Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 169 insertions, 0 deletions

diff --git a/PhysX_3.4/Include/extensions/PxFixedJoint.h b/PhysX_3.4/Include/extensions/PxFixedJoint.h
new file mode 100644
index 00000000..34715cf2
--- /dev/null
+++ b/PhysX_3.4/Include/extensions/PxFixedJoint.h
@@ -0,0 +1,169 @@
+// 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_FIXEDJOINT_H
+#define PX_FIXEDJOINT_H
+/** \addtogroup extensions
+  @{
+*/
+
+#include "extensions/PxJoint.h"
+
+#if !PX_DOXYGEN
+namespace physx
+{
+#endif
+
+class PxFixedJoint;
+
+/**
+\brief Create a fixed joint.
+
+ \param[in] physics the physics SDK
+ \param[in] actor0 an actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
+ \param[in] localFrame0 the position and orientation of the joint relative to actor0
+ \param[in] actor1 an actor to which the joint is attached. NULL may be used to attach the joint to a specific point in the world frame
+ \param[in] localFrame1 the position and orientation of the joint relative to actor1 
+
+@see PxFixedJoint
+*/
+
+PxFixedJoint*		PxFixedJointCreate(PxPhysics& physics, 
+									   PxRigidActor* actor0, const PxTransform& localFrame0, 
+									   PxRigidActor* actor1, const PxTransform& localFrame1);
+
+
+/**
+ \brief A fixed joint permits no relative movement between two bodies. ie the bodies are glued together.
+
+ \image html fixedJoint.png
+
+ @see PxFixedJointCreate() PxJoint
+*/
+
+class PxFixedJoint : public PxJoint
+{
+public:
+	
+	/**
+	\brief Set the linear tolerance threshold for projection. Projection is enabled if PxConstraintFlag::ePROJECTION
+	is set for the joint.
+
+	If the joint separates by more than this distance along its locked degrees of freedom, the solver 
+	will move the bodies to close the distance.
+
+	Setting a very small tolerance may result in simulation jitter or other artifacts.
+
+	Sometimes it is not possible to project (for example when the joints form a cycle).
+
+	<b>Range:</b> [0, PX_MAX_F32)<br>
+	<b>Default:</b> 1e10f
+
+	\param[in] tolerance the linear tolerance threshold
+
+	@see getProjectionLinearTolerance() PxJoint::setConstraintFlags() PxConstraintFlag::ePROJECTION
+	*/
+
+	virtual void				setProjectionLinearTolerance(PxReal tolerance)					= 0;
+
+						/**
+	\brief Get the linear tolerance threshold for projection.
+
+	\return the linear tolerance threshold
+
+	@see setProjectionLinearTolerance() PxJoint::setConstraintFlag()
+	*/
+
+	virtual PxReal				getProjectionLinearTolerance()			const					= 0;
+
+	/**
+	\brief Set the angular tolerance threshold for projection. Projection is enabled if 
+	PxConstraintFlag::ePROJECTION is set for the joint.
+
+	If the joint deviates by more than this angle around its locked angular degrees of freedom, 
+	the solver will move the bodies to close the angle.
+	
+	Setting a very small tolerance may result in simulation jitter or other artifacts.
+
+	Sometimes it is not possible to project (for example when the joints form a cycle).
+
+	<b>Range:</b> [0,Pi] <br>
+	<b>Default:</b> Pi
+
+	\param[in] tolerance the angular tolerance threshold in radians
+
+	@see getProjectionAngularTolerance() PxJoint::setConstraintFlag() PxConstraintFlag::ePROJECTION
+	*/
+
+	virtual void				setProjectionAngularTolerance(PxReal tolerance)							= 0;
+
+	/**
+	\brief Get the angular tolerance threshold for projection.
+
+	\return the angular tolerance threshold in radians
+
+	@see setProjectionAngularTolerance() 
+	*/
+
+	virtual PxReal				getProjectionAngularTolerance()			const					= 0;
+	
+	/**
+	\brief Returns string name of PxFixedJoint, used for serialization
+	*/
+	virtual	const char*			getConcreteTypeName() const { return "PxFixedJoint"; }
+
+protected:
+
+	//serialization
+
+	/**
+	\brief Constructor
+	*/
+	PX_INLINE					PxFixedJoint(PxType concreteType, PxBaseFlags baseFlags) : PxJoint(concreteType, baseFlags) {}
+
+	/**
+	\brief Deserialization constructor
+	*/
+	PX_INLINE					PxFixedJoint(PxBaseFlags baseFlags) : PxJoint(baseFlags)	{}
+
+	/**
+	\brief Returns whether a given type name matches with the type of this instance
+	*/
+	virtual	bool				isKindOf(const char* name) const { return !::strcmp("PxFixedJoint", name) || PxJoint::isKindOf(name);	}
+
+	//~serialization
+};
+
+#if !PX_DOXYGEN
+} // namespace physx
+#endif
+
+/** @} */
+#endif