266 lines
17 KiB
C++
266 lines
17 KiB
C++
//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#include "geometry/PxGeometry.h"
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#include "PxcContactMethodImpl.h"
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namespace physx
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{
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static bool PxcInvalidContactPair (CONTACT_METHOD_ARGS_UNUSED) { return false; }
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// PT: IMPORTANT: do NOT remove the indirection! Using the Gu functions directly in the table produces massive perf problems.
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static bool PxcContactSphereSphere (GU_CONTACT_METHOD_ARGS) { return contactSphereSphere(shape0, shape1, transform0, transform1, params, cache, contactBuffer, renderOutput); }
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static bool PxcContactSphereCapsule (GU_CONTACT_METHOD_ARGS) { return contactSphereCapsule(shape0, shape1, transform0, transform1, params, cache, contactBuffer, renderOutput); }
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static bool PxcContactSphereBox (GU_CONTACT_METHOD_ARGS) { return contactSphereBox(shape0, shape1, transform0, transform1, params, cache, contactBuffer, renderOutput); }
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static bool PxcContactSpherePlane (GU_CONTACT_METHOD_ARGS) { return contactSpherePlane(shape0, shape1, transform0, transform1, params, cache, contactBuffer, renderOutput); }
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static bool PxcContactSphereConvex (GU_CONTACT_METHOD_ARGS) { return contactCapsuleConvex(shape0, shape1, transform0, transform1, params, cache, contactBuffer, renderOutput); }
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static bool PxcContactSphereMesh (GU_CONTACT_METHOD_ARGS) { return contactSphereMesh(shape0, shape1, transform0, transform1, params, cache, contactBuffer, renderOutput); }
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static bool PxcContactSphereHeightField (GU_CONTACT_METHOD_ARGS) { return contactSphereHeightfield(shape0, shape1, transform0, transform1, params, cache, contactBuffer, renderOutput); }
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static bool PxcContactPlaneBox (GU_CONTACT_METHOD_ARGS) { return contactPlaneBox(shape0, shape1, transform0, transform1, params, cache, contactBuffer, renderOutput); }
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static bool PxcContactPlaneCapsule (GU_CONTACT_METHOD_ARGS) { return contactPlaneCapsule(shape0, shape1, transform0, transform1, params, cache, contactBuffer, renderOutput); }
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static bool PxcContactPlaneConvex (GU_CONTACT_METHOD_ARGS) { return contactPlaneConvex(shape0, shape1, transform0, transform1, params, cache, contactBuffer, renderOutput); }
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static bool PxcContactCapsuleCapsule (GU_CONTACT_METHOD_ARGS) { return contactCapsuleCapsule(shape0, shape1, transform0, transform1, params, cache, contactBuffer, renderOutput); }
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static bool PxcContactCapsuleBox (GU_CONTACT_METHOD_ARGS) { return contactCapsuleBox(shape0, shape1, transform0, transform1, params, cache, contactBuffer, renderOutput); }
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static bool PxcContactCapsuleConvex (GU_CONTACT_METHOD_ARGS) { return contactCapsuleConvex(shape0, shape1, transform0, transform1, params, cache, contactBuffer, renderOutput); }
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static bool PxcContactCapsuleMesh (GU_CONTACT_METHOD_ARGS) { return contactCapsuleMesh(shape0, shape1, transform0, transform1, params, cache, contactBuffer, renderOutput); }
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static bool PxcContactCapsuleHeightField(GU_CONTACT_METHOD_ARGS) { return contactCapsuleHeightfield(shape0, shape1, transform0, transform1, params, cache, contactBuffer, renderOutput); }
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static bool PxcContactBoxBox (GU_CONTACT_METHOD_ARGS) { return contactBoxBox(shape0, shape1, transform0, transform1, params, cache, contactBuffer, renderOutput); }
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static bool PxcContactBoxConvex (GU_CONTACT_METHOD_ARGS) { return contactBoxConvex(shape0, shape1, transform0, transform1, params, cache, contactBuffer, renderOutput); }
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static bool PxcContactBoxMesh (GU_CONTACT_METHOD_ARGS) { return contactBoxMesh(shape0, shape1, transform0, transform1, params, cache, contactBuffer, renderOutput); }
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static bool PxcContactBoxHeightField (GU_CONTACT_METHOD_ARGS) { return contactBoxHeightfield(shape0, shape1, transform0, transform1, params, cache, contactBuffer, renderOutput); }
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static bool PxcContactConvexConvex (GU_CONTACT_METHOD_ARGS) { return contactConvexConvex(shape0, shape1, transform0, transform1, params, cache, contactBuffer, renderOutput); }
