410 lines
13 KiB
C
410 lines
13 KiB
C
|
//
|
||
|
// 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) 2008-2019 NVIDIA Corporation. All rights reserved.
|
||
|
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
|
||
|
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
|
||
|
|
||
|
#ifndef DY_CONTACT_REDUCTION_H
|
||
|
#define DY_CONTACT_REDUCTION_H
|
||
|
|
||
|
#include "geomutils/GuContactPoint.h"
|
||
|
#include "PxsMaterialManager.h"
|
||
|
|
||
|
namespace physx
|
||
|
{
|
||
|
|
||
|
|
||
|
namespace Dy
|
||
|
{
|
||
|
|
||
|
//KS - might be OK with 4 but 5 guarantees the deepest + 4 contacts that contribute to largest surface area
|
||
|
#define CONTACT_REDUCTION_MAX_CONTACTS 6
|
||
|
#define CONTACT_REDUCTION_MAX_PATCHES 32
|
||
|
#define PXS_NORMAL_TOLERANCE 0.995f
|
||
|
#define PXS_SEPARATION_TOLERANCE 0.001f
|
||
|
|
||
|
|
||
|
//A patch contains a normal, pair of material indices and a list of indices. These indices are
|
||
|
//used to index into the PxContact array that's passed by the user
|
||
|
struct ReducedContactPatch
|
||
|
{
|
||
|
PxU32 numContactPoints;
|
||
|
PxU32 contactPoints[CONTACT_REDUCTION_MAX_CONTACTS];
|
||
|
};
|
||
|
|
||
|
struct ContactPatch
|
||
|
{
|
||
|
PxVec3 rootNormal;
|
||
|
ContactPatch* mNextPatch;
|
||
|
PxReal maxPenetration;
|
||
|
PxU16 startIndex;
|
||
|
PxU16 stride;
|
||
|
PxU16 rootIndex;
|
||
|
PxU16 index;
|
||
|
};
|
||
|
|
||
|
struct SortBoundsPredicateManifold
|
||
|
{
|
||
|
bool operator()(const ContactPatch* idx1, const ContactPatch* idx2) const
|
||
|
{
|
||
|
return idx1->maxPenetration < idx2->maxPenetration;
|
||
|
}
|
||
|
};
|
||
|
|
||
|
|
||
|
|
||
|
template <PxU32 MaxPatches>
|
||
|
class ContactReduction
|
||
|
{
|
||
|
public:
|
||
|
ReducedContactPatch mPatches[MaxPatches];
|
||
|
PxU32 mNumPatches;
|
||
|
ContactPatch mIntermediatePatches[CONTACT_REDUCTION_MAX_PATCHES];
|
||
|
ContactPatch* mIntermediatePatchesPtrs[CONTACT_REDUCTION_MAX_PATCHES];
|
||
|
PxU32 mNumIntermediatePatches;
|
||
|
Gu::ContactPoint* PX_RESTRICT mOriginalContacts;
|
||
|
PxsMaterialInfo* PX_RESTRICT mMaterialInfo;
|
||
|
PxU32 mNumOriginalContacts;
|
||
|
|
||
|
ContactReduction(Gu::ContactPoint* PX_RESTRICT originalContacts, PxsMaterialInfo* PX_RESTRICT materialInfo, PxU32 numContacts) :
|
||
|
mNumPatches(0), mNumIntermediatePatches(0), mOriginalContacts(originalContacts), mMaterialInfo(materialInfo), mNumOriginalContacts(numContacts)
|
||
|
{
|
||
|
}
|
||
|
|
||
|
void reduceContacts()
|
||
|
{
|
||
|
//First pass, break up into contact patches, storing the start and stride of the patches
|
||
|
//We will need to have contact patches and then coallesce them
|
||
|
mIntermediatePatches[0].rootNormal = mOriginalContacts[0].normal;
|
||
|
mIntermediatePatches[0].mNextPatch = NULL;
|
||
|
mIntermediatePatches[0].startIndex = 0;
|
||
|
mIntermediatePatches[0].rootIndex = 0;
|
||
|
mIntermediatePatches[0].maxPenetration = mOriginalContacts[0].separation;
|
||
|
mIntermediatePatches[0].index = 0;
|
||
|
PxU16 numPatches = 1;
|
||
|
//PxU32 startIndex = 0;
|
||
|
PxU32 numUniquePatches = 1;
|
||
|
PxU16 m = 1;
|
||
|
for(; m < mNumOriginalContacts; ++m)
|
||
|
{
|
||
|
PxI32 index = -1;
|
||
|
for(PxU32 b = numPatches; b > 0; --b)
|
||
|
{
|
||
|
ContactPatch& patch = mIntermediatePatches[b-1];
|
||
|
if(mMaterialInfo[patch.startIndex].mMaterialIndex0 == mMaterialInfo[m].mMaterialIndex0 && mMaterialInfo[patch.startIndex].mMaterialIndex1 == mMaterialInfo[m].mMaterialIndex1 &&
|
||
|
patch.rootNormal.dot(mOriginalContacts[m].normal) >= PXS_NORMAL_TOLERANCE)
|
||
|
{
|
||
|
index = PxI32(b-1);
|
||
|
break;
|
||
|
}
|
||
|
}
|
||
|
|
||
|
if(index != numPatches - 1)
|
||
|
{
|
||
|
mIntermediatePatches[numPatches-1].stride = PxU16(m - mIntermediatePatches[numPatches - 1].startIndex);
|
||
|
//Create a new patch...
