Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

2 files changed, 361 insertions, 0 deletions

diff --git a/PhysX_3.4/Snippets/SnippetArticulation/SnippetArticulation.cpp b/PhysX_3.4/Snippets/SnippetArticulation/SnippetArticulation.cpp
new file mode 100644
index 00000000..11401167
--- /dev/null
+++ b/PhysX_3.4/Snippets/SnippetArticulation/SnippetArticulation.cpp
@@ -0,0 +1,224 @@
+// 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.  
+
+// ****************************************************************************
+// This snippet demonstrates the use of articulations.
+// ****************************************************************************
+
+#include <ctype.h>
+#include <vector>
+
+#include "PxPhysicsAPI.h"
+
+#include "../SnippetUtils/SnippetUtils.h"
+#include "../SnippetCommon/SnippetPrint.h"
+#include "../SnippetCommon/SnippetPVD.h"
+
+using namespace physx;
+
+PxDefaultAllocator		gAllocator;
+PxDefaultErrorCallback	gErrorCallback;
+
+PxFoundation*			gFoundation		= NULL;
+PxPhysics*				gPhysics		= NULL;
+
+PxDefaultCpuDispatcher*	gDispatcher		= NULL;
+PxScene*				gScene			= NULL;
+
+PxMaterial*				gMaterial		= NULL;
+
+PxPvd*                  gPvd			= NULL;
+
+PxArticulation*			gArticulation	= NULL;
+
+void initPhysics(bool /*interactive*/)
+{
+	gFoundation = PxCreateFoundation(PX_FOUNDATION_VERSION, gAllocator, gErrorCallback);
+	gPvd = PxCreatePvd(*gFoundation);
+	PxPvdTransport* transport = PxDefaultPvdSocketTransportCreate(PVD_HOST, 5425, 10);
+	gPvd->connect(*transport,PxPvdInstrumentationFlag::eALL);
+
+	gPhysics = PxCreatePhysics(PX_PHYSICS_VERSION, *gFoundation, PxTolerancesScale(),true,gPvd);
+		
+	PxSceneDesc sceneDesc(gPhysics->getTolerancesScale());
+	sceneDesc.gravity = PxVec3(0.0f, -9.81f, 0.0f);
+	
+	PxU32 numCores = SnippetUtils::getNbPhysicalCores();
+	gDispatcher = PxDefaultCpuDispatcherCreate(numCores == 0 ? 0 : numCores - 1);
+	sceneDesc.cpuDispatcher	= gDispatcher;
+	sceneDesc.filterShader	= PxDefaultSimulationFilterShader;
+
+	gScene = gPhysics->createScene(sceneDesc);
+	PxPvdSceneClient* pvdClient = gScene->getScenePvdClient();
+	if(pvdClient)
+	{
+		pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_CONSTRAINTS, true);
+		pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_CONTACTS, true);
+		pvdClient->setScenePvdFlag(PxPvdSceneFlag::eTRANSMIT_SCENEQUERIES, true);
+	}
+
+	gMaterial = gPhysics->createMaterial(0.5f, 0.5f, 0.6f);
+
+	PxRigidStatic* groundPlane = PxCreatePlane(*gPhysics, PxPlane(0,1,0,0), *gMaterial);
+	gScene->addActor(*groundPlane);
+
+	gArticulation = gPhysics->createArticulation();
+
+	// Stabilization can create artefacts on jointed objects so we just disable it
+	gArticulation->setStabilizationThreshold(0.0f);
+
+	gArticulation->setMaxProjectionIterations(16);
+	gArticulation->setSeparationTolerance(0.001f);
+
+	const float scale = 0.25f;
+	const float radius = 0.5f*scale;
+	const float halfHeight = 1.0f*scale;
+	const PxU32 nbCapsules = 40;
+	const float capsuleMass = 1.0f;
+
+	const PxVec3 initPos(0.0f, 24.0f, 0.0f);
+	PxVec3 pos = initPos;
+	PxShape* capsuleShape = gPhysics->createShape(PxCapsuleGeometry(radius, halfHeight), *gMaterial);
+	PxArticulationLink* firstLink = NULL;
+	PxArticulationLink* parent = NULL;
+
+	const bool overlappingLinks = true;	// Change this for another kind of rope
+
+	// Create rope
+	for(PxU32 i=0;i<nbCapsules;i++)
+	{
+		PxArticulationLink* link = gArticulation->createLink(parent, PxTransform(pos));