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static bool PxcContactConvexMesh (GU_CONTACT_METHOD_ARGS) { return contactConvexMesh(shape0, shape1, transform0, transform1, params, cache, contactBuffer, renderOutput); }
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static bool PxcContactConvexHeightField (GU_CONTACT_METHOD_ARGS) { return contactConvexHeightfield(shape0, shape1, transform0, transform1, params, cache, contactBuffer, renderOutput); }
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static bool PxcPCMContactSphereSphere (GU_CONTACT_METHOD_ARGS) { return pcmContactSphereSphere(shape0, shape1, transform0, transform1, params, cache, contactBuffer, renderOutput); }
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static bool PxcPCMContactSpherePlane (GU_CONTACT_METHOD_ARGS) { return pcmContactSpherePlane(shape0, shape1, transform0, transform1, params, cache, contactBuffer, renderOutput); }
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static bool PxcPCMContactSphereBox (GU_CONTACT_METHOD_ARGS) { return pcmContactSphereBox(shape0, shape1, transform0, transform1, params, cache, contactBuffer, renderOutput); }
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static bool PxcPCMContactSphereCapsule (GU_CONTACT_METHOD_ARGS) { return pcmContactSphereCapsule(shape0, shape1, transform0, transform1, params, cache, contactBuffer, renderOutput); }
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static bool PxcPCMContactSphereConvex (GU_CONTACT_METHOD_ARGS) { return pcmContactSphereConvex(shape0, shape1, transform0, transform1, params, cache, contactBuffer, renderOutput); }
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static bool PxcPCMContactSphereMesh (GU_CONTACT_METHOD_ARGS) { return pcmContactSphereMesh(shape0, shape1, transform0, transform1, params, cache, contactBuffer, renderOutput); }
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static bool PxcPCMContactSphereHeightField (GU_CONTACT_METHOD_ARGS) { return pcmContactSphereHeightField(shape0, shape1, transform0, transform1, params, cache, contactBuffer, renderOutput); }
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static bool PxcPCMContactPlaneCapsule (GU_CONTACT_METHOD_ARGS) { return pcmContactPlaneCapsule(shape0, shape1, transform0, transform1, params, cache, contactBuffer, renderOutput); }
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static bool PxcPCMContactPlaneBox (GU_CONTACT_METHOD_ARGS) { return pcmContactPlaneBox(shape0, shape1, transform0, transform1, params, cache, contactBuffer, renderOutput); }
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static bool PxcPCMContactPlaneConvex (GU_CONTACT_METHOD_ARGS) { return pcmContactPlaneConvex(shape0, shape1, transform0, transform1, params, cache, contactBuffer, renderOutput); }
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static bool PxcPCMContactCapsuleCapsule (GU_CONTACT_METHOD_ARGS) { return pcmContactCapsuleCapsule(shape0, shape1, transform0, transform1, params, cache, contactBuffer, renderOutput); }
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static bool PxcPCMContactCapsuleBox (GU_CONTACT_METHOD_ARGS) { return pcmContactCapsuleBox(shape0, shape1, transform0, transform1, params, cache, contactBuffer, renderOutput); }
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static bool PxcPCMContactCapsuleConvex (GU_CONTACT_METHOD_ARGS) { return pcmContactCapsuleConvex(shape0, shape1, transform0, transform1, params, cache, contactBuffer, renderOutput); }
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static bool PxcPCMContactCapsuleMesh (GU_CONTACT_METHOD_ARGS) { return pcmContactCapsuleMesh(shape0, shape1, transform0, transform1, params, cache, contactBuffer, renderOutput); }
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static bool PxcPCMContactCapsuleHeightField (GU_CONTACT_METHOD_ARGS) { return pcmContactCapsuleHeightField(shape0, shape1, transform0, transform1, params, cache, contactBuffer, renderOutput); }
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static bool PxcPCMContactBoxBox (GU_CONTACT_METHOD_ARGS) { return pcmContactBoxBox(shape0, shape1, transform0, transform1, params, cache, contactBuffer, renderOutput); }
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static bool PxcPCMContactBoxConvex (GU_CONTACT_METHOD_ARGS) { return pcmContactBoxConvex(shape0, shape1, transform0, transform1, params, cache, contactBuffer, renderOutput); }
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static bool PxcPCMContactBoxMesh (GU_CONTACT_METHOD_ARGS) { return pcmContactBoxMesh(shape0, shape1, transform0, transform1, params, cache, contactBuffer, renderOutput); }
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static bool PxcPCMContactBoxHeightField (GU_CONTACT_METHOD_ARGS) { return pcmContactBoxHeightField(shape0, shape1, transform0, transform1, params, cache, contactBuffer, renderOutput); }
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static bool PxcPCMContactConvexConvex (GU_CONTACT_METHOD_ARGS) { return pcmContactConvexConvex(shape0, shape1, transform0, transform1, params, cache, contactBuffer, renderOutput); }