|
||
|
if(numPatches == CONTACT_REDUCTION_MAX_PATCHES)
|
||
|
{
|
||
|
break;
|
||
|
}
|
||
|
mIntermediatePatches[numPatches].startIndex = m;
|
||
|
mIntermediatePatches[numPatches].mNextPatch = NULL;
|
||
|
if(index == -1)
|
||
|
{
|
||
|
mIntermediatePatches[numPatches].rootIndex = numPatches;
|
||
|
mIntermediatePatches[numPatches].rootNormal = mOriginalContacts[m].normal;
|
||
|
mIntermediatePatches[numPatches].maxPenetration = mOriginalContacts[m].separation;
|
||
|
mIntermediatePatches[numPatches].index = numPatches;
|
||
|
++numUniquePatches;
|
||
|
}
|
||
|
else
|
||
|
{
|
||
|
//Find last element in the link
|
||
|
PxU16 rootIndex = mIntermediatePatches[index].rootIndex;
|
||
|
mIntermediatePatches[index].mNextPatch = &mIntermediatePatches[numPatches];
|
||
|
mIntermediatePatches[numPatches].rootNormal = mIntermediatePatches[index].rootNormal;
|
||
|
mIntermediatePatches[rootIndex].maxPenetration = mIntermediatePatches[numPatches].maxPenetration = PxMin(mIntermediatePatches[rootIndex].maxPenetration, mOriginalContacts[m].separation);
|
||
|
mIntermediatePatches[numPatches].rootIndex = rootIndex;
|
||
|
mIntermediatePatches[numPatches].index = numPatches;
|
||
|
}
|
||
|
++numPatches;
|
||
|
}
|
||
|
}
|
||
|
mIntermediatePatches[numPatches-1].stride = PxU16(m - mIntermediatePatches[numPatches-1].startIndex);
|
||
|
|
||
|
//OK, we have a list of contact patches so that we can start contact reduction per-patch
|
||
|
|
||
|
//OK, now we can go and reduce the contacts on a per-patch basis...
|
||
|
|
||
|
for(PxU32 a = 0; a < numPatches; ++a)
|
||
|
{
|
||
|
mIntermediatePatchesPtrs[a] = &mIntermediatePatches[a];
|
||
|
}
|
||
|
|
||
|
|
||
|
SortBoundsPredicateManifold predicate;
|
||
|
Ps::sort(mIntermediatePatchesPtrs, numPatches, predicate);
|
||
|
|
||
|
PxU32 numReducedPatches = 0;
|
||
|
for(PxU32 a = 0; a < numPatches; ++a)
|
||
|
{
|
||
|
if(mIntermediatePatchesPtrs[a]->rootIndex == mIntermediatePatchesPtrs[a]->index)
|
||
|
{
|
||
|
//Reduce this patch...
|
||
|
if(numReducedPatches == MaxPatches)
|
||
|
break;
|
||
|
|
||
|
ReducedContactPatch& reducedPatch = mPatches[numReducedPatches++];
|
||
|
//OK, now we need to work out if we have to reduce patches...
|
||
|
PxU32 contactCount = 0;
|
||
|
{
|
||
|
ContactPatch* tmpPatch = mIntermediatePatchesPtrs[a];
|
||
|
|
||
|
while(tmpPatch)
|
||
|
{
|
||
|
contactCount += tmpPatch->stride;
|
||
|
tmpPatch = tmpPatch->mNextPatch;
|
||
|
}
|
||
|
}
|
||
|
|
||
|
if(contactCount <= CONTACT_REDUCTION_MAX_CONTACTS)
|
||
|
{
|
||
|
//Just add the contacts...