+		if(!firstLink)
+			firstLink = link;
+
+		link->attachShape(*capsuleShape);
+		PxRigidBodyExt::setMassAndUpdateInertia(*link, capsuleMass);
+
+		PxArticulationJoint* joint = link->getInboundJoint();
+		if(joint)	// Will be null for root link
+		{
+			if(overlappingLinks)
+			{
+				joint->setParentPose(PxTransform(PxVec3(halfHeight, 0.0f, 0.0f)));
+				joint->setChildPose(PxTransform(PxVec3(-halfHeight, 0.0f, 0.0f)));
+			}
+			else
+			{
+				joint->setParentPose(PxTransform(PxVec3(radius + halfHeight, 0.0f, 0.0f)));
+				joint->setChildPose(PxTransform(PxVec3(-radius - halfHeight, 0.0f, 0.0f)));
+			}
+		}
+
+		if(overlappingLinks)
+			pos.x += (radius + halfHeight*2.0f);
+		else
+			pos.x += (radius + halfHeight) * 2.0f;
+		parent = link;
+	}
+
+	// Attach large & heavy box at the end of the rope
+	{
+		const float boxMass = 50.0f;
+		const float boxSize = 1.0f;
+		PxShape* boxShape = gPhysics->createShape(PxBoxGeometry(boxSize, boxSize, boxSize), *gMaterial);
+
+		pos.x -= (radius + halfHeight) * 2.0f;
+		pos.x += (radius + halfHeight) + boxSize;
+
+		PxArticulationLink* link = gArticulation->createLink(parent, PxTransform(pos));
+
+		link->attachShape(*boxShape);
+		PxRigidBodyExt::setMassAndUpdateInertia(*link, boxMass);
+
+		PxArticulationJoint* joint = link->getInboundJoint();
+		if(joint)	// Will be null for root link
+		{
+			joint->setParentPose(PxTransform(PxVec3(radius + halfHeight, 0.0f, 0.0f)));
+			joint->setChildPose(PxTransform(PxVec3(-boxSize, 0.0f, 0.0f)));
+		}
+	}
+	gScene->addArticulation(*gArticulation);
+
+	// Attach articulation to static world
+	{
+		PxShape* anchorShape = gPhysics->createShape(PxSphereGeometry(0.05f), *gMaterial);
+		PxRigidStatic* anchor = PxCreateStatic(*gPhysics, PxTransform(initPos), *anchorShape);
+		gScene->addActor(*anchor);
+		PxSphericalJoint* j = PxSphericalJointCreate(*gPhysics, anchor, PxTransform(PxVec3(0.0f)), firstLink, PxTransform(PxVec3(0.0f)));
+		PX_UNUSED(j);
+	}
+
+	// Create obstacle
+	{
+		PxShape* boxShape = gPhysics->createShape(PxBoxGeometry(1.0f, 0.1f, 2.0f), *gMaterial);
+		PxRigidStatic* obstacle = PxCreateStatic(*gPhysics, PxTransform(initPos+PxVec3(10.0f, -3.0f, 0.0f)), *boxShape);
+		gScene->addActor(*obstacle);
+	}
+}
+
+void stepPhysics(bool /*interactive*/)
+{
+	gScene->simulate(1.0f/60.0f);
+	gScene->fetchResults(true);
+}
+	
+void cleanupPhysics(bool /*interactive*/)
+{
+	gArticulation->release();
+	gScene->release();
+	gDispatcher->release();
+	gPhysics->release();	
+	PxPvdTransport* transport = gPvd->getTransport();
+	gPvd->release();
+	transport->release();
+   
+	gFoundation->release();
+
+	printf("SnippetArticulation done.\n");
+}
+
+void keyPress(unsigned char /*key*/, const PxTransform& /*camera*/)
+{
+}
+
+int snippetMain(int, const char*const*)
+{
+#ifdef RENDER_SNIPPET
+	extern void renderLoop();
+	renderLoop();
+#else
+	static const PxU32 frameCount = 100;
+	initPhysics(false);
+	for(PxU32 i=0; i<frameCount; i++)
+		stepPhysics(false);
+	cleanupPhysics(false);
+#endif
+
+	return 0;
+}
diff --git a/PhysX_3.4/Snippets/SnippetArticulation/SnippetArticulationRender.cpp b/PhysX_3.4/Snippets/SnippetArticulation/SnippetArticulationRender.cpp
new file mode 100644
index 00000000..166e62fc
--- /dev/null
+++ b/PhysX_3.4/Snippets/SnippetArticulation/SnippetArticulationRender.cpp
@@ -0,0 +1,137 @@
+// 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.  