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static bool PxcPCMContactConvexMesh (GU_CONTACT_METHOD_ARGS) { return pcmContactConvexMesh(shape0, shape1, transform0, transform1, params, cache, contactBuffer, renderOutput); }
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static bool PxcPCMContactConvexHeightField (GU_CONTACT_METHOD_ARGS) { return pcmContactConvexHeightField(shape0, shape1, transform0, transform1, params, cache, contactBuffer, renderOutput); }
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#define DYNAMIC_CONTACT_REGISTRATION(x) PxcInvalidContactPair
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//#define DYNAMIC_CONTACT_REGISTRATION(x) x
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//Table of contact methods for different shape-type combinations
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PxcContactMethod g_ContactMethodTable[][PxGeometryType::eGEOMETRY_COUNT] =
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{
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//PxGeometryType::eSPHERE
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{
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PxcContactSphereSphere, //PxGeometryType::eSPHERE
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PxcContactSpherePlane, //PxGeometryType::ePLANE
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PxcContactSphereCapsule, //PxGeometryType::eCAPSULE
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PxcContactSphereBox, //PxGeometryType::eBOX
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PxcContactSphereConvex, //PxGeometryType::eCONVEXMESH
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PxcContactSphereMesh, //PxGeometryType::eTRIANGLEMESH
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DYNAMIC_CONTACT_REGISTRATION(PxcContactSphereHeightField), //PxGeometryType::eHEIGHTFIELD //TODO: make HF midphase that will mask this
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},
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//PxGeometryType::ePLANE
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{
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0, //PxGeometryType::eSPHERE
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PxcInvalidContactPair, //PxGeometryType::ePLANE
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PxcContactPlaneCapsule, //PxGeometryType::eCAPSULE
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PxcContactPlaneBox, //PxGeometryType::eBOX
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PxcContactPlaneConvex, //PxGeometryType::eCONVEXMESH
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PxcInvalidContactPair, //PxGeometryType::eTRIANGLEMESH
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PxcInvalidContactPair, //PxGeometryType::eHEIGHTFIELD
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},
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//PxGeometryType::eCAPSULE
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{
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0, //PxGeometryType::eSPHERE
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0, //PxGeometryType::ePLANE
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PxcContactCapsuleCapsule, //PxGeometryType::eCAPSULE
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PxcContactCapsuleBox, //PxGeometryType::eBOX
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PxcContactCapsuleConvex, //PxGeometryType::eCONVEXMESH
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PxcContactCapsuleMesh, //PxGeometryType::eTRIANGLEMESH
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DYNAMIC_CONTACT_REGISTRATION(PxcContactCapsuleHeightField), //PxGeometryType::eHEIGHTFIELD //TODO: make HF midphase that will mask this
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},
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//PxGeometryType::eBOX
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{
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0, //PxGeometryType::eSPHERE
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0, //PxGeometryType::ePLANE
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0, //PxGeometryType::eCAPSULE
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PxcContactBoxBox, //PxGeometryType::eBOX
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PxcContactBoxConvex, //PxGeometryType::eCONVEXMESH
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PxcContactBoxMesh, //PxGeometryType::eTRIANGLEMESH
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DYNAMIC_CONTACT_REGISTRATION(PxcContactBoxHeightField), //PxGeometryType::eHEIGHTFIELD //TODO: make HF midphase that will mask this
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},
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//PxGeometryType::eCONVEXMESH
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{
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0, //PxGeometryType::eSPHERE
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0, //PxGeometryType::ePLANE
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0, //PxGeometryType::eCAPSULE
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0, //PxGeometryType::eBOX
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PxcContactConvexConvex, //PxGeometryType::eCONVEXMESH
