1 files changed, 463 insertions, 463 deletions
diff --git a/sdk/toolkit/source/NvBlastTkFrameworkImpl.cpp b/sdk/toolkit/source/NvBlastTkFrameworkImpl.cpp
index 1d88701..65e1d45 100644..100755
--- a/sdk/toolkit/source/NvBlastTkFrameworkImpl.cpp
+++ b/sdk/toolkit/source/NvBlastTkFrameworkImpl.cpp
@@ -1,463 +1,463 @@
-// This code contains NVIDIA Confidential Information and is disclosed to you
-// under a form of NVIDIA software license agreement provided separately to you.
-//
-// Notice
-// NVIDIA Corporation and its licensors retain all intellectual property and
-// proprietary rights in and to this software and related documentation and
-// any modifications thereto. Any use, reproduction, disclosure, or
-// distribution of this software and related documentation without an express
-// license agreement from NVIDIA Corporation is strictly prohibited.
-//
-// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
-// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
-// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
-// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
-//
-// Information and code furnished is believed to be accurate and reliable.
-// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
-// information or for any infringement of patents or other rights of third parties that may
-// result from its use. No license is granted by implication or otherwise under any patent
-// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
-// This code supersedes and replaces all information previously supplied.
-// NVIDIA Corporation products are not authorized for use as critical
-// components in life support devices or systems without express written approval of
-// NVIDIA Corporation.
-//
-// Copyright (c) 2016-2018 NVIDIA Corporation. All rights reserved.
-
-
-#include "NvBlastAssert.h"
-
-#include "NvBlastTkFrameworkImpl.h"
-#include "NvBlastTkAssetImpl.h"
-#include "NvBlastTkFamilyImpl.h"
-#include "NvBlastTkGroupImpl.h"
-#include "NvBlastTkActorImpl.h"
-#include "NvBlastTkJointImpl.h"
-#include "NvBlastTkTypeImpl.h"
-
-#include "NvBlastGlobals.h"
-
-#include <algorithm>
-
-
-using namespace physx;
-using namespace physx::shdfnd;
-
-
-NV_INLINE bool operator < (const NvBlastID& id1, const NvBlastID& id2)
-{
-	return memcmp(&id1, &id2, sizeof(NvBlastID)) < 0;
-}
-
-
-namespace Nv
-{
-namespace Blast
-{
-
-//////// Local definitions ////////
-
-// Map type ID to static type data
-#define NVBLASTTK_REGISTER_TYPE(_name)										\
-	if (!Tk##_name##Impl::s_type.indexIsValid())							\
-	{																		\
-		Tk##_name##Impl::s_type.setIndex(TkTypeIndex::_name);				\
-	}																		\
-	m_types[TkTypeIndex::_name] = &Tk##_name##Impl::s_type;					\
-	m_typeIDToIndex[Tk##_name##Impl::s_type.getID()] = TkTypeIndex::_name
-
-
-#define NVBLASTTK_RELEASE_TYPE(_name)										\
-	{ 																		\
-		TkTypeImpl& type = Tk##_name##Impl::s_type;							\
-		auto& toRelease = m_objects[type.getIndex()];						\
-		for (TkObject* obj : toRelease) 									\
-		{ 																	\
-			obj->release();													\
-		}																	\
-	}
-
-
-//////// TkFrameworkImpl static variables ////////
-
-TkFrameworkImpl* TkFrameworkImpl::s_framework = nullptr;
-
-
-//////// TkFrameworkImpl static function ////////
-
-TkFrameworkImpl* TkFrameworkImpl::get()
-{
-	return s_framework;
-}
-
-
-bool TkFrameworkImpl::set(TkFrameworkImpl* framework)
-{
-	if (s_framework != nullptr)
-	{
-		if (framework != nullptr)
-		{
-			NVBLAST_LOG_ERROR("TkFrameworkImpl::set: framework already set.  Pass NULL to this function to destroy framework.");
-			return false;
-		}
-
