PxTransform boxPose0;
// To precompute
relocateBox(boxGeom0, boxPose0, center, SB->mExtents, TC->mOffset, test->mUserParams.mQuatFromUp);
PxBoxGeometry boxGeom1;
PxTransform boxPose1;
relocateBox(boxGeom1, boxPose1, *TC);
PxGeomSweepHit sweepHit;
if(!PxGeometryQuery::sweep(dir, impact.mDistance, boxGeom0, boxPose0, boxGeom1, boxPose1, sweepHit, getSweepHitFlags(test->mUserParams)))
return false;
if(sweepHit.distance >= impact.mDistance)
return false;
impact.mWorldNormal = sweepHit.normal;
impact.mDistance = sweepHit.distance;
impact.mInternalIndex = PX_INVALID_U32;
impact.mTriangleIndex = PX_INVALID_U32;
impact.setWorldPos(sweepHit.position, TC->mOffset);
return true;
}
static bool SweepBoxUserCapsule(const SweepTest* test, const SweptVolume* volume, const TouchedGeom* geom, const PxExtendedVec3& center, const PxVec3& dir, SweptContact& impact)
{
PX_ASSERT(volume->getType()==SweptVolumeType::eBOX);
PX_ASSERT(geom->mType==TouchedGeomType::eUSER_CAPSULE);
const SweptBox* SB = static_cast<const SweptBox*>(volume);
const TouchedUserCapsule* TC = static_cast<const TouchedUserCapsule*>(geom);
PxBoxGeometry boxGeom;
PxTransform boxPose;
// To precompute
relocateBox(boxGeom, boxPose, center, SB->mExtents, TC->mOffset, test->mUserParams.mQuatFromUp);
PxCapsuleGeometry capsuleGeom;
PxTransform capsulePose;
relocateCapsule(capsuleGeom, capsulePose, *TC);
PxGeomSweepHit sweepHit;
if(!PxGeometryQuery::sweep(dir, impact.mDistance, boxGeom, boxPose, capsuleGeom, capsulePose, sweepHit, getSweepHitFlags(test->mUserParams)))
return false;
if(sweepHit.distance >= impact.mDistance)
return false;
impact.mDistance = sweepHit.distance;
impact.mWorldNormal = sweepHit.normal;
impact.mInternalIndex = PX_INVALID_U32;
impact.mTriangleIndex = PX_INVALID_U32;
//TO CHECK: Investigate whether any significant performance improvement can be achieved through
// making the impact point computation optional in the sweep calls and compute it later
/*{
// ### check this
float t;
PxVec3 p;
float d = gUtilLib->PxSegmentOBBSqrDist(Capsule, Box0.center, Box0.extents, Box0.rot, &t, &p);
Box0.rot.multiply(p,p);
impact.mWorldPos.x = p.x + Box0.center.x + TC->mOffset.x;
impact.mWorldPos.y = p.y + Box0.center.y + TC->mOffset.y;
impact.mWorldPos.z = p.z + Box0.center.z + TC->mOffset.z;
}*/
{
impact.setWorldPos(sweepHit.position, TC->mOffset);
}
return true;
}
static bool sweepVolumeVsMesh( const SweepTest* sweepTest, const TouchedMesh* touchedMesh, SweptContact& impact,
const PxVec3& unitDir, const PxGeometry& geom, const PxTransform& pose,
PxU32 nbTris, const PxTriangle* triangles,
PxU32 cachedIndex)
{
PxGeomSweepHit sweepHit;
if(PxMeshQuery::sweep(unitDir, impact.mDistance, geom, pose, nbTris, triangles, sweepHit, getSweepHitFlags(sweepTest->mUserParams), &cachedIndex))
{
if(sweepHit.distance >= impact.mDistance)
return false;
impact.mDistance = sweepHit.distance;
impact.mWorldNormal = sweepHit.normal;
impact.setWorldPos(sweepHit.position, touchedMesh->mOffset);
// Returned index is only between 0 and nbTris, i.e. it indexes the array of cached triangles, not the original mesh.
