Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

2 files changed, 240 insertions, 0 deletions

diff --git a/PhysX_3.4/Include/GeomUtils/GuContactBuffer.h b/PhysX_3.4/Include/GeomUtils/GuContactBuffer.h
new file mode 100644
index 00000000..986aa81c
--- /dev/null
+++ b/PhysX_3.4/Include/GeomUtils/GuContactBuffer.h
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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) 2008-2016 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 GU_CONTACTBUFFER_H
+#define GU_CONTACTBUFFER_H
+
+#include "PxPhysXConfig.h"
+#include "PxContact.h"
+#include "GuContactPoint.h"
+
+namespace physx
+{
+namespace Gu
+{
+
+	struct NarrowPhaseParams
+	{
+		PX_FORCE_INLINE	NarrowPhaseParams(PxReal contactDistance, PxReal meshContactMargin, PxReal toleranceLength) :
+				mContactDistance(contactDistance),
+				mMeshContactMargin(meshContactMargin),
+				mToleranceLength(toleranceLength)	{}
+
+		PxReal	mContactDistance;
+		PxReal	mMeshContactMargin;	// PT: Margin used to generate mesh contacts. Temp & unclear, should be removed once GJK is default path.
+		PxReal	mToleranceLength;	// PT: copy of PxTolerancesScale::length
+	};
+
+//sizeof(SavedContactData)/sizeof(PxU32) = 17, 1088/17 = 64 triangles in the local array
+#define LOCAL_CONTACTS_SIZE		1088
+
+class ContactBuffer
+{
+public:
+
+	static const PxU32 MAX_CONTACTS = 64;
+
+	Gu::ContactPoint	contacts[MAX_CONTACTS];
+	PxU32				count;
+	PxU32				pad;
+
+	PX_FORCE_INLINE void reset()
+	{
+		count = 0;
+	}
+
+	PX_FORCE_INLINE bool contact(const PxVec3& worldPoint, 
+				 const PxVec3& worldNormalIn, 
+				 PxReal separation, 
+				 PxU32 faceIndex1 = PXC_CONTACT_NO_FACE_INDEX
+				 )
+	{
+		PX_ASSERT(PxAbs(worldNormalIn.magnitude()-1)<1e-3f);
+
+		if(count>=MAX_CONTACTS)
+			return false;
+
+		Gu::ContactPoint& p	= contacts[count++];
+		p.normal			= worldNormalIn;
+		p.point				= worldPoint;
+		p.separation		= separation;
+		p.internalFaceIndex1= faceIndex1;
+		return true;
+	}
+
+	PX_FORCE_INLINE bool contact(const PxVec3& worldPoint,
+		const PxVec3& worldNormalIn,
+		PxReal separation,
+		PxU16 internalUsage,
+		PxU32 faceIndex1 = PXC_CONTACT_NO_FACE_INDEX
+		)
+	{
+		PX_ASSERT(PxAbs(worldNormalIn.magnitude() - 1)<1e-3f);
+
+		if (count >= MAX_CONTACTS)
+			return false;
+
+		Gu::ContactPoint& p = contacts[count++];
+		p.normal = worldNormalIn;
+		p.point = worldPoint;
+		p.separation = separation;
+		p.internalFaceIndex1 = faceIndex1;
+		p.forInternalUse = internalUsage;
+		return true;
+	}
+
+	PX_FORCE_INLINE bool contact(const Gu::ContactPoint & pt)
+	{
+		if(count>=MAX_CONTACTS)
+			return false;
+		contacts[count++] = pt;
+		return true;
+	}
+
+	PX_FORCE_INLINE Gu::ContactPoint* contact()
+	{
+		if(count>=MAX_CONTACTS)
+			return NULL;
+		return &contacts[count++];
+	}
+};
+
+}
+}
+
+#endif
diff --git a/PhysX_3.4/Include/GeomUtils/GuContactPoint.h b/PhysX_3.4/Include/GeomUtils/GuContactPoint.h
new file mode 100644
index 00000000..8b7df758
--- /dev/null
+++ b/PhysX_3.4/Include/GeomUtils/GuContactPoint.h
@@ -0,0 +1,109 @@
+// 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) 2008-2016 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 GU_CONTACT_POINT_H
+#define GU_CONTACT_POINT_H
+
+/** \addtogroup geomutils
+@{
+*/
+
+#include "foundation/PxVec3.h"
+
+namespace physx
+{
+namespace Gu
+{
+
+struct ContactPoint
+{
+	/**
+	\brief The normal of the contacting surfaces at the contact point.
+
+	For two shapes s0 and s1, the normal points in the direction that s0 needs to move in to resolve the contact with s1.
+	*/
+	PX_ALIGN(16, PxVec3	normal);
+	/**
+	\brief The separation of the shapes at the contact point.  A negative separation denotes a penetration.
+	*/
+	PxReal	separation;
+
+	/**
+	\brief The point of contact between the shapes, in world space. 
+	*/
+	PX_ALIGN(16, PxVec3	point);	
+
+	/**
+	\brief The max impulse permitted at this point
+	*/
+	PxReal maxImpulse;
+
+	PX_ALIGN(16, PxVec3 targetVel);
+
+	/**
+	\brief The static friction coefficient
+	*/
+	PxReal staticFriction;
+
+	/**
+	\brief Material flags for this contact (eDISABLE_FRICTION, eDISABLE_STRONG_FRICTION). @see PxMaterialFlag
+	*/
+	PxU8 materialFlags;
+
+	/**
+	\brief internal structure used for internal use only
+	*/
+	PxU16 forInternalUse;
+
+	/**
+	\brief The surface index of shape 1 at the contact point.  This is used to identify the surface material.
+
+	\note This field is only supported by triangle meshes and heightfields, else it will be set to PXC_CONTACT_NO_FACE_INDEX.
+	\note This value must be directly after internalFaceIndex0 in memory
+	*/
+
+	PxU32   internalFaceIndex1;
+
+	/**
+	\brief The dynamic friction coefficient
+	*/
+	PxReal dynamicFriction;
+	/**
+	\brief The restitution coefficient
+	*/
+	PxReal restitution;
+
+};
+
+}
+
+}
+
+/** @} */
+#endif