-		NVBLAST_DELETE(s_framework, TkFrameworkImpl);
-	}
-
-	s_framework = framework;
-
-	return true;
-}
-
-
-//////// TkFrameworkImpl methods ////////
-
-TkFrameworkImpl::TkFrameworkImpl()
-	: TkFramework()
-{
-	// Register types
-	m_types.resize(TkTypeIndex::TypeCount);
-	m_objects.resize(TkTypeIndex::TypeCount);
-	NVBLASTTK_REGISTER_TYPE(Asset);
-	NVBLASTTK_REGISTER_TYPE(Family);
-	NVBLASTTK_REGISTER_TYPE(Group);
-}
-
-
-TkFrameworkImpl::~TkFrameworkImpl()
-{
-}
-
-
-void TkFrameworkImpl::release()
-{
-	// Special release of joints, which are not TkIdentifiable:
-	Array<TkJointImpl*>::type joints;	// Since the EraseIterator is not exposed
-	joints.reserve(m_joints.size());
-	for (auto j = m_joints.getIterator(); !j.done(); ++j)
-	{
-		joints.pushBack(*j);
-	}
-	for (uint32_t i = 0; i < joints.size(); ++i)
-	{
-		joints[i]->release();
-	}
-	NVBLAST_ASSERT(m_joints.size() == 0);
-	joints.reset();	// Since we will be deleting the allocator
-
-	NVBLASTTK_RELEASE_TYPE(Group);
-	NVBLASTTK_RELEASE_TYPE(Asset);
-	set(nullptr);
-}
-
-
-const TkType* TkFrameworkImpl::getType(TkTypeIndex::Enum typeIndex) const
-{
-	if (typeIndex < 0 || typeIndex >= TkTypeIndex::TypeCount)
-	{
-		NVBLAST_LOG_WARNING("TkFrameworkImpl::getType: invalid typeIndex.");
-		return nullptr;
-	}
-
-	return m_types[typeIndex];
-}
-
-
-TkIdentifiable* TkFrameworkImpl::findObjectByID(const NvBlastID& id) const
-{
-	TkIdentifiable* object = findObjectByIDInternal(id);
-
-	if (object == nullptr)
-	{
-		NVBLAST_LOG_WARNING("TkFrameworkImpl::findObjectByID: object not found.");
-	}
-
-	return object;
-}
-
-
-uint32_t TkFrameworkImpl::getObjectCount(const TkType& type) const
-{
-	const uint32_t index = static_cast<const TkTypeImpl&>(type).getIndex();
-
-	if (index >= m_objects.size())
-	{
-		NVBLAST_LOG_ERROR("TkFrameworkImpl::getObjectCount: BlastTk object type unrecognized.");
-		return 0;
-
-	}
-
-	return m_objects[index].size();
-}
-
-
-uint32_t TkFrameworkImpl::getObjects(TkIdentifiable** buffer, uint32_t bufferSize, const TkType& type, uint32_t indexStart /* = 0 */) const
-{
-	const uint32_t index = static_cast<const TkTypeImpl&>(type).getIndex();
-
-	if (index >= m_objects.size())
-	{
-		NVBLAST_LOG_ERROR("TkFrameworkImpl::getObjectCount: BlastTk object type unrecognized.");
-		return 0;
-	}
-
-	const auto& objectArray = m_objects[index];
-
-	uint32_t objectCount = objectArray.size();
-	if (objectCount <= indexStart)
-	{
-		NVBLAST_LOG_WARNING("TkFrameworkImpl::getObjects: indexStart beyond end of object list.");
-		return 0;
-	}
-
-	objectCount -= indexStart;
-	if (objectCount > bufferSize)
-	{
-		objectCount = bufferSize;
-	}
-
-	memcpy(buffer, objectArray.begin() + indexStart, objectCount * sizeof(TkObject*));
-
-	return objectCount;
-}
-
-
-bool TkFrameworkImpl::reorderAssetDescChunks(NvBlastChunkDesc* chunkDescs, uint32_t chunkCount, NvBlastBondDesc* bondDescs, uint32_t bondCount, uint32_t* chunkReorderMap /*= nullptr*/, bool keepBondNormalChunkOrder /*= false*/) const
-{
-	uint32_t* map = chunkReorderMap != nullptr ? chunkReorderMap : static_cast<uint32_t*>(NVBLAST_ALLOC_NAMED(chunkCount * sizeof(uint32_t), "reorderAssetDescChunks:chunkReorderMap"));
-	void* scratch = NVBLAST_ALLOC_NAMED(chunkCount * sizeof(NvBlastChunkDesc), "reorderAssetDescChunks:scratch");
-	const bool result = NvBlastReorderAssetDescChunks(chunkDescs, chunkCount, bondDescs, bondCount, map, keepBondNormalChunkOrder, scratch, logLL);
-	NVBLAST_FREE(scratch);
-	if (chunkReorderMap == nullptr)
-	{
-		NVBLAST_FREE(map);
-	}
-	return result;
-}
-
-
-bool TkFrameworkImpl::ensureAssetExactSupportCoverage(NvBlastChunkDesc* chunkDescs, uint32_t chunkCount) const