PX_ASSERT(sweepHit.faceIndex < nbTris);
sweepTest->mCachedTriIndex[sweepTest->mCachedTriIndexIndex] = sweepHit.faceIndex;
// The CCT loop will use the index from the start of the cache...
impact.mInternalIndex = sweepHit.faceIndex + touchedMesh->mIndexWorldTriangles;
const PxU32* triangleIndices = &sweepTest->mTriangleIndices[touchedMesh->mIndexWorldTriangles];
impact.mTriangleIndex = triangleIndices[sweepHit.faceIndex];
return true;
}
return false;
}
static bool SweepBoxMesh(const SweepTest* sweep_test, const SweptVolume* volume, const TouchedGeom* geom, const PxExtendedVec3& center, const PxVec3& dir, SweptContact& impact)
{
PX_ASSERT(volume->getType()==SweptVolumeType::eBOX);
PX_ASSERT(geom->mType==TouchedGeomType::eMESH);
const SweptBox* SB = static_cast<const SweptBox*>(volume);
const TouchedMesh* TM = static_cast<const TouchedMesh*>(geom);
PxU32 nbTris = TM->mNbTris;
if(!nbTris)
return false;
// Fetch triangle data for current mesh (the stream may contain triangles from multiple meshes)
const PxTriangle* T = &sweep_test->mWorldTriangles.getTriangle(TM->mIndexWorldTriangles);
// PT: this only really works when the CCT collides with a single mesh, but that's the most common case. When it doesn't, there's just no speedup but it still works.
PxU32 CachedIndex = sweep_test->mCachedTriIndex[sweep_test->mCachedTriIndexIndex];
if(CachedIndex>=nbTris)
CachedIndex=0;
PxBoxGeometry boxGeom;
boxGeom.halfExtents = SB->mExtents;
PxTransform boxPose(PxVec3(float(center.x - TM->mOffset.x), float(center.y - TM->mOffset.y), float(center.z - TM->mOffset.z)), sweep_test->mUserParams.mQuatFromUp); // Precompute
return sweepVolumeVsMesh(sweep_test, TM, impact, dir, boxGeom, boxPose, nbTris, T, CachedIndex);
}
static bool SweepCapsuleMesh(
const SweepTest* sweep_test, const SweptVolume* volume, const TouchedGeom* geom,
const PxExtendedVec3& center, const PxVec3& dir, SweptContact& impact)
{
PX_ASSERT(volume->getType()==SweptVolumeType::eCAPSULE);
PX_ASSERT(geom->mType==TouchedGeomType::eMESH);
const SweptCapsule* SC = static_cast<const SweptCapsule*>(volume);
const TouchedMesh* TM = static_cast<const TouchedMesh*>(geom);
PxU32 nbTris = TM->mNbTris;
if(!nbTris)
return false;
// Fetch triangle data for current mesh (the stream may contain triangles from multiple meshes)
const PxTriangle* T = &sweep_test->mWorldTriangles.getTriangle(TM->mIndexWorldTriangles);
// PT: this only really works when the CCT collides with a single mesh, but that's the most common case.
// When it doesn't, there's just no speedup but it still works.
PxU32 CachedIndex = sweep_test->mCachedTriIndex[sweep_test->mCachedTriIndexIndex];
if(CachedIndex>=nbTris)
CachedIndex=0;
PxCapsuleGeometry capsuleGeom;
PxTransform capsulePose;
relocateCapsule(capsuleGeom, capsulePose, SC, sweep_test->mUserParams.mQuatFromUp, center, TM->mOffset);
return sweepVolumeVsMesh(sweep_test, TM, impact, dir, capsuleGeom, capsulePose, nbTris, T, CachedIndex);
}
static bool SweepBoxBox(const SweepTest* test, const SweptVolume* volume, const TouchedGeom* geom, const PxExtendedVec3& center, const PxVec3& dir, SweptContact& impact)
{
PX_ASSERT(volume->getType()==SweptVolumeType::eBOX);
PX_ASSERT(geom->mType==TouchedGeomType::eBOX);
const SweptBox* SB = static_cast<const SweptBox*>(volume);
const TouchedBox* TB = static_cast<const TouchedBox*>(geom);