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PxcContactConvexMesh, //PxGeometryType::eTRIANGLEMESH
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DYNAMIC_CONTACT_REGISTRATION(PxcContactConvexHeightField), //PxGeometryType::eHEIGHTFIELD //TODO: make HF midphase that will mask this
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},
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//PxGeometryType::eTRIANGLEMESH
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{
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0, //PxGeometryType::eSPHERE
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0, //PxGeometryType::ePLANE
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0, //PxGeometryType::eCAPSULE
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0, //PxGeometryType::eBOX
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0, //PxGeometryType::eCONVEXMESH
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PxcInvalidContactPair, //PxGeometryType::eTRIANGLEMESH
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PxcInvalidContactPair, //PxGeometryType::eHEIGHTFIELD
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},
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//PxGeometryType::eHEIGHTFIELD
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{
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0, //PxGeometryType::eSPHERE
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0, //PxGeometryType::ePLANE
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0, //PxGeometryType::eCAPSULE
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0, //PxGeometryType::eBOX
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0, //PxGeometryType::eCONVEXMESH
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0, //PxGeometryType::eTRIANGLEMESH
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PxcInvalidContactPair, //PxGeometryType::eHEIGHTFIELD
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},
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};
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//#if PERSISTENT_CONTACT_MANIFOLD
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//Table of contact methods for different shape-type combinations
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PxcContactMethod g_PCMContactMethodTable[][PxGeometryType::eGEOMETRY_COUNT] =
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{
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//PxGeometryType::eSPHERE
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{
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PxcPCMContactSphereSphere, //PxGeometryType::eSPHERE
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PxcPCMContactSpherePlane, //PxGeometryType::ePLANE
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PxcPCMContactSphereCapsule, //PxGeometryType::eCAPSULE
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PxcPCMContactSphereBox, //PxGeometryType::eBOX
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PxcPCMContactSphereConvex, //PxGeometryType::eCONVEXMESH
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PxcPCMContactSphereMesh, //PxGeometryType::eTRIANGLEMESH
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DYNAMIC_CONTACT_REGISTRATION(PxcPCMContactSphereHeightField), //PxGeometryType::eHEIGHTFIELD //TODO: make HF midphase that will mask this
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},
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//PxGeometryType::ePLANE
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{
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0, //PxGeometryType::eSPHERE
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PxcInvalidContactPair, //PxGeometryType::ePLANE
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PxcPCMContactPlaneCapsule, //PxGeometryType::eCAPSULE
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PxcPCMContactPlaneBox, //PxGeometryType::eBOX
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PxcPCMContactPlaneConvex, //PxGeometryType::eCONVEXMESH
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PxcInvalidContactPair, //PxGeometryType::eTRIANGLEMESH
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PxcInvalidContactPair, //PxGeometryType::eHEIGHTFIELD
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},
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//PxGeometryType::eCAPSULE
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{
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0, //PxGeometryType::eSPHERE
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0, //PxGeometryType::ePLANE
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PxcPCMContactCapsuleCapsule, //PxGeometryType::eCAPSULE
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PxcPCMContactCapsuleBox, //PxGeometryType::eBOX
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PxcPCMContactCapsuleConvex, //PxGeometryType::eCONVEXMESH
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PxcPCMContactCapsuleMesh, //PxGeometryType::eTRIANGLEMESH
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DYNAMIC_CONTACT_REGISTRATION(PxcPCMContactCapsuleHeightField), //PxGeometryType::eHEIGHTFIELD //TODO: make HF midphase that will mask this