-{
-	void* scratch = NVBLAST_ALLOC_NAMED(chunkCount, "ensureAssetExactSupportCoverage:scratch");
-	const bool result = NvBlastEnsureAssetExactSupportCoverage(chunkDescs, chunkCount, scratch, logLL);
-	NVBLAST_FREE(scratch);
-	return result;
-}
-
-
-TkAsset* TkFrameworkImpl::createAsset(const TkAssetDesc& desc)
-{
-	TkAssetImpl* asset = TkAssetImpl::create(desc);
-	if (asset == nullptr)
-	{
-		NVBLAST_LOG_ERROR("TkFrameworkImpl::createAsset: failed to create asset.");
-	}
-
-	return asset;
-}
-
-
-TkAsset* TkFrameworkImpl::createAsset(const NvBlastAsset* assetLL, Nv::Blast::TkAssetJointDesc* jointDescs, uint32_t jointDescCount, bool ownsAsset)
-{
-	TkAssetImpl* asset = TkAssetImpl::create(assetLL, jointDescs, jointDescCount, ownsAsset);
-	if (asset == nullptr)
-	{
-		NVBLAST_LOG_ERROR("TkFrameworkImpl::createAsset: failed to create asset.");
-	}
-
-	return asset;
-}
-
-
-TkGroup* TkFrameworkImpl::createGroup(const TkGroupDesc& desc)
-{
-	TkGroupImpl* group = TkGroupImpl::create(desc);
-	if (group == nullptr)
-	{
-		NVBLAST_LOG_ERROR("TkFrameworkImpl::createGroup: failed to create group.");
-	}
-
-	return group;
-}
-
-
-TkActor* TkFrameworkImpl::createActor(const TkActorDesc& desc)
-{
-	TkActor* actor = TkActorImpl::create(desc);
-	if (actor == nullptr)
-	{
-		NVBLAST_LOG_ERROR("TkFrameworkImpl::createActor: failed to create actor.");
-	}
-
-	return actor;
-}
-
-
-TkJoint* TkFrameworkImpl::createJoint(const TkJointDesc& desc)
-{
-	TkJointImpl** handle0 = nullptr;
-	TkJointImpl** handle1 = nullptr;
-
-	TkFamilyImpl* family0 = static_cast<TkFamilyImpl*>(desc.families[0]);
-	TkFamilyImpl* family1 = static_cast<TkFamilyImpl*>(desc.families[1]);
-
-	NVBLAST_CHECK_ERROR(family0 != nullptr || family1 != nullptr, "TkFrameworkImpl::createJoint: at least one family in the TkJointDesc must be valid.", return nullptr);
-
-	NVBLAST_CHECK_ERROR(family0 == nullptr || desc.chunkIndices[0] < family0->getAssetImpl()->getChunkCount(), "TkFrameworkImpl::createJoint: desc.chunkIndices[0] is invalid.", return nullptr);
-	NVBLAST_CHECK_ERROR(family1 == nullptr || desc.chunkIndices[1] < family1->getAssetImpl()->getChunkCount(), "TkFrameworkImpl::createJoint: desc.chunkIndices[1] is invalid.", return nullptr);
-
-	const bool actorsAreTheSame = family0 == family1 && family0->getActorByChunk(desc.chunkIndices[0]) == family1->getActorByChunk(desc.chunkIndices[1]);
-	NVBLAST_CHECK_ERROR(!actorsAreTheSame, "TkFrameworkImpl::createJoint: the chunks listed in the TkJointDesc must be in different actors.", return nullptr);
-
-	if (family0 != nullptr)
-	{
-		const bool isSupportChunk = !isInvalidIndex(NvBlastAssetGetChunkToGraphNodeMap(family0->getAssetImpl()->getAssetLLInternal(), logLL)[desc.chunkIndices[0]]);
-		NVBLAST_CHECK_ERROR(isSupportChunk, "TkFrameworkImpl::createJoint: desc.chunkIndices[0] is not a support chunk in the asset for desc.families[0].  Joint not created.", return nullptr);
-		handle0 = family0->createExternalJointHandle(getFamilyID(family1), desc.chunkIndices[0], desc.chunkIndices[1]);
-		NVBLAST_CHECK_ERROR(handle0 != nullptr, "TkFrameworkImpl::createJoint: could not create joint handle in family[0].  Joint not created.", return nullptr);
-	}
-
-	if (family1 != nullptr)
-	{
-		const bool isSupportChunk = !isInvalidIndex(NvBlastAssetGetChunkToGraphNodeMap(family1->getAssetImpl()->getAssetLLInternal(), logLL)[desc.chunkIndices[1]]);
-		NVBLAST_CHECK_ERROR(isSupportChunk, "TkFrameworkImpl::createJoint: desc.chunkIndices[1] is not a support chunk in the asset for desc.families[1].  Joint not created.", return nullptr);
-		if (family1 != family0)
-		{