PxBoxGeometry boxGeom0;
PxTransform boxPose0;
// To precompute
relocateBox(boxGeom0, boxPose0, center, SB->mExtents, TB->mOffset, test->mUserParams.mQuatFromUp);
PxBoxGeometry boxGeom1;
PxTransform boxPose1;
relocateBox(boxGeom1, boxPose1, *TB);
PxGeomSweepHit sweepHit;
if(!PxGeometryQuery::sweep(dir, impact.mDistance, boxGeom0, boxPose0, boxGeom1, boxPose1, sweepHit, getSweepHitFlags(test->mUserParams)))
return false;
if(sweepHit.distance >= impact.mDistance)
return false;
impact.mWorldNormal = sweepHit.normal;
impact.mDistance = sweepHit.distance;
impact.mInternalIndex = PX_INVALID_U32;
impact.mTriangleIndex = PX_INVALID_U32;
impact.setWorldPos(sweepHit.position, TB->mOffset);
return true;
}
static bool SweepBoxSphere(const SweepTest* test, const SweptVolume* volume, const TouchedGeom* geom, const PxExtendedVec3& center, const PxVec3& dir, SweptContact& impact)
{
PX_ASSERT(volume->getType()==SweptVolumeType::eBOX);
PX_ASSERT(geom->mType==TouchedGeomType::eSPHERE);
const SweptBox* SB = static_cast<const SweptBox*>(volume);
const TouchedSphere* TS = static_cast<const TouchedSphere*>(geom);
PxBoxGeometry boxGeom;
PxTransform boxPose;
// To precompute
relocateBox(boxGeom, boxPose, center, SB->mExtents, TS->mOffset, test->mUserParams.mQuatFromUp);
PxSphereGeometry sphereGeom;
sphereGeom.radius = TS->mRadius;
PxTransform spherePose;
spherePose.p = TS->mCenter;
spherePose.q = PxQuat(PxIdentity);
PxGeomSweepHit sweepHit;
if(!PxGeometryQuery::sweep(dir, impact.mDistance, boxGeom, boxPose, sphereGeom, spherePose, sweepHit, getSweepHitFlags(test->mUserParams)))
return false;
impact.mDistance = sweepHit.distance;
impact.mWorldNormal = sweepHit.normal;
impact.mInternalIndex = PX_INVALID_U32;
impact.mTriangleIndex = PX_INVALID_U32;
//TO CHECK: Investigate whether any significant performance improvement can be achieved through
// making the impact point computation optional in the sweep calls and compute it later
/*
{
// The sweep test doesn't compute the impact point automatically, so we have to do it here.
PxVec3 NewSphereCenter = TS->mSphere.center - d * dir;
PxVec3 Closest;
gUtilLib->PxPointOBBSqrDist(NewSphereCenter, Box0.center, Box0.extents, Box0.rot, &Closest);
// Compute point on the box, after sweep
Box0.rot.multiply(Closest, Closest);
impact.mWorldPos.x = TS->mOffset.x + Closest.x + Box0.center.x + d * dir.x;
impact.mWorldPos.y = TS->mOffset.y + Closest.y + Box0.center.y + d * dir.y;
impact.mWorldPos.z = TS->mOffset.z + Closest.z + Box0.center.z + d * dir.z;
impact.mWorldNormal = -impact.mWorldNormal;
}*/
{
impact.setWorldPos(sweepHit.position, TS->mOffset);
}
return true;
}
static bool SweepBoxCapsule(const SweepTest* test, const SweptVolume* volume, const TouchedGeom* geom, const PxExtendedVec3& center, const PxVec3& dir, SweptContact& impact)
{
PX_ASSERT(volume->getType()==SweptVolumeType::eBOX);
PX_ASSERT(geom->mType==TouchedGeomType::eCAPSULE);
const SweptBox* SB = static_cast<const SweptBox*>(volume);
const TouchedCapsule* TC = static_cast<const TouchedCapsule*>(geom);
PxBoxGeometry boxGeom;
PxTransform boxPose;
// To precompute
relocateBox(boxGeom, boxPose, center, SB->mExtents, TC->mOffset, test->mUserParams.mQuatFromUp);
PxCapsuleGeometry capsuleGeom;
PxTransform capsulePose;
relocateCapsule(capsuleGeom, capsulePose, TC->mP0, TC->mP1, TC->mRadius);
