Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 214 insertions, 0 deletions

diff --git a/KaplaDemo/samples/sampleViewer3/SceneVehicleCooking.cpp b/KaplaDemo/samples/sampleViewer3/SceneVehicleCooking.cpp
new file mode 100644
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+++ b/KaplaDemo/samples/sampleViewer3/SceneVehicleCooking.cpp
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+// 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) 2008-2014 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 "SceneVehicleCooking.h"
+#include "PxTkStream.h"
+#include "extensions/PxDefaultStreams.h"
+#include "glmesh.h"
+#include "RawLoader.h"
+
+using namespace physx;
+
+PxConvexMesh* createConvexMesh(const PxVec3* verts, const PxU32 numVerts, PxPhysics& physics, PxCooking& cooking)
+{
+	// Create descriptor for convex mesh
+	PxConvexMeshDesc convexDesc;
+	convexDesc.points.count = numVerts;
+	convexDesc.points.stride = sizeof(PxVec3);
+	convexDesc.points.data = verts;
+	convexDesc.flags = PxConvexFlag::eCOMPUTE_CONVEX;
+
+	PxConvexMesh* convexMesh = NULL;
+	PxDefaultMemoryOutputStream buf;
+	if (cooking.cookConvexMesh(convexDesc, buf))
+	{
+		PxDefaultMemoryInputData id(buf.getData(), buf.getSize());
+		convexMesh = physics.createConvexMesh(id);
+	}
+
+	return convexMesh;
+}
+
+PxConvexMesh* createCuboidConvexMesh(const PxVec3& halfExtents, PxPhysics& physics, PxCooking& cooking)
+{
+	PxVec3 verts[8] =
+	{
+		PxVec3(-halfExtents.x, -halfExtents.y, -halfExtents.z),
+		PxVec3(-halfExtents.x, -halfExtents.y, +halfExtents.z),
+		PxVec3(-halfExtents.x, +halfExtents.y, -halfExtents.z),
+		PxVec3(-halfExtents.x, +halfExtents.y, +halfExtents.z),
+		PxVec3(+halfExtents.x, -halfExtents.y, -halfExtents.z),
+		PxVec3(+halfExtents.x, -halfExtents.y, +halfExtents.z),
+		PxVec3(+halfExtents.x, +halfExtents.y, -halfExtents.z),
+		PxVec3(+halfExtents.x, +halfExtents.y, +halfExtents.z)
+	};
+	PxU32 numVerts = 8;
+
+	return createConvexMesh(verts, numVerts, physics, cooking);
+}
+
+PxConvexMesh* createWedgeConvexMesh(const PxVec3& halfExtents, PxPhysics& physics, PxCooking& cooking)
+{
+	PxVec3 verts[6] =
+	{
+		PxVec3(-halfExtents.x, -halfExtents.y, -halfExtents.z),
+		PxVec3(-halfExtents.x, -halfExtents.y, +halfExtents.z),
+		PxVec3(-halfExtents.x, +halfExtents.y, -halfExtents.z),
+		PxVec3(+halfExtents.x, -halfExtents.y, -halfExtents.z),
+		PxVec3(+halfExtents.x, -halfExtents.y, +halfExtents.z),
+		PxVec3(+halfExtents.x, +halfExtents.y, -halfExtents.z)
+	};
+	PxU32 numVerts = 6;
+
+	return createConvexMesh(verts, numVerts, physics, cooking);
+}
+
+PxConvexMesh* createCylinderConvexMesh(const PxF32 width, const PxF32 radius, const PxU32 numCirclePoints, PxPhysics& physics, PxCooking& cooking)
+{
+#define  MAX_NUM_VERTS_IN_CIRCLE 16
+	PX_ASSERT(numCirclePoints<MAX_NUM_VERTS_IN_CIRCLE);
+	PxVec3 verts[2 * MAX_NUM_VERTS_IN_CIRCLE];
+	PxU32 numVerts = 2 * numCirclePoints;
+	const PxF32 dtheta = 2 * PxPi / (1.0f*numCirclePoints);
+	for (PxU32 i = 0; i<MAX_NUM_VERTS_IN_CIRCLE; i++)
+	{
+		const PxF32 theta = dtheta*i;
+		const PxF32 cosTheta = radius*PxCos(theta);
+		const PxF32 sinTheta = radius*PxSin(theta);
+		verts[2 * i + 0] = PxVec3(-0.5f*width, cosTheta, sinTheta);