-			handle1 = family1->createExternalJointHandle(getFamilyID(family0), desc.chunkIndices[1], desc.chunkIndices[0]);
-			NVBLAST_CHECK_ERROR(handle1 != nullptr, "TkFrameworkImpl::createJoint: could not create joint handle in family[1].  Joint not created.", return nullptr);
-		}
-	}
-
-	TkJointImpl* joint = NVBLAST_NEW(TkJointImpl)(desc, nullptr);
-	NVBLAST_CHECK_ERROR(joint != nullptr, "TkFrameworkImpl::createJoint: failed to create joint.", return nullptr);
-
-	const TkJointData& jointData = joint->getDataInternal();
-
-	if (handle0 != nullptr)
-	{
-		*handle0 = joint;
-		static_cast<TkActorImpl*>(jointData.actors[0])->addJoint(joint->m_links[0]);
-	}
-
-	if (handle1 != nullptr)
-	{
-		*handle1 = joint;
-		if (jointData.actors[0] != jointData.actors[1])
-		{
-			static_cast<TkActorImpl*>(jointData.actors[1])->addJoint(joint->m_links[1]);
-		}
-	}
-
-	return joint;
-}
-
-
-void TkFrameworkImpl::onCreate(TkIdentifiable& object)
-{
-	const TkTypeImpl& type = static_cast<const TkTypeImpl&>(object.getType());
-
-	const uint32_t index = type.getIndex();
-
-	if (index >= m_objects.size())
-	{
-		if (!isInvalidIndex(index))
-		{
-			NVBLAST_LOG_ERROR("TkFrameworkImpl::addObject: object type unrecognized.");
-		}
-		return;
-	}
-
-	auto& objectArray = m_objects[index];
-	NVBLAST_ASSERT(objectArray.find(&object) == objectArray.end());
-	objectArray.pushBack(&object);
-}
-
-
-void TkFrameworkImpl::onDestroy(TkIdentifiable& object)
-{
-	// remove from id map if present
-	const auto id = object.getID();
-	if (!TkGUIDIsZero(&id))
-	{
-		m_IDToObject.erase(id);
-	}
-
-	// remove from object list
-	const TkTypeImpl& type = static_cast<const TkTypeImpl&>(object.getType());
-
-	const uint32_t index = type.getIndex();
-
-	if (index >= m_objects.size())
-	{
-		if (!isInvalidIndex(index))
-		{
-			NVBLAST_LOG_ERROR("TkFrameworkImpl::removeObject: object type unrecognized.");
-		}
-		return;
-	}
-
-	auto& objectArray = m_objects[index];
-	objectArray.findAndReplaceWithLast(&object);
-}
-
-
-void TkFrameworkImpl::onCreate(TkJointImpl& joint)
-{
-	NVBLAST_CHECK_ERROR(m_joints.insert(&joint), "TkFrameworkImpl::onCreate: Joint already tracked.", return);
-}
-
-
-void TkFrameworkImpl::onDestroy(TkJointImpl& joint)
-{
-	NVBLAST_CHECK_ERROR(m_joints.erase(&joint), "TkFrameworkImpl::onDestroy: Joint not tracked.", return);
-}
-
-
-void TkFrameworkImpl::onIDChange(TkIdentifiable& object, const NvBlastID& IDPrev, const NvBlastID& IDCurr)
-{
-	if (!TkGUIDIsZero(&IDPrev))
-	{
-		if (!m_IDToObject.erase(IDPrev))
-		{
-			NVBLAST_LOG_ERROR("TkFrameworkImpl::reportIDChanged: object with previous ID doesn't exist.");
-		}
-	}
-
-	if (!TkGUIDIsZero(&IDCurr))
-	{
-		auto& value = m_IDToObject[IDCurr];
-		if (value != nullptr)
-		{
-			NVBLAST_LOG_ERROR("TkFrameworkImpl::reportIDChanged: object with new ID already exists.");
-			return;
-		}
-		value = &object;
-	}
-}
-
-} // namespace Blast
-} // namespace Nv
-
-
-//////// Global API implementation ////////
-
-Nv::Blast::TkFramework* NvBlastTkFrameworkCreate()
-{
-	if (Nv::Blast::TkFrameworkImpl::get() != nullptr)
-	{
-		NVBLAST_LOG_ERROR("TkFramework::create: framework already created.  Use TkFramework::get() to access.");
-		return nullptr;
-	}
-
-	Nv::Blast::TkFrameworkImpl* framework = NVBLAST_NEW(Nv::Blast::TkFrameworkImpl) ();
-	Nv::Blast::TkFrameworkImpl::set(framework);
-
-	return Nv::Blast::TkFrameworkImpl::get();
-}
-
-
-Nv::Blast::TkFramework* NvBlastTkFrameworkGet()
-{
-	return Nv::Blast::TkFrameworkImpl::get();
-}
+// This code contains NVIDIA Confidential Information and is disclosed to you
+// under a form of NVIDIA software license agreement provided separately to you.