PxGeomSweepHit sweepHit;
if(!PxGeometryQuery::sweep(dir, impact.mDistance, boxGeom, boxPose, capsuleGeom, capsulePose, sweepHit, getSweepHitFlags(test->mUserParams)))
return false;
if(sweepHit.distance >= impact.mDistance)
return false;
impact.mDistance = sweepHit.distance;
impact.mWorldNormal = sweepHit.normal;
impact.mInternalIndex = PX_INVALID_U32;
impact.mTriangleIndex = PX_INVALID_U32;
//TO CHECK: Investigate whether any significant performance improvement can be achieved through
// making the impact point computation optional in the sweep calls and compute it later
/*{
float t;
PxVec3 p;
float d = gUtilLib->PxSegmentOBBSqrDist(TC->mCapsule, Box0.center, Box0.extents, Box0.rot, &t, &p);
Box0.rot.multiply(p,p);
impact.mWorldPos.x = p.x + Box0.center.x + TC->mOffset.x;
impact.mWorldPos.y = p.y + Box0.center.y + TC->mOffset.y;
impact.mWorldPos.z = p.z + Box0.center.z + TC->mOffset.z;
}*/
{
impact.setWorldPos(sweepHit.position, TC->mOffset);
}
return true;
}
static bool SweepCapsuleBox(const SweepTest* test, const SweptVolume* volume, const TouchedGeom* geom, const PxExtendedVec3& center, const PxVec3& dir, SweptContact& impact)
{
PX_ASSERT(volume->getType()==SweptVolumeType::eCAPSULE);
PX_ASSERT(geom->mType==TouchedGeomType::eBOX);
const SweptCapsule* SC = static_cast<const SweptCapsule*>(volume);
const TouchedBox* TB = static_cast<const TouchedBox*>(geom);
PxCapsuleGeometry capsuleGeom;
PxTransform capsulePose;
relocateCapsule(capsuleGeom, capsulePose, SC, test->mUserParams.mQuatFromUp, center, TB->mOffset);
PxBoxGeometry boxGeom;
PxTransform boxPose;
// To precompute
relocateBox(boxGeom, boxPose, *TB);
// The box and capsule coordinates are relative to the center of the cached bounding box
PxGeomSweepHit sweepHit;
if(!PxGeometryQuery::sweep(dir, impact.mDistance, capsuleGeom, capsulePose, boxGeom, boxPose, sweepHit, getSweepHitFlags(test->mUserParams)))
return false;
if(sweepHit.distance >= impact.mDistance)
return false;
impact.mDistance = sweepHit.distance;
impact.mWorldNormal = sweepHit.normal;
impact.mInternalIndex = PX_INVALID_U32;
impact.mTriangleIndex = PX_INVALID_U32;
//TO CHECK: Investigate whether any significant performance improvement can be achieved through
// making the impact point computation optional in the sweep calls and compute it later
/*{
float t;
PxVec3 p;
float d = gUtilLib->PxSegmentOBBSqrDist(Capsule, TB->mBox.center, TB->mBox.extents, TB->mBox.rot, &t, &p);
TB->mBox.rot.multiply(p,p);
p += TB->mBox.center;
impact.mWorldPos.x = p.x + TB->mOffset.x;
impact.mWorldPos.y = p.y + TB->mOffset.y;
impact.mWorldPos.z = p.z + TB->mOffset.z;
}*/
{
impact.setWorldPos(sweepHit.position, TB->mOffset);
}
return true;
}
static bool SweepCapsuleSphere(const SweepTest* test, const SweptVolume* volume, const TouchedGeom* geom, const PxExtendedVec3& center, const PxVec3& dir, SweptContact& impact)
{
PX_ASSERT(volume->getType()==SweptVolumeType::eCAPSULE);
PX_ASSERT(geom->mType==TouchedGeomType::eSPHERE);
const SweptCapsule* SC = static_cast<const SweptCapsule*>(volume);
const TouchedSphere* TS = static_cast<const TouchedSphere*>(geom);
PxCapsuleGeometry capsuleGeom;
PxTransform capsulePose;
relocateCapsule(capsuleGeom, capsulePose, SC, test->mUserParams.mQuatFromUp, center, TS->mOffset);
PxSphereGeometry sphereGeom;
sphereGeom.radius = TS->mRadius;