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},
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//PxGeometryType::eBOX
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{
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0, //PxGeometryType::eSPHERE
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0, //PxGeometryType::ePLANE
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0, //PxGeometryType::eCAPSULE
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PxcPCMContactBoxBox, //PxGeometryType::eBOX
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PxcPCMContactBoxConvex, //PxGeometryType::eCONVEXMESH
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PxcPCMContactBoxMesh, //PxGeometryType::eTRIANGLEMESH
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DYNAMIC_CONTACT_REGISTRATION(PxcPCMContactBoxHeightField), //PxGeometryType::eHEIGHTFIELD //TODO: make HF midphase that will mask this
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},
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//PxGeometryType::eCONVEXMESH
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{
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0, //PxGeometryType::eSPHERE
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0, //PxGeometryType::ePLANE
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0, //PxGeometryType::eCAPSULE
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0, //PxGeometryType::eBOX
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PxcPCMContactConvexConvex, //PxGeometryType::eCONVEXMESH
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PxcPCMContactConvexMesh, //PxGeometryType::eTRIANGLEMESH
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DYNAMIC_CONTACT_REGISTRATION(PxcPCMContactConvexHeightField), //PxGeometryType::eHEIGHTFIELD //TODO: make HF midphase that will mask this
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},
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//PxGeometryType::eTRIANGLEMESH
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{
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0, //PxGeometryType::eSPHERE
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0, //PxGeometryType::ePLANE
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0, //PxGeometryType::eCAPSULE
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0, //PxGeometryType::eBOX
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0, //PxGeometryType::eCONVEXMESH
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PxcInvalidContactPair, //PxGeometryType::eTRIANGLEMESH
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PxcInvalidContactPair, //PxGeometryType::eHEIGHTFIELD
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},
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//PxGeometryType::eHEIGHTFIELD
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{
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0, //PxGeometryType::eSPHERE
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0, //PxGeometryType::ePLANE
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0, //PxGeometryType::eCAPSULE
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0, //PxGeometryType::eBOX
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0, //PxGeometryType::eCONVEXMESH
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0, //PxGeometryType::eTRIANGLEMESH
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PxcInvalidContactPair, //PxGeometryType::eHEIGHTFIELD
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},
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};
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void PxvRegisterHeightFields()
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{
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g_ContactMethodTable[PxGeometryType::eSPHERE][PxGeometryType::eHEIGHTFIELD] = PxcContactSphereHeightField;
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g_ContactMethodTable[PxGeometryType::eCAPSULE][PxGeometryType::eHEIGHTFIELD] = PxcContactCapsuleHeightField;
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g_ContactMethodTable[PxGeometryType::eBOX][PxGeometryType::eHEIGHTFIELD] = PxcContactBoxHeightField;
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g_ContactMethodTable[PxGeometryType::eCONVEXMESH][PxGeometryType::eHEIGHTFIELD] = PxcContactConvexHeightField;
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g_PCMContactMethodTable[PxGeometryType::eSPHERE][PxGeometryType::eHEIGHTFIELD] = PxcPCMContactSphereHeightField;
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g_PCMContactMethodTable[PxGeometryType::eCAPSULE][PxGeometryType::eHEIGHTFIELD] = PxcPCMContactCapsuleHeightField;
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g_PCMContactMethodTable[PxGeometryType::eBOX][PxGeometryType::eHEIGHTFIELD] = PxcPCMContactBoxHeightField;
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g_PCMContactMethodTable[PxGeometryType::eCONVEXMESH][PxGeometryType::eHEIGHTFIELD] = PxcPCMContactConvexHeightField;
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}
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}
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