+//
+// Notice
+// NVIDIA Corporation and its licensors retain all intellectual property and
+// proprietary rights in and to this software and related documentation and
+// any modifications thereto. Any use, reproduction, disclosure, or
+// distribution of this software and related documentation without an express
+// license agreement from NVIDIA Corporation is strictly prohibited.
+//
+// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
+// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
+// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
+// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+//
+// Information and code furnished is believed to be accurate and reliable.
+// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
+// information or for any infringement of patents or other rights of third parties that may
+// result from its use. No license is granted by implication or otherwise under any patent
+// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
+// This code supersedes and replaces all information previously supplied.
+// NVIDIA Corporation products are not authorized for use as critical
+// components in life support devices or systems without express written approval of
+// NVIDIA Corporation.
+//
+// Copyright (c) 2016-2018 NVIDIA Corporation. All rights reserved.
+
+
+#include "NvBlastAssert.h"
+
+#include "NvBlastTkFrameworkImpl.h"
+#include "NvBlastTkAssetImpl.h"
+#include "NvBlastTkFamilyImpl.h"
+#include "NvBlastTkGroupImpl.h"
+#include "NvBlastTkActorImpl.h"
+#include "NvBlastTkJointImpl.h"
+#include "NvBlastTkTypeImpl.h"
+
+#include "NvBlastGlobals.h"
+
+#include <algorithm>
+
+
+using namespace physx;
+using namespace physx::shdfnd;
+
+
+NV_INLINE bool operator < (const NvBlastID& id1, const NvBlastID& id2)
+{
+	return memcmp(&id1, &id2, sizeof(NvBlastID)) < 0;
+}
+
+
+namespace Nv
+{
+namespace Blast
+{
+
+//////// Local definitions ////////
+
+// Map type ID to static type data
+#define NVBLASTTK_REGISTER_TYPE(_name)										\
+	if (!Tk##_name##Impl::s_type.indexIsValid())							\
+	{																		\
+		Tk##_name##Impl::s_type.setIndex(TkTypeIndex::_name);				\
+	}																		\
+	m_types[TkTypeIndex::_name] = &Tk##_name##Impl::s_type;					\
+	m_typeIDToIndex[Tk##_name##Impl::s_type.getID()] = TkTypeIndex::_name
+
+
+#define NVBLASTTK_RELEASE_TYPE(_name)										\
+	{ 																		\
+		TkTypeImpl& type = Tk##_name##Impl::s_type;							\
+		auto& toRelease = m_objects[type.getIndex()];						\
+		for (TkObject* obj : toRelease) 									\
+		{ 																	\
+			obj->release();													\
+		}																	\
+	}
+
+
+//////// TkFrameworkImpl static variables ////////
+
+TkFrameworkImpl* TkFrameworkImpl::s_framework = nullptr;
+
+
+//////// TkFrameworkImpl static function ////////
+
+TkFrameworkImpl* TkFrameworkImpl::get()
+{
+	return s_framework;
+}
+
+
+bool TkFrameworkImpl::set(TkFrameworkImpl* framework)
+{
+	if (s_framework != nullptr)
+	{
+		if (framework != nullptr)
+		{
+			NVBLAST_LOG_ERROR("TkFrameworkImpl::set: framework already set.  Pass NULL to this function to destroy framework.");
+			return false;
+		}
+
+		NVBLAST_DELETE(s_framework, TkFrameworkImpl);
+	}
+
+	s_framework = framework;
+
+	return true;
+}
+
+
+//////// TkFrameworkImpl methods ////////
+
+TkFrameworkImpl::TkFrameworkImpl()
+	: TkFramework()
+{
+	// Register types
+	m_types.resize(TkTypeIndex::TypeCount);
+	m_objects.resize(TkTypeIndex::TypeCount);