+
+#ifdef RENDER_SNIPPET
+
+#include <vector>
+
+#include "PxPhysicsAPI.h"
+
+#include "../SnippetRender/SnippetRender.h"
+#include "../SnippetRender/SnippetCamera.h"
+
+using namespace physx;
+
+extern void initPhysics(bool interactive);
+extern void stepPhysics(bool interactive);	
+extern void cleanupPhysics(bool interactive);
+extern void keyPress(unsigned char key, const PxTransform& camera);
+
+
+namespace
+{
+Snippets::Camera*	sCamera;
+
+void motionCallback(int x, int y)
+{
+	sCamera->handleMotion(x, y);
+}
+
+void keyboardCallback(unsigned char key, int x, int y)
+{
+	if(key==27)
+		exit(0);
+
+	if(!sCamera->handleKey(key, x, y))
+		keyPress(key, sCamera->getTransform());
+}
+
+void mouseCallback(int button, int state, int x, int y)
+{
+	sCamera->handleMouse(button, state, x, y);
+}
+
+void idleCallback()
+{
+	glutPostRedisplay();
+}
+
+void renderCallback()
+{
+	stepPhysics(true);
+
+	Snippets::startRender(sCamera->getEye(), sCamera->getDir());
+
+	PxScene* scene;
+	PxGetPhysics().getScenes(&scene,1);
+	PxU32 nbActors = scene->getNbActors(PxActorTypeFlag::eRIGID_DYNAMIC | PxActorTypeFlag::eRIGID_STATIC);
+	if(nbActors)
+	{
+		std::vector<PxRigidActor*> actors(nbActors);
+		scene->getActors(PxActorTypeFlag::eRIGID_DYNAMIC | PxActorTypeFlag::eRIGID_STATIC, reinterpret_cast<PxActor**>(&actors[0]), nbActors);
+		Snippets::renderActors(&actors[0], static_cast<PxU32>(actors.size()), true);
+	}
+
+	PxU32 nbArticulations = scene->getNbArticulations();
+	for(PxU32 i=0;i<nbArticulations;i++)
+	{
+		PxArticulation* articulation;
+		scene->getArticulations(&articulation, 1, i);
+
+		const PxU32 nbLinks = articulation->getNbLinks();
+		std::vector<PxArticulationLink*> links(nbLinks);
+		articulation->getLinks(&links[0], nbLinks);
+
+		Snippets::renderActors(reinterpret_cast<PxRigidActor**>(&links[0]), static_cast<PxU32>(links.size()), true);
+	}
+
+	Snippets::finishRender();
+}
+
+void exitCallback(void)
+{
+	delete sCamera;
+	cleanupPhysics(true);
+}
+}
+
+const PxVec3 gCamEye(9.621917f, 24.677629f, 16.127209f);
+const PxVec3 gCamDir(-0.138525f, -0.468482f, -0.872546f);
+
+void renderLoop()
+{
+	sCamera = new Snippets::Camera(gCamEye, gCamDir);
+
+	Snippets::setupDefaultWindow("PhysX Snippet Articulation");
+	Snippets::setupDefaultRenderState();
+
+	glutIdleFunc(idleCallback);
+	glutDisplayFunc(renderCallback);
+	glutKeyboardFunc(keyboardCallback);
+	glutMouseFunc(mouseCallback);
+	glutMotionFunc(motionCallback);
+	motionCallback(0,0);
+
+	atexit(exitCallback);
+
+	initPhysics(true);
+	glutMainLoop();
+}
+
+#endif