Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 495 insertions, 0 deletions

diff --git a/PhysX_3.4/Include/PxArticulationJoint.h b/PhysX_3.4/Include/PxArticulationJoint.h
new file mode 100644
index 00000000..acbab2da
--- /dev/null
+++ b/PhysX_3.4/Include/PxArticulationJoint.h
@@ -0,0 +1,495 @@
+// 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 PX_PHYSICS_NX_ARTICULATION_JOINT
+#define PX_PHYSICS_NX_ARTICULATION_JOINT
+/** \addtogroup physics 
+@{ */
+
+#include "PxPhysXConfig.h"
+#include "common/PxBase.h"
+
+#if !PX_DOXYGEN
+namespace physx
+{
+#endif
+
+/**
+\brief The type of joint drive to use for the articulation joint.
+
+Two drive models are currently supported. in the TARGET model, the drive spring displacement will be determined 
+as the rotation vector from the relative quaternion beetween child and parent, and the target quaternion.
+
+In the ERROR model, the drive spring displacement will be taken directly from the imaginary part of the relative
+quaternion. This drive model requires more computation on the part of the application, but allows driving the joint
+with a spring displacement that is more than a complete rotation.
+
+@see PxArticulationJoint
+*/
+
+struct PxArticulationJointDriveType
+{
+	enum Enum
+	{
+		eTARGET	= 0,		// use the quaternion as the drive target
+		eERROR	= 1			// use the vector part of the quaternion as the drive error.
+	};
+};
+
+
+/**
+\brief a joint between two links in an articulation.
+
+The joint model is very similar to a PxSphericalJoint with swing and twist limits,
+and an implicit drive model.
+
+@see PxArticulation PxArticulationLink
+*/
+
+class PxArticulationJoint : public PxBase
+{
+public:
+	
+	/**
+	\brief set the joint pose in the parent frame
+
+	\param[in] pose the joint pose in the parent frame
+	<b>Default:</b> the identity matrix
+
+	@see getParentPose()
+	*/
+
+	virtual		void			setParentPose(const PxTransform& pose) = 0;
+
+	/**
+	\brief get the joint pose in the parent frame
+
+	\return the joint pose in the parent frame
+
+	@see setParentPose()
+	*/
+
+	virtual		PxTransform		getParentPose() const = 0;
+
+
+	/**
+	\brief set the joint pose in the child frame
+
+	\param[in] pose the joint pose in the child frame
+	<b>Default:</b> the identity matrix
+
+	@see getChildPose()
+	*/
+
+	virtual		void			setChildPose(const PxTransform& pose) = 0;
+
+	/**
+	\brief get the joint pose in the child frame
+
+	\return the joint pose in the child frame
+
+	@see setChildPose()
+	*/
+	virtual		PxTransform		getChildPose() const = 0;
+
+
+	/**
+	\brief set the target drive
+
+	This is the target position for the joint drive, measured in the parent constraint frame.
+
+	\param[in] orientation the target orientation for the joint
+	<b>Range:</b> a unit quaternion
+	<b>Default:</b> the identity quaternion
+
+	@see getTargetOrientation()
+	*/
+
+	virtual		void			setTargetOrientation(const PxQuat& orientation) = 0;
+
+	/**
+	\brief get the target drive position
+
+	\return the joint drive target position
+
+	@see setTargetOrientation()
+	*/
+	virtual		PxQuat			getTargetOrientation() const = 0;
+
+	/**
+	\brief set the target drive velocity
+
+	This is the target velocity for the joint drive, measured in the parent constraint frame
+
+	\param[in] velocity the target velocity for the joint
+	<b>Default:</b> the zero vector
+
+	@see getTargetVelocity()
+	*/
+	virtual		void			setTargetVelocity(const PxVec3& velocity) = 0;
+
+	/**
+	\brief get the target drive velocity
+
+	\return the target velocity for the joint
+
+	@see setTargetVelocity()
+	*/
+	virtual		PxVec3			getTargetVelocity() const = 0;
+
+
+	/**
+	\brief set the drive type
+
+	\param[in] driveType the drive type for the joint
+	<b>Default:</b> PxArticulationJointDriveType::eTARGET
+
+	@see getDriveType()
+	*/
+	virtual		void			setDriveType(PxArticulationJointDriveType::Enum driveType) = 0;
+
+	/**
+	\brief get the drive type
+
+	\return the drive type
+
+	@see setDriveType()
+	*/
+	virtual		PxArticulationJointDriveType::Enum
+								getDriveType() const = 0;
+
+
+	/**
+	\brief set the drive strength of the joint acceleration spring. 