+	NVBLASTTK_REGISTER_TYPE(Asset);
+	NVBLASTTK_REGISTER_TYPE(Family);
+	NVBLASTTK_REGISTER_TYPE(Group);
+}
+
+
+TkFrameworkImpl::~TkFrameworkImpl()
+{
+}
+
+
+void TkFrameworkImpl::release()
+{
+	// Special release of joints, which are not TkIdentifiable:
+	Array<TkJointImpl*>::type joints;	// Since the EraseIterator is not exposed
+	joints.reserve(m_joints.size());
+	for (auto j = m_joints.getIterator(); !j.done(); ++j)
+	{
+		joints.pushBack(*j);
+	}
+	for (uint32_t i = 0; i < joints.size(); ++i)
+	{
+		joints[i]->release();
+	}
+	NVBLAST_ASSERT(m_joints.size() == 0);
+	joints.reset();	// Since we will be deleting the allocator
+
+	NVBLASTTK_RELEASE_TYPE(Group);
+	NVBLASTTK_RELEASE_TYPE(Asset);
+	set(nullptr);
+}
+
+
+const TkType* TkFrameworkImpl::getType(TkTypeIndex::Enum typeIndex) const
+{
+	if (typeIndex < 0 || typeIndex >= TkTypeIndex::TypeCount)
+	{
+		NVBLAST_LOG_WARNING("TkFrameworkImpl::getType: invalid typeIndex.");
+		return nullptr;
+	}
+
+	return m_types[typeIndex];
+}
+
+
+TkIdentifiable* TkFrameworkImpl::findObjectByID(const NvBlastID& id) const
+{
+	TkIdentifiable* object = findObjectByIDInternal(id);
+
+	if (object == nullptr)
+	{
+		NVBLAST_LOG_WARNING("TkFrameworkImpl::findObjectByID: object not found.");
+	}
+
+	return object;
+}
+
+
+uint32_t TkFrameworkImpl::getObjectCount(const TkType& type) const
+{
+	const uint32_t index = static_cast<const TkTypeImpl&>(type).getIndex();
+
+	if (index >= m_objects.size())
+	{
+		NVBLAST_LOG_ERROR("TkFrameworkImpl::getObjectCount: BlastTk object type unrecognized.");
+		return 0;
+
+	}
+
+	return m_objects[index].size();
+}
+
+
+uint32_t TkFrameworkImpl::getObjects(TkIdentifiable** buffer, uint32_t bufferSize, const TkType& type, uint32_t indexStart /* = 0 */) const
+{
+	const uint32_t index = static_cast<const TkTypeImpl&>(type).getIndex();
+
+	if (index >= m_objects.size())
+	{
+		NVBLAST_LOG_ERROR("TkFrameworkImpl::getObjectCount: BlastTk object type unrecognized.");
+		return 0;
+	}
+
+	const auto& objectArray = m_objects[index];
+
+	uint32_t objectCount = objectArray.size();
+	if (objectCount <= indexStart)
+	{
+		NVBLAST_LOG_WARNING("TkFrameworkImpl::getObjects: indexStart beyond end of object list.");
+		return 0;
+	}
+
+	objectCount -= indexStart;
+	if (objectCount > bufferSize)
+	{
+		objectCount = bufferSize;
+	}
+
+	memcpy(buffer, objectArray.begin() + indexStart, objectCount * sizeof(TkObject*));
+
+	return objectCount;
+}
+
+
+bool TkFrameworkImpl::reorderAssetDescChunks(NvBlastChunkDesc* chunkDescs, uint32_t chunkCount, NvBlastBondDesc* bondDescs, uint32_t bondCount, uint32_t* chunkReorderMap /*= nullptr*/, bool keepBondNormalChunkOrder /*= false*/) const
+{
+	uint32_t* map = chunkReorderMap != nullptr ? chunkReorderMap : static_cast<uint32_t*>(NVBLAST_ALLOC_NAMED(chunkCount * sizeof(uint32_t), "reorderAssetDescChunks:chunkReorderMap"));
+	void* scratch = NVBLAST_ALLOC_NAMED(chunkCount * sizeof(NvBlastChunkDesc), "reorderAssetDescChunks:scratch");
+	const bool result = NvBlastReorderAssetDescChunks(chunkDescs, chunkCount, bondDescs, bondCount, map, keepBondNormalChunkOrder, scratch, logLL);
+	NVBLAST_FREE(scratch);
+	if (chunkReorderMap == nullptr)
+	{
+		NVBLAST_FREE(map);
+	}
+	return result;
+}
+
+
+bool TkFrameworkImpl::ensureAssetExactSupportCoverage(NvBlastChunkDesc* chunkDescs, uint32_t chunkCount) const
+{
+	void* scratch = NVBLAST_ALLOC_NAMED(chunkCount, "ensureAssetExactSupportCoverage:scratch");