+		verts[2 * i + 1] = PxVec3(+0.5f*width, cosTheta, sinTheta);
+	}
+
+	return createConvexMesh(verts, numVerts, physics, cooking);
+}
+
+PxConvexMesh* createSquashedCuboidMesh(const PxF32 baseLength, const PxF32 baseDepth, const PxF32 height1, const PxF32 height2, PxPhysics& physics, PxCooking& cooking)
+{
+	const PxF32 x = baseLength*0.5f;
+	const PxF32 z = baseDepth*0.5f;
+	PxVec3 verts[8] =
+	{
+		PxVec3(-x, -0.5f*height1, -z),
+		PxVec3(-x, -0.5f*height1, +z),
+		PxVec3(+x, -0.5f*height1, -z),
+		PxVec3(+x, -0.5f*height1, +z),
+		PxVec3(-x, -0.5f*height1 + height2, -z),
+		PxVec3(-x, +0.5f*height1, +z),
+		PxVec3(+x, -0.5f*height1 + height2, -z),
+		PxVec3(+x, +0.5f*height1, +z)
+	};
+	PxU32 numVerts = 8;
+
+	return createConvexMesh(verts, numVerts, physics, cooking);
+}
+
+
+PxConvexMesh* createPrismConvexMesh(const PxF32 baseLength, const PxF32 baseDepth, const PxF32 height, PxPhysics& physics, PxCooking& cooking)
+{
+	const PxF32 x = baseLength*0.5f;
+	const PxF32 z = baseDepth*0.5f;
+
+	PxVec3 verts[6] =
+	{
+		PxVec3(-x, 0, -z),
+		PxVec3(-x, 0, +z),
+		PxVec3(+x, 0, -z),
+		PxVec3(+x, 0, +z),
+		PxVec3(-x, height, 0),
+		PxVec3(+x, height, 0),
+	};
+	PxU32 numVerts = 6;
+
+	return createConvexMesh(verts, numVerts, physics, cooking);
+}
+
+PxConvexMesh* createChassisConvexMesh(const PxVec3* verts, const PxU32 numVerts, PxPhysics& physics, PxCooking& cooking)
+{
+	return createConvexMesh(verts, numVerts, physics, cooking);
+}
+
+PxConvexMesh* createWheelConvexMesh(const PxVec3* verts, const PxU32 numVerts, PxPhysics& physics, PxCooking& cooking)
+{
+	//Extract the wheel radius and width from the aabb of the wheel convex mesh.
+	PxVec3 wheelMin(PX_MAX_F32, PX_MAX_F32, PX_MAX_F32);
+	PxVec3 wheelMax(-PX_MAX_F32, -PX_MAX_F32, -PX_MAX_F32);
+	for (PxU32 i = 0; i<numVerts; i++)
+	{
+		wheelMin.x = PxMin(wheelMin.x, verts[i].x);
+		wheelMin.y = PxMin(wheelMin.y, verts[i].y);
+		wheelMin.z = PxMin(wheelMin.z, verts[i].z);
+		wheelMax.x = PxMax(wheelMax.x, verts[i].x);
+		wheelMax.y = PxMax(wheelMax.y, verts[i].y);
+		wheelMax.z = PxMax(wheelMax.z, verts[i].z);
+	}
+	const PxF32 wheelWidth = wheelMax.x - wheelMin.x;
+	const PxF32 wheelRadius = PxMax(wheelMax.y, wheelMax.z);
+
+	return createCylinderConvexMesh(wheelWidth, wheelRadius, 8, physics, cooking);
+}
+
+GLMesh* createRenderMesh(const RAWMesh& data)
+{
+	GLMesh* mesh =new GLMesh(GL_TRIANGLES);
+	const PxU32 nbVerts = data.mNbVerts;
+	const PxU32 nbTris = data.mNbFaces;
+	mesh->vertices.resize(nbVerts);
+	mesh->normals.resize(nbVerts);
+	mesh->texCoords.resize(nbVerts * 2);
+	mesh->indices.resize(nbTris*3);
+
+	const PxU32* src = data.mIndices;
+
+	PxU32* indices = new PxU32[sizeof(PxU16)*nbTris * 3];
+	for (PxU32 i = 0; i<nbTris; i++)
+	{
+		indices[i * 3 + 0] = src[i * 3 + 0];
+		indices[i * 3 + 1] = src[i * 3 + 1];
+		indices[i * 3 + 2] = src[i * 3 + 2];
+	}
+
+
+	for (PxU32 i = 0; i < nbVerts; ++i)
+	{
+		mesh->vertices[i] = data.mVerts[i];
+		mesh->normals[i] = data.mVertexNormals[i];
+		mesh->texCoords[i*2] = data.mUVs[i*2];
+		mesh->texCoords[i * 2 + 1] = 1.f-data.mUVs[i*2+1];
+	}
+
+	for (PxU32 i = 0; i < nbTris * 3; ++i)
+	{
+		mesh->indices[i] = indices[i]; 
+	}
+
+	mesh->genVBOIBO();
+	mesh->updateVBOIBO(true);
+
+	return mesh;
+}