+
+	The acceleration generated by the spring drive is proportional to
+	this value and the angle between the drive target position and the
+	current position.
+
+	\param[in] spring the spring strength of the joint 
+	<b>Range:</b> [0, PX_MAX_F32)<br>
+	<b>Default:</b> 0.0
+
+	@see getStiffness()
+	*/
+	virtual		void			setStiffness(PxReal spring) = 0;
+
+	/**
+	\brief get the drive strength of the joint acceleration spring
+
+	\return the spring strength of the joint
+
+	@see setStiffness()
+	*/
+	virtual		PxReal			getStiffness() const = 0;
+
+
+	/**
+	\brief set the damping of the joint acceleration spring
+
+	The acceleration generated by the spring drive is proportional to
+	this value and the difference between the angular velocity of the
+	joint and the target drive velocity.
+
+	\param[in] damping the damping of the joint drive
+	<b>Range:</b> [0, PX_MAX_F32)<br>
+	<b>Default:</b> 0.0
+
+	@see getDamping()
+	*/
+	virtual		void			setDamping(PxReal damping) = 0;
+
+	/**
+	\brief get the damping of the joint acceleration spring
+
+	@see setDamping()
+	*/
+
+	virtual		PxReal			getDamping() const = 0;
+
+	/**
+	\brief set the internal compliance
+
+	Compliance determines the extent to which the joint resists acceleration. 
+	
+	There are separate values for resistance to accelerations caused by external
+	forces such as gravity and contact forces, and internal forces generated from
+	other joints.
+
+	A low compliance means that forces have little effect, a compliance of 1 means 
+	the joint does not resist such forces at all.
+
+	\param[in] compliance the compliance to internal forces
+	<b> Range: (0, 1]</b>
+	<b> Default:</b> 0.0
+
+	@see getInternalCompliance()
+	*/
+
+	virtual		void			setInternalCompliance(PxReal compliance) = 0;
+
+
+	/**
+	\brief get the internal compliance
+
+	\return the compliance to internal forces
+
+	@see setInternalCompliance()
+	*/
+	virtual		PxReal			getInternalCompliance() const = 0;
+
+	/**
+	\brief get the drive external compliance
+
+	Compliance determines the extent to which the joint resists acceleration. 
+	
+	There are separate values for resistance to accelerations caused by external
+	forces such as gravity and contact forces, and internal forces generated from
+	other joints.
+
+	A low compliance means that forces have little effect, a compliance of 1 means 
+	the joint does not resist such forces at all.
+
+	\param[in] compliance the compliance to external forces
+	<b> Range: (0, 1]</b>
+	<b> Default:</b> 0.0
+
+	@see getExternalCompliance()
+	*/
+
+	virtual		void			setExternalCompliance(PxReal compliance) = 0;
+
+	/**
+	\brief get the drive external compliance
+
+	\return the compliance to external forces
+
+	@see setExternalCompliance()
+	*/
+	virtual		PxReal			getExternalCompliance() const = 0;
+
+
+
+	/**
+	\brief set the extents of the cone limit. The extents are measured in the frame
+	of the parent.
+
+	Note that very small or highly elliptical limit cones may result in jitter.
+
+	\param[in] yLimit the allowed extent of rotation around the y-axis
+	\param[in] zLimit the allowed extent of rotation around the z-axis
+	<b> Range:</b> ( (0, Pi), (0, Pi) )
+	<b> Default:</b> (Pi/4, Pi/4)
+	*/
+
+	virtual		void			setSwingLimit(PxReal yLimit, PxReal zLimit) = 0;
+
+
+	/**
+	\brief get the extents for the swing limit cone
+	
+	\param[out] yLimit the allowed extent of rotation around the y-axis
+	\param[out] zLimit the allowed extent of rotation around the z-axis
+
+	@see setSwingLimit()
+	*/
+	virtual		void			getSwingLimit(PxReal &yLimit, PxReal &zLimit) const = 0;
+
+
+
+	/**
+	\brief set the tangential spring for the limit cone
+	<b> Range:</b> ([0, PX_MAX_F32), [0, PX_MAX_F32))
+	<b> Default:</b> (0.0, 0.0)
+	*/
+
+	virtual		void			setTangentialStiffness(PxReal spring) = 0;
+
+
+	/**
+	\brief get the tangential spring for the swing limit cone
+	
+	\return the tangential spring
+
+	@see setTangentialStiffness()
+	*/
+	virtual		PxReal			getTangentialStiffness() const = 0;
+
+
+	/**
+	\brief set the tangential damping for the limit cone
+	<b> Range:</b> ([0, PX_MAX_F32), [0, PX_MAX_F32))
+	<b> Default:</b> (0.0, 0.0)
+	*/
+
+	virtual		void			setTangentialDamping(PxReal damping) = 0;
+
+
+	/**
+	\brief get the tangential damping for the swing limit cone
+	
+	\return the tangential damping
+
+	@see setTangentialDamping()
+	*/
+	virtual		PxReal			getTangentialDamping() const = 0;
+
+
+	/**
+	\brief set the contact distance for the swing limit
+
+	The contact distance should be less than either limit angle. 