+	const bool result = NvBlastEnsureAssetExactSupportCoverage(chunkDescs, chunkCount, scratch, logLL);
+	NVBLAST_FREE(scratch);
+	return result;
+}
+
+
+TkAsset* TkFrameworkImpl::createAsset(const TkAssetDesc& desc)
+{
+	TkAssetImpl* asset = TkAssetImpl::create(desc);
+	if (asset == nullptr)
+	{
+		NVBLAST_LOG_ERROR("TkFrameworkImpl::createAsset: failed to create asset.");
+	}
+
+	return asset;
+}
+
+
+TkAsset* TkFrameworkImpl::createAsset(const NvBlastAsset* assetLL, Nv::Blast::TkAssetJointDesc* jointDescs, uint32_t jointDescCount, bool ownsAsset)
+{
+	TkAssetImpl* asset = TkAssetImpl::create(assetLL, jointDescs, jointDescCount, ownsAsset);
+	if (asset == nullptr)
+	{
+		NVBLAST_LOG_ERROR("TkFrameworkImpl::createAsset: failed to create asset.");
+	}
+
+	return asset;
+}
+
+
+TkGroup* TkFrameworkImpl::createGroup(const TkGroupDesc& desc)
+{
+	TkGroupImpl* group = TkGroupImpl::create(desc);
+	if (group == nullptr)
+	{
+		NVBLAST_LOG_ERROR("TkFrameworkImpl::createGroup: failed to create group.");
+	}
+
+	return group;
+}
+
+
+TkActor* TkFrameworkImpl::createActor(const TkActorDesc& desc)
+{
+	TkActor* actor = TkActorImpl::create(desc);
+	if (actor == nullptr)
+	{
+		NVBLAST_LOG_ERROR("TkFrameworkImpl::createActor: failed to create actor.");
+	}
+
+	return actor;
+}
+
+
+TkJoint* TkFrameworkImpl::createJoint(const TkJointDesc& desc)
+{
+	TkJointImpl** handle0 = nullptr;
+	TkJointImpl** handle1 = nullptr;
+
+	TkFamilyImpl* family0 = static_cast<TkFamilyImpl*>(desc.families[0]);
+	TkFamilyImpl* family1 = static_cast<TkFamilyImpl*>(desc.families[1]);
+
+	NVBLAST_CHECK_ERROR(family0 != nullptr || family1 != nullptr, "TkFrameworkImpl::createJoint: at least one family in the TkJointDesc must be valid.", return nullptr);
+
+	NVBLAST_CHECK_ERROR(family0 == nullptr || desc.chunkIndices[0] < family0->getAssetImpl()->getChunkCount(), "TkFrameworkImpl::createJoint: desc.chunkIndices[0] is invalid.", return nullptr);
+	NVBLAST_CHECK_ERROR(family1 == nullptr || desc.chunkIndices[1] < family1->getAssetImpl()->getChunkCount(), "TkFrameworkImpl::createJoint: desc.chunkIndices[1] is invalid.", return nullptr);
+
+	const bool actorsAreTheSame = family0 == family1 && family0->getActorByChunk(desc.chunkIndices[0]) == family1->getActorByChunk(desc.chunkIndices[1]);
+	NVBLAST_CHECK_ERROR(!actorsAreTheSame, "TkFrameworkImpl::createJoint: the chunks listed in the TkJointDesc must be in different actors.", return nullptr);
+
+	if (family0 != nullptr)
+	{
+		const bool isSupportChunk = !isInvalidIndex(NvBlastAssetGetChunkToGraphNodeMap(family0->getAssetImpl()->getAssetLLInternal(), logLL)[desc.chunkIndices[0]]);
+		NVBLAST_CHECK_ERROR(isSupportChunk, "TkFrameworkImpl::createJoint: desc.chunkIndices[0] is not a support chunk in the asset for desc.families[0].  Joint not created.", return nullptr);
+		handle0 = family0->createExternalJointHandle(getFamilyID(family1), desc.chunkIndices[0], desc.chunkIndices[1]);
+		NVBLAST_CHECK_ERROR(handle0 != nullptr, "TkFrameworkImpl::createJoint: could not create joint handle in family[0].  Joint not created.", return nullptr);
+	}
+
+	if (family1 != nullptr)
+	{
+		const bool isSupportChunk = !isInvalidIndex(NvBlastAssetGetChunkToGraphNodeMap(family1->getAssetImpl()->getAssetLLInternal(), logLL)[desc.chunkIndices[1]]);
+		NVBLAST_CHECK_ERROR(isSupportChunk, "TkFrameworkImpl::createJoint: desc.chunkIndices[1] is not a support chunk in the asset for desc.families[1].  Joint not created.", return nullptr);
+		if (family1 != family0)
+		{