|
||
|
ContactPatch* tmpPatch = mIntermediatePatchesPtrs[a];
|
||
|
|
||
|
PxU32 ind = 0;
|
||
|
while(tmpPatch)
|
||
|
{
|
||
|
for(PxU32 b = 0; b < tmpPatch->stride; ++b)
|
||
|
{
|
||
|
reducedPatch.contactPoints[ind++] = tmpPatch->startIndex + b;
|
||
|
}
|
||
|
tmpPatch = tmpPatch->mNextPatch;
|
||
|
}
|
||
|
reducedPatch.numContactPoints = contactCount;
|
||
|
}
|
||
|
else
|
||
|
{
|
||
|
//Iterate through and find the most extreme point
|
||
|
|
||
|
|
||
|
PxU32 ind = 0;
|
||
|
|
||
|
{
|
||
|
PxReal dist = 0.f;
|
||
|
ContactPatch* tmpPatch = mIntermediatePatchesPtrs[a];
|
||
|
while(tmpPatch)
|
||
|
{
|
||
|
for(PxU32 b = 0; b < tmpPatch->stride; ++b)
|
||
|
{
|
||
|
PxReal magSq = mOriginalContacts[tmpPatch->startIndex + b].point.magnitudeSquared();
|
||
|
if(dist < magSq)
|
||
|
{
|
||
|
ind = tmpPatch->startIndex + b;
|
||
|
dist = magSq;
|
||
|
}
|
||
|
}
|
||
|
tmpPatch = tmpPatch->mNextPatch;
|
||
|
}
|
||
|
}
|
||
|
reducedPatch.contactPoints[0] = ind;
|
||
|
const PxVec3 p0 = mOriginalContacts[ind].point;
|
||
|
|
||
|
//Now find the point farthest from this point...
|
||
|
{
|
||
|
PxReal maxDist = 0.f;
|
||
|
ContactPatch* tmpPatch = mIntermediatePatchesPtrs[a];
|
||
|
while(tmpPatch)
|
||
|
{
|
||
|
for(PxU32 b = 0; b < tmpPatch->stride; ++b)
|
||
|
{
|
||
|
PxReal magSq = (p0 - mOriginalContacts[tmpPatch->startIndex + b].point).magnitudeSquared();
|
||
|
if(magSq > maxDist)
|
||
|
{
|
||
|
ind = tmpPatch->startIndex + b;
|
||
|
maxDist = magSq;
|
||
|
}
|
||
|
}
|
||
|
tmpPatch = tmpPatch->mNextPatch;
|
||
|
}
|
||
|
}
|
||
|
reducedPatch.contactPoints[1] = ind;
|
||
|
const PxVec3 p1 = mOriginalContacts[ind].point;
|
||
|
|
||
|
//Now find the point farthest from the segment
|
||
|
|
||
|
PxVec3 n = (p0 - p1).cross(mIntermediatePatchesPtrs[a]->rootNormal);
|
||
|
|
||
|
//PxReal tVal = 0.f;
|
||
|
{
|
||
|
PxReal maxDist = 0.f;
|
||
|
//PxReal tmpTVal;
|
||
|
|
||
|
ContactPatch* tmpPatch = mIntermediatePatchesPtrs[a];
|
||
|
while(tmpPatch)
|
||
|
{
|
||
|
for(PxU32 b = 0; b < tmpPatch->stride; ++b)
|
||
|
{
|
||
|
|
||
|
//PxReal magSq = tmpDistancePointSegmentSquared(p0, p1, mOriginalContacts[tmpPatch->startIndex + b].point, tmpTVal);
|
||
|
PxReal magSq = (mOriginalContacts[tmpPatch->startIndex + b].point - p0).dot(n);
|
||
|
if(magSq > maxDist)
|
||
|
{
|
||
|
ind = tmpPatch->startIndex + b;
|
||
|
//tVal = tmpTVal;
|
||
|
maxDist = magSq;
|
||
|
}
|
||
|
}
|
||
|
tmpPatch = tmpPatch->mNextPatch;
|
||
|
}
|
||
|
}
|
||
|
reducedPatch.contactPoints[2] = ind;
|
||
|
|
||
|
//const PxVec3 closest = (p0 + (p1 - p0) * tVal);
|
||
|
|
||
|
const PxVec3 dir = -n;//closest - p3;
|
||
|
|
||
|
{
|
||
|
PxReal maxDist = 0.f;
|
||
|
//PxReal tVal = 0.f;
|
||
|
ContactPatch* tmpPatch = mIntermediatePatchesPtrs[a];
|
||
|
while(tmpPatch)
|
||
|
{
|
||
|
for(PxU32 b = 0; b < tmpPatch->stride; ++b)
|
||
|
{
|
||
|
PxReal magSq = (mOriginalContacts[tmpPatch->startIndex + b].point - p0).dot(dir);
|
||
|
if(magSq > maxDist)
|
||
|
{
|
||
|
