Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 163 insertions, 0 deletions

diff --git a/PhysX_3.4/Samples/SampleSubmarine/Crab.h b/PhysX_3.4/Samples/SampleSubmarine/Crab.h
new file mode 100644
index 00000000..f05831b9
--- /dev/null
+++ b/PhysX_3.4/Samples/SampleSubmarine/Crab.h
@@ -0,0 +1,163 @@
+// 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 CRAB_H
+#define CRAB_H
+
+#include "foundation/Px.h"
+#include "foundation/PxSimpleTypes.h"
+#include "common/PxPhysXCommonConfig.h"
+#include "task/PxTask.h"
+#include "SampleAllocator.h"
+#include <vector>
+
+class SampleSubmarine;
+
+namespace physx
+{
+	class PxRigidDynamic;
+	class PxRevoluteJoint;
+}
+
+ //  Edge Labels for Theo Jansen's Mechanism
+ //		       _.
+ //		     ,' |       m
+ //		   ,'   |2b   .....
+ //		 ,' 2a  |    e    |n
+ //		+-------+---------+
+ //		|       |
+ //		|       |2c
+ //		|       |
+ //		+-------+
+ //		 `.     |
+ //		   `.   |2d
+ //		     `. |
+ //		       `|
+
+struct LegParameters
+{
+	PxReal a;	// half x-dim leg
+	PxReal b;	// half height upper triangle
+	PxReal c;	// half height distance joints (square)
+	PxReal d;	// half height lower triangle
+	PxReal e;	// x distance from main body centre
+	PxReal m;	// half extent of the motor box
+	PxReal n;	// y offset of the motor from the main body centre
+};
+
+struct CrabState
+{
+	enum Enum
+	{
+		eWAITING,
+		eMOVE_FWD,
+		eMOVE_BKWD,
+		eROTATE_LEFT,
+		eROTATE_RIGHT,
+		ePANIC,
+		eNUM_STATES,
+	};
+};
+struct SqRayBuffer: public SampleAllocateable
+{
+	SqRayBuffer(SampleSubmarine& sampleSubmarine, PxU32 numRays, PxU32 numHits);
+	~SqRayBuffer();
+	
+	SampleSubmarine&				mSampleSubmarine;
+	PxBatchQuery*					mBatchQuery;
+	
+	PxRaycastQueryResult*			mRayCastResults;
+	PxRaycastHit*					mRayCastHits;
+
+	PxU32 							mQueryResultSize; 
+	PxU32 							mHitSize;
+	void*							mOrigAddresses[2];
+private:
+	SqRayBuffer& operator=(const SqRayBuffer&);
+};
+
+class Crab: public ClassType, public physx::PxLightCpuTask, public SampleAllocateable
+{
+public:
+	Crab(SampleSubmarine& sample, const PxVec3& crabPos, RenderMaterial* material);
+	Crab(SampleSubmarine& sample, const char* filename,  RenderMaterial* material);
+	~Crab();
+
+	void	update(PxReal dt);
+	void	setAcceleration(PxReal leftAcc, PxReal rightAcc);
+	void	flushAccelerationBuffer();
+
+	PX_INLINE const PxRigidDynamic*		getCrabBody() const		{ return mCrabBody; }
+	PX_INLINE PxRigidDynamic*			getCrabBody()			{ return mCrabBody; }
+	PX_INLINE bool						needsRespawn()			{ return mRespawnMe; }
+	void	save(const char* filename);
+
+	// Implements LightCpuTask
+	virtual  const char*				getName() const			{ return "Crab AI Task"; }
+	virtual  void						run();
+
+private:
+	void	initMembers();
+	void	create(const PxVec3& _crabPos);
+	void	load(const char* filename);
+
+	PxVec3	getPlaceOnFloor(PxVec3 pos);
+	void	createLeg(PxRigidDynamic* mainBody, PxVec3 localPos, PxReal mass, const LegParameters& params, PxReal scale, PxRigidDynamic* motor, PxVec3 motorAttachmentPos);
+	void	scanForObstacles();
+	void	updateState();
+	void	initState(CrabState::Enum state);
+	
+private:
+	SampleSubmarine*					mSampleSubmarine;
+
+	PxRigidDynamic*						mCrabBody;
+	PxRevoluteJoint*					mMotorJoint[2];
+	std::vector<PxRigidDynamic*>		mActors;
+	std::vector<PxJoint*>				mJoints;
+
+
+	RenderMaterial*					mMaterial;
+	PxReal							mAcceleration[2];
+	SqRayBuffer*					mSqRayBuffer;
+	PxReal							mLegHeight;
+	bool							mRespawnMe;
+
+	CrabState::Enum					mCrabState;
+	PxReal							mStateTime;
+	PxReal							mDistances[10];
+	PxReal							mAccumTime;
+	PxReal							mElapsedTime;
+	PxVec3							mSubmarinePos;
+	PxReal							mAccelerationBuffer[2];
+	
+	volatile PxU32					mRunning;
+	void*							mMemory;
+};
+
+#endif