+			handle1 = family1->createExternalJointHandle(getFamilyID(family0), desc.chunkIndices[1], desc.chunkIndices[0]);
+			NVBLAST_CHECK_ERROR(handle1 != nullptr, "TkFrameworkImpl::createJoint: could not create joint handle in family[1].  Joint not created.", return nullptr);
+		}
+	}
+
+	TkJointImpl* joint = NVBLAST_NEW(TkJointImpl)(desc, nullptr);
+	NVBLAST_CHECK_ERROR(joint != nullptr, "TkFrameworkImpl::createJoint: failed to create joint.", return nullptr);
+
+	const TkJointData& jointData = joint->getDataInternal();
+
+	if (handle0 != nullptr)
+	{
+		*handle0 = joint;
+		static_cast<TkActorImpl*>(jointData.actors[0])->addJoint(joint->m_links[0]);
+	}
+
+	if (handle1 != nullptr)
+	{
+		*handle1 = joint;
+		if (jointData.actors[0] != jointData.actors[1])
+		{
+			static_cast<TkActorImpl*>(jointData.actors[1])->addJoint(joint->m_links[1]);
+		}
+	}
+
+	return joint;
+}
+
+
+void TkFrameworkImpl::onCreate(TkIdentifiable& object)
+{
+	const TkTypeImpl& type = static_cast<const TkTypeImpl&>(object.getType());
+
+	const uint32_t index = type.getIndex();
+
+	if (index >= m_objects.size())
+	{
+		if (!isInvalidIndex(index))
+		{
+			NVBLAST_LOG_ERROR("TkFrameworkImpl::addObject: object type unrecognized.");
+		}
+		return;
+	}
+
+	auto& objectArray = m_objects[index];
+	NVBLAST_ASSERT(objectArray.find(&object) == objectArray.end());
+	objectArray.pushBack(&object);
+}
+
+
+void TkFrameworkImpl::onDestroy(TkIdentifiable& object)
+{
+	// remove from id map if present
+	const auto id = object.getID();
+	if (!TkGUIDIsZero(&id))
+	{
+		m_IDToObject.erase(id);
+	}
+
+	// remove from object list
+	const TkTypeImpl& type = static_cast<const TkTypeImpl&>(object.getType());
+
+	const uint32_t index = type.getIndex();
+
+	if (index >= m_objects.size())
+	{
+		if (!isInvalidIndex(index))
+		{
+			NVBLAST_LOG_ERROR("TkFrameworkImpl::removeObject: object type unrecognized.");
+		}
+		return;
+	}
+
+	auto& objectArray = m_objects[index];
+	objectArray.findAndReplaceWithLast(&object);
+}
+
+
+void TkFrameworkImpl::onCreate(TkJointImpl& joint)
+{
+	NVBLAST_CHECK_ERROR(m_joints.insert(&joint), "TkFrameworkImpl::onCreate: Joint already tracked.", return);
+}
+
+
+void TkFrameworkImpl::onDestroy(TkJointImpl& joint)
+{
+	NVBLAST_CHECK_ERROR(m_joints.erase(&joint), "TkFrameworkImpl::onDestroy: Joint not tracked.", return);
+}
+
+
+void TkFrameworkImpl::onIDChange(TkIdentifiable& object, const NvBlastID& IDPrev, const NvBlastID& IDCurr)
+{
+	if (!TkGUIDIsZero(&IDPrev))
+	{
+		if (!m_IDToObject.erase(IDPrev))
+		{
+			NVBLAST_LOG_ERROR("TkFrameworkImpl::reportIDChanged: object with previous ID doesn't exist.");
+		}
+	}
+
+	if (!TkGUIDIsZero(&IDCurr))
+	{
+		auto& value = m_IDToObject[IDCurr];
+		if (value != nullptr)
+		{
+			NVBLAST_LOG_ERROR("TkFrameworkImpl::reportIDChanged: object with new ID already exists.");
+			return;
+		}
+		value = &object;
+	}
+}
+
+} // namespace Blast
+} // namespace Nv
+
+
+//////// Global API implementation ////////
+
+Nv::Blast::TkFramework* NvBlastTkFrameworkCreate()
+{
+	if (Nv::Blast::TkFrameworkImpl::get() != nullptr)
+	{
+		NVBLAST_LOG_ERROR("TkFramework::create: framework already created.  Use TkFramework::get() to access.");
+		return nullptr;
+	}
+
+	Nv::Blast::TkFrameworkImpl* framework = NVBLAST_NEW(Nv::Blast::TkFrameworkImpl) ();
+	Nv::Blast::TkFrameworkImpl::set(framework);
+
+	return Nv::Blast::TkFrameworkImpl::get();
+}
+
+
+Nv::Blast::TkFramework* NvBlastTkFrameworkGet()
+{
+	return Nv::Blast::TkFrameworkImpl::get();
+}