ind = tmpPatch->startIndex + b;
|
||
|
maxDist = magSq;
|
||
|
}
|
||
|
}
|
||
|
tmpPatch = tmpPatch->mNextPatch;
|
||
|
}
|
||
|
}
|
||
|
reducedPatch.contactPoints[3] = ind;
|
||
|
|
||
|
//Now, we iterate through all the points, and cluster the points. From this, we establish the deepest point that's within a
|
||
|
//tolerance of this point and keep that point
|
||
|
|
||
|
PxReal separation[CONTACT_REDUCTION_MAX_CONTACTS];
|
||
|
PxU32 deepestInd[CONTACT_REDUCTION_MAX_CONTACTS];
|
||
|
for(PxU32 i = 0; i < 4; ++i)
|
||
|
{
|
||
|
PxU32 index = reducedPatch.contactPoints[i];
|
||
|
separation[i] = mOriginalContacts[index].separation - PXS_SEPARATION_TOLERANCE;
|
||
|
deepestInd[i] = index;
|
||
|
}
|
||
|
|
||
|
ContactPatch* tmpPatch = mIntermediatePatchesPtrs[a];
|
||
|
while(tmpPatch)
|
||
|
{
|
||
|
for(PxU32 b = 0; b < tmpPatch->stride; ++b)
|
||
|
{
|
||
|
Gu::ContactPoint& point = mOriginalContacts[tmpPatch->startIndex + b];
|
||
|
|
||
|
PxReal distance = PX_MAX_REAL;
|
||
|
PxU32 index = 0;
|
||
|
for(PxU32 c = 0; c < 4; ++c)
|
||
|
{
|
||
|
PxVec3 dif = mOriginalContacts[reducedPatch.contactPoints[c]].point - point.point;
|
||
|
PxReal d = dif.magnitudeSquared();
|
||
|
if(distance > d)
|
||
|
{
|
||
|
distance = d;
|
||
|
index = c;
|
||
|
}
|
||
|
}
|
||
|
if(separation[index] > point.separation)
|
||
|
{
|
||
|
deepestInd[index] = tmpPatch->startIndex+b;
|
||
|
separation[index] = point.separation;
|
||
|
}
|
||
|
|
||
|
}
|
||
|
tmpPatch = tmpPatch->mNextPatch;
|
||
|
}
|
||
|
|
||
|
bool chosen[64];
|
||
|
PxMemZero(chosen, sizeof(chosen));
|
||
|
for(PxU32 i = 0; i < 4; ++i)
|
||
|
{
|
||
|
reducedPatch.contactPoints[i] = deepestInd[i];
|
||
|
chosen[deepestInd[i]] = true;
|
||
|
}
|
||
|
|
||
|
for(PxU32 i = 4; i < CONTACT_REDUCTION_MAX_CONTACTS; ++i)
|
||
|
{
|
||
|
separation[i] = PX_MAX_REAL;
|
||
|
deepestInd[i] = 0;
|
||
|
}
|
||
|
tmpPatch = mIntermediatePatchesPtrs[a];
|
||
|
while(tmpPatch)
|
||
|
{
|
||
|
for(PxU32 b = 0; b < tmpPatch->stride; ++b)
|
||
|
{
|
||
|
if(!chosen[tmpPatch->startIndex+b])
|
||
|
{
|
||
|
Gu::ContactPoint& point = mOriginalContacts[tmpPatch->startIndex + b];
|
||
|
for(PxU32 j = 4; j < CONTACT_REDUCTION_MAX_CONTACTS; ++j)
|
||
|
{
|
||
|
if(point.separation < separation[j])
|
||
|
{
|
||
|
for(PxU32 k = CONTACT_REDUCTION_MAX_CONTACTS-1; k > j; --k)
|
||
|
{
|
||
|
separation[k] = separation[k-1];
|
||
|
deepestInd[k] = deepestInd[k-1];
|
||
|
}
|
||
|
separation[j] = point.separation;
|
||
|
deepestInd[j] = tmpPatch->startIndex+b;
|
||
|
break;
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
tmpPatch = tmpPatch->mNextPatch;
|
||
|
}
|
||
|
|
||
|
for(PxU32 i = 4; i < CONTACT_REDUCTION_MAX_CONTACTS; ++i)
|
||
|
{
|
||
|
reducedPatch.contactPoints[i] = deepestInd[i];
|
||
|
}
|
||
|
|
||
|
reducedPatch.numContactPoints = CONTACT_REDUCTION_MAX_CONTACTS;
|
||
|
}
|
||
|
}
|
||
|
}
|
||
|
mNumPatches = numReducedPatches;
|
||
|
}
|
||
|
|
||
|
};
|
||
|
}
|
||
|
|
||
|
}
|
||
|
|
||
|
|
||
|
#endif //DY_CONTACT_REDUCTION_H
|