PxTransform spherePose;
spherePose.p = TS->mCenter;
spherePose.q = PxQuat(PxIdentity);
PxGeomSweepHit sweepHit;
if(!PxGeometryQuery::sweep(dir, impact.mDistance, capsuleGeom, capsulePose, sphereGeom, spherePose, sweepHit, getSweepHitFlags(test->mUserParams)))
return false;
if(sweepHit.distance >= impact.mDistance)
return false;
impact.mDistance = sweepHit.distance;
impact.mWorldNormal = sweepHit.normal;
impact.mInternalIndex = PX_INVALID_U32;
impact.mTriangleIndex = PX_INVALID_U32;
impact.setWorldPos(sweepHit.position, TS->mOffset);
return true;
}
static bool SweepCapsuleCustom(const SweepTest* test, const SweptVolume* volume, const TouchedGeom* geom, const PxExtendedVec3& center, const PxVec3& dir, SweptContact& impact)
{
PX_ASSERT(volume->getType() == SweptVolumeType::eCAPSULE);
PX_ASSERT(geom->mType == TouchedGeomType::eCUSTOM);
const SweptCapsule* SC = static_cast<const SweptCapsule*>(volume);
const TouchedCustom* TC = static_cast<const TouchedCustom*>(geom);
PxCapsuleGeometry capsuleGeom;
PxTransform capsulePose;
relocateCapsule(capsuleGeom, capsulePose, SC, test->mUserParams.mQuatFromUp, center, TC->mOffset);
PxCustomGeometry customGeom(*TC->mCustomCallbacks);
PxTransform customPose;
customPose.p = TC->mCenter;
customPose.q = PxQuat(PxIdentity);
PxGeomSweepHit sweepHit;
if(!PxGeometryQuery::sweep(dir, impact.mDistance, capsuleGeom, capsulePose, customGeom, customPose, sweepHit, getSweepHitFlags(test->mUserParams)))
return false;
if(sweepHit.distance >= impact.mDistance)
return false;
impact.mDistance = sweepHit.distance;
impact.mWorldNormal = sweepHit.normal;
impact.mInternalIndex = PX_INVALID_U32;
impact.mTriangleIndex = PX_INVALID_U32;
impact.setWorldPos(sweepHit.position, TC->mOffset);
return true;
}
static bool SweepBoxCustom(const SweepTest* test, const SweptVolume* volume, const TouchedGeom* geom, const PxExtendedVec3& center, const PxVec3& dir, SweptContact& impact)
{
PX_ASSERT(volume->getType() == SweptVolumeType::eBOX);
PX_ASSERT(geom->mType == TouchedGeomType::eCUSTOM);
const SweptBox* SB = static_cast<const SweptBox*>(volume);
const TouchedCustom* TC = static_cast<const TouchedCustom*>(geom);
PxBoxGeometry boxGeom;
PxTransform boxPose;
// To precompute
relocateBox(boxGeom, boxPose, center, SB->mExtents, TC->mOffset, test->mUserParams.mQuatFromUp);
PxCustomGeometry customGeom(*TC->mCustomCallbacks);
PxTransform customPose;
customPose.p = TC->mCenter;
customPose.q = PxQuat(PxIdentity);
PxGeomSweepHit sweepHit;
if(!PxGeometryQuery::sweep(dir, impact.mDistance, boxGeom, boxPose, customGeom, customPose, sweepHit, getSweepHitFlags(test->mUserParams)))
return false;
if(sweepHit.distance >= impact.mDistance)
return false;
impact.mDistance = sweepHit.distance;
impact.mWorldNormal = sweepHit.normal;
impact.mInternalIndex = PX_INVALID_U32;
impact.mTriangleIndex = PX_INVALID_U32;
impact.setWorldPos(sweepHit.position, TC->mOffset);
return true;
}
static bool SweepCapsuleCapsule(const SweepTest* test, const SweptVolume* volume, const TouchedGeom* geom, const PxExtendedVec3& center, const PxVec3& dir, SweptContact& impact)
{
PX_ASSERT(volume->getType()==SweptVolumeType::eCAPSULE);
PX_ASSERT(geom->mType==TouchedGeomType::eCAPSULE);
const SweptCapsule* SC = static_cast<const SweptCapsule*>(volume);
const TouchedCapsule* TC = static_cast<const TouchedCapsule*>(geom);
