Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

2 files changed, 323 insertions, 0 deletions

diff --git a/PhysX_3.4/Snippets/SnippetJoint/SnippetJoint.cpp b/PhysX_3.4/Snippets/SnippetJoint/SnippetJoint.cpp
new file mode 100644
index 00000000..eecea391
--- /dev/null
+++ b/PhysX_3.4/Snippets/SnippetJoint/SnippetJoint.cpp
@@ -0,0 +1,203 @@
+// 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 illustrates simple use of joints in physx
+//
+// It creates a chain of objects joined by limited spherical joints, a chain
+// joined by fixed joints which is breakable, and a chain of damped D6 joints
+// ****************************************************************************
+
+#include <ctype.h>
+
+#include "PxPhysicsAPI.h"
+
+#include "../SnippetCommon/SnippetPrint.h"
+#include "../SnippetCommon/SnippetPVD.h"
+#include "../SnippetUtils/SnippetUtils.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;
+
+PxReal chainZ = 10.0f;
+
+PxRigidDynamic* createDynamic(const PxTransform& t, const PxGeometry& geometry, const PxVec3& velocity=PxVec3(0))
+{
+	PxRigidDynamic* dynamic = PxCreateDynamic(*gPhysics, t, geometry, *gMaterial, 10.0f);
+	dynamic->setAngularDamping(0.5f);
+	dynamic->setLinearVelocity(velocity);
+	gScene->addActor(*dynamic);
+	return dynamic;
+}
+
+// spherical joint limited to an angle of at most pi/4 radians (45 degrees)
+PxJoint* createLimitedSpherical(PxRigidActor* a0, const PxTransform& t0, PxRigidActor* a1, const PxTransform& t1)
+{
+	PxSphericalJoint* j = PxSphericalJointCreate(*gPhysics, a0, t0, a1, t1);
+	j->setLimitCone(PxJointLimitCone(PxPi/4, PxPi/4, 0.05f));
+	j->setSphericalJointFlag(PxSphericalJointFlag::eLIMIT_ENABLED, true);
+	return j;
+}
+
+// revolute joint limited to an angle of at most pi/4 radians (45 degrees)
+
+// fixed, breakable joint
+PxJoint* createBreakableFixed(PxRigidActor* a0, const PxTransform& t0, PxRigidActor* a1, const PxTransform& t1)
+{
+	PxFixedJoint* j = PxFixedJointCreate(*gPhysics, a0, t0, a1, t1);
+	j->setBreakForce(1000, 100000);	
+	j->setConstraintFlag(PxConstraintFlag::eDRIVE_LIMITS_ARE_FORCES, true);
+	return j;
+}
+
+// D6 joint with a spring maintaining its position
+PxJoint* createDampedD6(PxRigidActor* a0, const PxTransform& t0, PxRigidActor* a1, const PxTransform& t1)
+{
+	PxD6Joint* j = PxD6JointCreate(*gPhysics, a0, t0, a1, t1);
+	j->setMotion(PxD6Axis::eSWING1, PxD6Motion::eFREE);
+	j->setMotion(PxD6Axis::eSWING2, PxD6Motion::eFREE);
+	j->setMotion(PxD6Axis::eTWIST, PxD6Motion::eFREE);
+	j->setDrive(PxD6Drive::eSLERP, PxD6JointDrive(0, 1000, FLT_MAX, true));
+	return j;
+}
+
+typedef PxJoint* (*JointCreateFunction)(PxRigidActor* a0, const PxTransform& t0, PxRigidActor* a1, const PxTransform& t1);
+
+// create a chain rooted at the origin and extending along the x-axis, all transformed by the argument t.
+
+void createChain(const PxTransform& t, PxU32 length, const PxGeometry& g, PxReal separation, JointCreateFunction createJoint)
+{
+	PxVec3 offset(separation/2, 0, 0);
+	PxTransform localTm(offset);
+	PxRigidDynamic* prev = NULL;
+
+	for(PxU32 i=0;i<length;i++)
+	{
+		PxRigidDynamic* current = PxCreateDynamic(*gPhysics, t*localTm, g, *gMaterial, 1.0f);
+		(*createJoint)(prev, prev ? PxTransform(offset) : t, current, PxTransform(-offset));
+		gScene->addActor(*current);
+		prev = current;
+		localTm.p.x += separation;
+	}
+}
+
+void initPhysics(bool interactive)
+{
+	PX_UNUSED(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);
+	PxInitExtensions(*gPhysics, gPvd);
+
+	PxSceneDesc sceneDesc(gPhysics->getTolerancesScale());
+	sceneDesc.gravity = PxVec3(0.0f, -9.81f, 0.0f);
+	gDispatcher = PxDefaultCpuDispatcherCreate(2);
+	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);
+
+	createChain(PxTransform(PxVec3(0.0f, 20.0f, 0.0f)), 5, PxBoxGeometry(2.0f, 0.5f, 0.5f), 4.0f, createLimitedSpherical);
+	createChain(PxTransform(PxVec3(0.0f, 20.0f, -10.0f)), 5, PxBoxGeometry(2.0f, 0.5f, 0.5f), 4.0f, createBreakableFixed);
+	createChain(PxTransform(PxVec3(0.0f, 20.0f, -20.0f)), 5, PxBoxGeometry(2.0f, 0.5f, 0.5f), 4.0f, createDampedD6);
+}
+
+void stepPhysics(bool interactive)
+{
+	PX_UNUSED(interactive);
+	gScene->simulate(1.0f/60.0f);
+	gScene->fetchResults(true);
+}
+	
+void cleanupPhysics(bool interactive)
+{
+	PX_UNUSED(interactive);
+	gScene->release();
+	gDispatcher->release();
+	gPhysics->release();
+	PxPvdTransport* transport = gPvd->getTransport();
+	gPvd->release();
+	transport->release();
+	PxCloseExtensions();
+	gFoundation->release();
+	
+	printf("SnippetJoint done.\n");
+}
+
+void keyPress(unsigned char key, const PxTransform& camera)
+{
+	switch(toupper(key))
+	{
+	case ' ':	createDynamic(camera, PxSphereGeometry(3.0f), camera.rotate(PxVec3(0,0,-1))*200);	break;
+	}
+}
+
+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/SnippetJoint/SnippetJointRender.cpp b/PhysX_3.4/Snippets/SnippetJoint/SnippetJointRender.cpp
new file mode 100644
index 00000000..58e4d83e
--- /dev/null
+++ b/PhysX_3.4/Snippets/SnippetJoint/SnippetJointRender.cpp
@@ -0,0 +1,120 @@
+// 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);
+	}
+
+	Snippets::finishRender();
+}
+
+void exitCallback(void)
+{
+	delete sCamera;
+	cleanupPhysics(true);
+}
+}
+
+void renderLoop()
+{
+	sCamera = new Snippets::Camera(PxVec3(50.0f, 50.0f, 50.0f), PxVec3(-0.6f,-0.2f,-0.7f));
+
+	Snippets::setupDefaultWindow("PhysX Snippet Joint");
+	Snippets::setupDefaultRenderState();
+
+	glutIdleFunc(idleCallback);
+	glutDisplayFunc(renderCallback);
+	glutKeyboardFunc(keyboardCallback);
+	glutMouseFunc(mouseCallback);
+	glutMotionFunc(motionCallback);
+	motionCallback(0,0);
+
+	atexit(exitCallback);
+
+	initPhysics(true);
+	glutMainLoop();
+}
+#endif