+
+	<b> Range:</b> [0, Pi]
+	<b> Default:</b> 0.05 radians
+
+	@see getSwingLimitContactDistance()
+	*/
+
+	virtual		void			setSwingLimitContactDistance(PxReal contactDistance) = 0;
+
+
+	/**
+	\brief get the contact distance for the swing limit
+	
+	\return the contact distance for the swing limit cone
+
+	@see setSwingLimitContactDistance()
+	*/
+	virtual		PxReal			getSwingLimitContactDistance() const = 0;
+
+
+
+	/**
+	\brief set the flag which enables the swing limit
+
+	\param[in] enabled whether the limit is enabled
+	<b>Default:</b> false
+
+	@see getSwingLimitEnabled()
+	*/
+	virtual		void			setSwingLimitEnabled(bool enabled) = 0;
+
+	/**
+	\brief get the flag which enables the swing limit
+
+	\return whether the swing limit is enabled
+
+	@see setSwingLimitEnabled()
+	*/
+
+	virtual		bool			getSwingLimitEnabled() const = 0;
+
+
+	/**
+	\brief set the bounds of the twistLimit
+
+	\param[in] lower the lower extent of the twist limit
+	\param[in] upper the upper extent of the twist limit
+	<b> Range: (-Pi, Pi)</b>
+	<b> Default:</b> (-Pi/4, Pi/4)
+
+	The lower limit value must be less than the upper limit if the limit is enabled
+
+	@see getTwistLimit()
+	*/
+	virtual		void			setTwistLimit(PxReal lower, PxReal upper) = 0;
+
+	/**
+	\brief get the bounds of the twistLimit
+
+	\param[out] lower the lower extent of the twist limit
+	\param[out] upper the upper extent of the twist limit
+
+	@see setTwistLimit()
+	*/
+
+	virtual		void			getTwistLimit(PxReal &lower, PxReal &upper) const = 0;
+
+
+	/**
+	\brief set the flag which enables the twist limit
+
+	\param[in] enabled whether the twist limit is enabled
+	<b>Default:</b> false
+
+	@see getTwistLimitEnabled()
+	*/
+	virtual		void			setTwistLimitEnabled(bool enabled) = 0;
+
+	/**
+	\brief get the twistLimitEnabled flag
+
+	\return whether the twist limit is enabled
+
+	@see setTwistLimitEnabled()
+	*/
+
+	virtual		bool			getTwistLimitEnabled() const = 0;
+
+
+	/**
+	\brief set the contact distance for the swing limit
+
+	The contact distance should be less than half the distance between the upper and lower limits. 
+
+	<b> Range:</b> [0, Pi)
+	<b> Default:</b> 0.05 radians
+
+	@see getTwistLimitContactDistance()
+	*/
+
+	virtual		void			setTwistLimitContactDistance(PxReal contactDistance) = 0;
+
+
+	/**
+	\brief get the contact distance for the swing limit
+	
+	\return the contact distance for the twist limit
+
+	@see setTwistLimitContactDistance()
+	*/
+	virtual		PxReal			getTwistLimitContactDistance() const = 0;
+
+	virtual		const char*		getConcreteTypeName() const					{	return "PxArticulationJoint"; }
+
+protected:
+	PX_INLINE					PxArticulationJoint(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags) {}
+	PX_INLINE					PxArticulationJoint(PxBaseFlags baseFlags) : PxBase(baseFlags)	{}
+	virtual						~PxArticulationJoint() {}
+	virtual		bool			isKindOf(const char* name)	const		{	return !::strcmp("PxArticulationJoint", name) || PxBase::isKindOf(name); }
+};
+
+#if !PX_DOXYGEN
+} // namespace physx
+#endif
+
+/** @} */
+#endif