PxCapsuleGeometry capsuleGeom0;
PxTransform capsulePose0;
relocateCapsule(capsuleGeom0, capsulePose0, SC, test->mUserParams.mQuatFromUp, center, TC->mOffset);
PxCapsuleGeometry capsuleGeom1;
PxTransform capsulePose1;
relocateCapsule(capsuleGeom1, capsulePose1, TC->mP0, TC->mP1, TC->mRadius);
PxGeomSweepHit sweepHit;
if(!PxGeometryQuery::sweep(dir, impact.mDistance, capsuleGeom0, capsulePose0, capsuleGeom1, capsulePose1, sweepHit, getSweepHitFlags(test->mUserParams)))
return false;
if(sweepHit.distance >= impact.mDistance)
return false;
impact.mDistance = sweepHit.distance;
impact.mWorldNormal = sweepHit.normal;
impact.mInternalIndex = PX_INVALID_U32;
impact.mTriangleIndex = PX_INVALID_U32;
impact.setWorldPos(sweepHit.position, TC->mOffset);
return true;
}
static bool SweepCapsuleUserCapsule(const SweepTest* test, const SweptVolume* volume, const TouchedGeom* geom, const PxExtendedVec3& center, const PxVec3& dir, SweptContact& impact)
{
PX_ASSERT(volume->getType()==SweptVolumeType::eCAPSULE);
PX_ASSERT(geom->mType==TouchedGeomType::eUSER_CAPSULE);
const SweptCapsule* SC = static_cast<const SweptCapsule*>(volume);
const TouchedUserCapsule* TC = static_cast<const TouchedUserCapsule*>(geom);
PxCapsuleGeometry capsuleGeom0;
PxTransform capsulePose0;
relocateCapsule(capsuleGeom0, capsulePose0, SC, test->mUserParams.mQuatFromUp, center, TC->mOffset);
PxCapsuleGeometry capsuleGeom1;
PxTransform capsulePose1;
relocateCapsule(capsuleGeom1, capsulePose1, *TC);
PxGeomSweepHit sweepHit;
if(!PxGeometryQuery::sweep(dir, impact.mDistance, capsuleGeom0, capsulePose0, capsuleGeom1, capsulePose1, sweepHit, getSweepHitFlags(test->mUserParams)))
return false;
if(sweepHit.distance >= impact.mDistance)
return false;
impact.mDistance = sweepHit.distance;
impact.mWorldNormal = sweepHit.normal;
impact.mInternalIndex = PX_INVALID_U32;
impact.mTriangleIndex = PX_INVALID_U32;
impact.setWorldPos(sweepHit.position, TC->mOffset);
return true;
}
static bool SweepCapsuleUserBox(const SweepTest* test, const SweptVolume* volume, const TouchedGeom* geom, const PxExtendedVec3& center, const PxVec3& dir, SweptContact& impact)
{
PX_ASSERT(volume->getType()==SweptVolumeType::eCAPSULE);
PX_ASSERT(geom->mType==TouchedGeomType::eUSER_BOX);
const SweptCapsule* SC = static_cast<const SweptCapsule*>(volume);
const TouchedUserBox* TB = static_cast<const TouchedUserBox*>(geom);
PxCapsuleGeometry capsuleGeom;
PxTransform capsulePose;
relocateCapsule(capsuleGeom, capsulePose, SC, test->mUserParams.mQuatFromUp, center, TB->mOffset);
PxBoxGeometry boxGeom;
PxTransform boxPose;
relocateBox(boxGeom, boxPose, *TB);
PxGeomSweepHit sweepHit;
if(!PxGeometryQuery::sweep(dir, impact.mDistance, capsuleGeom, capsulePose, boxGeom, boxPose, sweepHit, getSweepHitFlags(test->mUserParams)))
return false;
if(sweepHit.distance >= impact.mDistance)
return false;
impact.mDistance = sweepHit.distance;
impact.mWorldNormal = sweepHit.normal;
impact.mInternalIndex = PX_INVALID_U32;
impact.mTriangleIndex = PX_INVALID_U32;
//TO CHECK: Investigate whether any significant performance improvement can be achieved through
// making the impact point computation optional in the sweep calls and compute it later
/*{
// ### check this
float t;
PxVec3 p;
float d = gUtilLib->PxSegmentOBBSqrDist(Capsule, Box.center, Box.extents, Box.rot, &t, &p);
