Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 213 insertions, 0 deletions

diff --git a/PhysX_3.4/Samples/SampleBase/TestClothCollisionHelpers.cpp b/PhysX_3.4/Samples/SampleBase/TestClothCollisionHelpers.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) 2008-2016 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
+// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
+#include "TestClothCollisionHelpers.h"
+
+#include "cloth/PxCloth.h"
+#include "cloth/PxClothCollisionData.h"
+
+//needed for sync primitives.
+#if PX_WINDOWS
+#define NOMINMAX
+#	include <windows.h>
+#elif defined(_XBOX)
+#	include "xbox360\xtl_XBOX.h"
+#endif
+
+//----------------------------------------------------------------------------//
+Test::ClothCollision::ClothCollision() :
+    mClothPose(PxVec3(0.0f), PxQuat(PxIdentity))
+{
+}
+
+//----------------------------------------------------------------------------//
+void Test::ClothCollision::release()
+{
+	delete this;
+}
+
+//----------------------------------------------------------------------------//
+
+Test::ClothCollision::~ClothCollision()
+{
+	mSphereMotion.clear();
+}
+
+//----------------------------------------------------------------------------//
+PxU32 Test::ClothCollision::addSphere(const PxVec3& position, PxReal radius)
+{
+    PxClothCollisionSphere sphere;
+
+    sphere.pos = position;
+    sphere.radius = radius;
+
+    mSpheres.pushBack(sphere);
+	mOrigPositions.pushBack(sphere.pos);
+	mWorldPositions.pushBack(sphere.pos);
+
+	MotionGenerator mg;
+
+	mg.mTransform.p = position;
+	mSphereMotion.pushBack(mg);
+
+	return mSpheres.size() - 1;
+}
+
+//----------------------------------------------------------------------------//
+PxU32 Test::ClothCollision::addCapsuleIndex(PxU32 i0, PxU32 i1)
+{
+    mCapsuleIndices.pushBack(i0);
+    mCapsuleIndices.pushBack(i1);
+
+	MotionGenerator mg;
+
+	mg.mTransform.p = 0.5f * (mOrigPositions[i0] + mOrigPositions[i1]);
+	mCapsuleMotion.pushBack(mg);
+
+	PX_ASSERT(( mCapsuleIndices.size() % 2) == 0);
+	return (mCapsuleIndices.size() / 2) - 1;
+}
+
+//----------------------------------------------------------------------------//
+PxU32 Test::ClothCollision::addCapsule(const PxVec3& position1, PxReal radius1, 
+										 const PxVec3& position2, PxReal radius2)
+{
+	PxU32 i0 = addSphere(position1, radius1);
+	PxU32 i1 = addSphere(position2, radius2);
+
+	return addCapsuleIndex(i0, i1);
+}
+
+//----------------------------------------------------------------------------//
+void Test::ClothCollision::setClothPose(const PxTransform &clothPose)
+{
+    mClothPose = clothPose;
+    applyLocalTransform();
+}
+
+//----------------------------------------------------------------------------//
+void Test::ClothCollision::applyLocalTransform()
+{
+	PxTransform clothInv = mClothPose.getInverse();
+
+	PX_ASSERT(mSpheres.size() == mWorldPositions.size());
+
+	Test::Array<PxClothCollisionSphere>::Iterator sp = mSpheres.begin();
+	Test::Array<PxVec3>::Iterator o = mWorldPositions.begin();
+
+	for ( ; sp != mSpheres.end(); ++sp, ++o)
+	{
+		sp->pos = clothInv.transform(*o); 
+	}
+}
+
+//----------------------------------------------------------------------------//
+PxU32 Test::ClothCollision::getNbSpheres() const
+{
+	return mSpheres.size();
+}
+
+//----------------------------------------------------------------------------//
+PxU32 Test::ClothCollision::getNbCapsules() const
+{
+	return mCapsuleIndices.size()/2;
+}
+
+//----------------------------------------------------------------------------//
+const PxClothCollisionSphere* Test::ClothCollision::getSpheres() const
+{
+	return mSpheres.begin();
+}
+
+//----------------------------------------------------------------------------//
+const PxU32* Test::ClothCollision::getCapsules() const
+{
+	return mCapsuleIndices.begin();
+}
+
+//----------------------------------------------------------------------------//
+PxBounds3 Test::ClothCollision::getWorldBounds() const
+{
+	PxBounds3 totalBounds = PxBounds3::empty();
+    for (PxU32 i = 0; i < mSpheres.size(); i++)
+    {
+		PxVec3 p = mClothPose.transform(mSpheres[i].pos);
+		PxBounds3 bounds = PxBounds3::centerExtents(p, PxVec3(mSpheres[i].radius));
+		totalBounds.minimum = totalBounds.minimum.minimum(bounds.minimum);
+		totalBounds.maximum = totalBounds.maximum.maximum(bounds.maximum);
+    }
+	return totalBounds;
+}
+
+//----------------------------------------------------------------------------//
+void Test::ClothCollision::setSphereMotion(PxU32 id, const PxVec3 &linear)
+{
+    mSphereMotion[id].mLinear = linear;
+}
+
+//----------------------------------------------------------------------------//
+void Test::ClothCollision::setCapsuleMotion(PxU32 id, const PxVec3 &linear, const PxVec3& angular)
+{
+    mCapsuleMotion[id].mLinear = linear;
+    mCapsuleMotion[id].mAngular = angular;
+}
+
+//----------------------------------------------------------------------------//
+void Test::ClothCollision::updateMotion(PxReal time, PxReal timestep)
+{
+    for (PxU32 i = 0; i < mSphereMotion.size(); i++)
+		mSphereMotion[i].update(time, timestep);
+
+    for (PxU32 i = 0; i < mCapsuleMotion.size(); i++)
+		mCapsuleMotion[i].update(time, timestep);
+
+	// update independent sphere positions first
+    PxU32 nbSpheres = mWorldPositions.size();
+    for (PxU32 i = 0; i < nbSpheres; i++)
+        mWorldPositions[i] = mSphereMotion[i].mTransform.p;
+
+	// update capsule position and orientation
+	PxU32 numCapsules = mCapsuleIndices.size() / 2;
+	PX_ASSERT((mCapsuleIndices.size() % 2) == 0);
+	for (PxU32 i = 0; i < numCapsules; i++)
+	{
+		PxU32 i0 = mCapsuleIndices[i*2];
+		PxU32 i1 = mCapsuleIndices[i*2+1];
+
+		PxTransform transform = mCapsuleMotion[i].mTransform;
+		PxVec3 o0 = mOrigPositions[i0];
+		PxVec3 o1 = mOrigPositions[i1];
+		PxVec3 c = 0.5f * (o0 + o1);
+
+		mWorldPositions[i0] = transform.rotate(o0 - c) + transform.p;
+		mWorldPositions[i1] = transform.rotate(o1 - c) + transform.p;
+	}
+
+    applyLocalTransform();
+}
+