p += Box.center;
impact.mWorldPos.x = p.x + TB->mOffset.x;
impact.mWorldPos.y = p.y + TB->mOffset.y;
impact.mWorldPos.z = p.z + TB->mOffset.z;
}*/
{
impact.setWorldPos(sweepHit.position, TB->mOffset);
}
return true;
}
typedef bool (*SweepFunc) (const SweepTest*, const SweptVolume*, const TouchedGeom*, const PxExtendedVec3&, const PxVec3&, SweptContact&);
static SweepFunc gSweepMap[SweptVolumeType::eLAST][TouchedGeomType::eLAST] = {
// Box funcs
{
SweepBoxUserBox,
SweepBoxUserCapsule,
SweepBoxMesh,
SweepBoxBox,
SweepBoxSphere,
SweepBoxCapsule,
SweepBoxCustom
},
// Capsule funcs
{
SweepCapsuleUserBox,
SweepCapsuleUserCapsule,
SweepCapsuleMesh,
SweepCapsuleBox,
SweepCapsuleSphere,
SweepCapsuleCapsule,
SweepCapsuleCustom
}
};
PX_COMPILE_TIME_ASSERT(sizeof(gSweepMap)==SweptVolumeType::eLAST*TouchedGeomType::eLAST*sizeof(SweepFunc));
static const PxU32 GeomSizes[] =
{
sizeof(TouchedUserBox),
sizeof(TouchedUserCapsule),
sizeof(TouchedMesh),
sizeof(TouchedBox),
sizeof(TouchedSphere),
sizeof(TouchedCapsule),
sizeof(TouchedCustom)
};
static const TouchedGeom* CollideGeoms(
const SweepTest* sweep_test, const SweptVolume& volume, const IntArray& geom_stream,
const PxExtendedVec3& center, const PxVec3& dir, SweptContact& impact, bool discardInitialOverlap)
{
impact.mInternalIndex = PX_INVALID_U32;
impact.mTriangleIndex = PX_INVALID_U32;
impact.mGeom = NULL;
const PxU32* Data = geom_stream.begin();
const PxU32* Last = geom_stream.end();
while(Data!=Last)
{
const TouchedGeom* CurrentGeom = reinterpret_cast<const TouchedGeom*>(Data);
SweepFunc ST = gSweepMap[volume.getType()][CurrentGeom->mType];
if(ST)
{
SweptContact C;
C.mDistance = impact.mDistance; // Initialize with current best distance
C.mInternalIndex = PX_INVALID_U32;
C.mTriangleIndex = PX_INVALID_U32;
if((ST)(sweep_test, &volume, CurrentGeom, center, dir, C))
{
if(C.mDistance==0.0f)
{
if(!discardInitialOverlap)
{
if(CurrentGeom->mType==TouchedGeomType::eUSER_BOX || CurrentGeom->mType==TouchedGeomType::eUSER_CAPSULE)
{
}
else
{
const PxRigidActor* touchedActor = CurrentGeom->mActor;
PX_ASSERT(touchedActor);
if(shouldApplyRecoveryModule(*touchedActor))
{
impact = C;
impact.mGeom = const_cast<TouchedGeom*>(CurrentGeom);
return CurrentGeom;
}
}
}
}
/* else
if(discardInitialOverlap && C.mDistance==0.0f)
{
// PT: we previously used eINITIAL_OVERLAP without eINITIAL_OVERLAP_KEEP, i.e. initially overlapping shapes got ignored.
// So we replicate this behavior here.
}*/
else if(C.mDistance<impact.mDistance)
{
impact = C;
impact.mGeom = const_cast<TouchedGeom*>(CurrentGeom);
if(C.mDistance <= 0.0f) // there is no point testing for closer hits
return CurrentGeom; // since we are touching a shape already
}
}
}
const PxU8* ptr = reinterpret_cast<const PxU8*>(Data);
ptr += GeomSizes[CurrentGeom->mType];
Data = reinterpret_cast<const PxU32*>(ptr);
}
return impact.mGeom;
}
static PxVec3 computeMTD(const SweepTest* sweep_test, const SweptVolume& volume, const IntArray& geom_stream, const PxExtendedVec3& center, float contactOffset)
{
PxVec3 p = toVec3(center);
// contactOffset += 0.01f;
const PxU32 maxIter = 4;
PxU32 nbIter = 0;
bool isValid = true;
while(isValid && nbIter<maxIter)
{
const PxU32* Data = geom_stream.begin();
const PxU32* Last = geom_stream.end();
while(Data!=Last)
{
const TouchedGeom* CurrentGeom = reinterpret_cast<const TouchedGeom*>(Data);
if(CurrentGeom->mType==TouchedGeomType::eUSER_BOX || CurrentGeom->mType==TouchedGeomType::eUSER_CAPSULE)
{
}
else
{
const PxRigidActor* touchedActor = CurrentGeom->mActor;
PX_ASSERT(touchedActor);
if(shouldApplyRecoveryModule(*touchedActor))
{
const PxShape* touchedShape = reinterpret_cast<const PxShape*>(CurrentGeom->mTGUserData);
PX_ASSERT(touchedShape);
const PxGeometry& touchedGeom = touchedShape->getGeometry();
const PxTransform globalPose = getShapeGlobalPose(*touchedShape, *touchedActor);
PxVec3 mtd;
PxF32 depth;
const PxTransform volumePose(p, sweep_test->mUserParams.mQuatFromUp);
if(volume.getType()==SweptVolumeType::eCAPSULE)
{
const SweptCapsule& sc = static_cast<const SweptCapsule&>(volume);
const PxCapsuleGeometry capsuleGeom(sc.mRadius+contactOffset, sc.mHeight*0.5f);
isValid = PxGeometryQuery::computePenetration(mtd, depth, capsuleGeom, volumePose, touchedGeom, globalPose);
}
else
{
PX_ASSERT(volume.getType()==SweptVolumeType::eBOX);
const SweptBox& sb = static_cast<const SweptBox&>(volume);
const PxBoxGeometry boxGeom(sb.mExtents+PxVec3(contactOffset));
isValid = PxGeometryQuery::computePenetration(mtd, depth, boxGeom, volumePose, touchedGeom, globalPose);
}
if(isValid)
{
nbIter++;
PX_ASSERT(depth>=0.0f);
PX_ASSERT(mtd.isFinite());
PX_ASSERT(PxIsFinite(depth));
#ifdef DEBUG_MTD
PX_ASSERT(depth<=1.0f);
if(depth>1.0f || !mtd.isFinite() || !PxIsFinite(depth))
{
int stop=1;
(void)stop;
}
printf("Depth: %f\n", depth);
printf("mtd: %f %f %f\n", mtd.x, mtd.y, mtd.z);
#endif
p += mtd * depth;
}
}
}
const PxU8* ptr = reinterpret_cast<const PxU8*>(Data);
ptr += GeomSizes[CurrentGeom->mType];
Data = reinterpret_cast<const PxU32*>(ptr);
}
}
return p;
}
static bool ParseGeomStream(const void* object, const IntArray& geom_stream)
{
const PxU32* Data = geom_stream.begin();
const PxU32* Last = geom_stream.end();
while(Data!=Last)
{
const TouchedGeom* CurrentGeom = reinterpret_cast<const TouchedGeom*>(Data);
if(CurrentGeom->mTGUserData==object)
return true;
const PxU8* ptr = reinterpret_cast<const PxU8*>(Data);
ptr += GeomSizes[CurrentGeom->mType];
Data = reinterpret_cast<const PxU32*>(ptr);
}
return false;
}
CCTParams::CCTParams() :
mNonWalkableMode (PxControllerNonWalkableMode::ePREVENT_CLIMBING),
mQuatFromUp (PxQuat(PxIdentity)),
mUpDirection (PxVec3(0.0f)),
mSlopeLimit (0.0f),
mContactOffset (0.0f),
mStepOffset (0.0f),
mInvisibleWallHeight (0.0f),
mMaxJumpHeight (0.0f),
mMaxEdgeLength2 (0.0f),
mTessellation (false),
mHandleSlope (false),
mOverlapRecovery (false),
mPreciseSweeps (true),
mPreventVerticalSlidingAgainstCeiling (false)
{
}
SweepTest::SweepTest(bool registerDeletionListener) :
mRenderBuffer (NULL),
mRenderFlags (0),
mTriangleIndices ("sweepTestTriangleIndices"),
mGeomStream ("sweepTestStream"),
mTouchedShape (registerDeletionListener),
mTouchedActor (registerDeletionListener),
mSQTimeStamp (0xffffffff),
mNbFullUpdates (0),
mNbPartialUpdates (0),
mNbTessellation (0),
mNbIterations (0),
mFlags (0),
mRegisterDeletionListener(registerDeletionListener),
mCctManager (NULL)
{
mCacheBounds.setEmpty();
mCachedTriIndexIndex = 0;
mCachedTriIndex[0] = mCachedTriIndex[1] = mCachedTriIndex[2] = 0;
mNbCachedStatic = 0;
mNbCachedT = 0;
mTouchedObstacleHandle = PX_INVALID_OBSTACLE_HANDLE;
mTouchedPos = PxVec3(0);
mTouchedPosShape_Local = PxVec3(0);