Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 144 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/Common/src/CmConeLimitHelper.h b/PhysX_3.4/Source/Common/src/CmConeLimitHelper.h
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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.  
+
+
+#ifndef PX_PHYSICS_COMMON_CONELIMITHELPER
+#define PX_PHYSICS_COMMON_CONELIMITHELPER
+
+// This class contains methods for supporting the tan-quarter swing limit - that
+// is the, ellipse defined by tanQ(theta)^2/tanQ(thetaMax)^2 + tanQ(phi)^2/tanQ(phiMax)^2 = 1
+// 
+// Angles are passed as an PxVec3 swing vector with x = 0 and y and z the swing angles
+// around the y and z axes
+
+#include "CmPhysXCommon.h"
+#include "PsMathUtils.h"
+
+namespace physx
+{
+namespace Cm
+{
+	PX_FORCE_INLINE PxReal tanAdd(PxReal tan1, PxReal tan2)
+	{
+		PX_ASSERT(PxAbs(1-tan1*tan2)>1e-6f);
+		return (tan1+tan2)/(1-tan1*tan2);
+	}
+
+	// this is here because it's used in both LL and Extensions. However, it
+	// should STAY IN THE SDK CODE BASE because it's SDK-specific
+
+	class ConeLimitHelper
+	{
+	public:
+		ConeLimitHelper(PxReal tanQSwingY, PxReal tanQSwingZ, PxReal tanQPadding)
+			: mTanQYMax(tanQSwingY), mTanQZMax(tanQSwingZ), mTanQPadding(tanQPadding) {}
+
+		// whether the point is inside the (inwardly) padded cone - if it is, there's no limit
+		// constraint
+
+		PX_FORCE_INLINE bool contains(const PxVec3& tanQSwing)
+		{
+			PxReal tanQSwingYPadded = tanAdd(PxAbs(tanQSwing.y),mTanQPadding);
+			PxReal tanQSwingZPadded = tanAdd(PxAbs(tanQSwing.z),mTanQPadding);
+			return Ps::sqr(tanQSwingYPadded/mTanQYMax)+Ps::sqr(tanQSwingZPadded/mTanQZMax) <= 1;
+		}
+
+		PX_FORCE_INLINE PxVec3 clamp(const PxVec3& tanQSwing, 
+									 PxVec3& normal)
+		{
+			PxVec3 p = Ps::ellipseClamp(tanQSwing, PxVec3(0,mTanQYMax,mTanQZMax));
+			normal = PxVec3(0, p.y/Ps::sqr(mTanQYMax), p.z/Ps::sqr(mTanQZMax));
+#ifdef PX_PARANOIA_ELLIPSE_CHECK
+			PxReal err = PxAbs(Ps::sqr(p.y/mTanQYMax) + Ps::sqr(p.z/mTanQZMax) - 1);
+			PX_ASSERT(err<1e-3);
+#endif
+
+			return p;
+		}
+
+
+		// input is a swing quat, such that swing.x = twist.y = twist.z = 0, q = swing * twist
+		// The routine is agnostic to the sign of q.w (i.e. we don't need the minimal-rotation swing)
+
+		// output is an axis such that positive rotation increases the angle outward from the
+		// limit (i.e. the image of the x axis), the error is the sine of the angular difference,
+		// positive if the twist axis is inside the cone 
+
+		bool getLimit(const PxQuat& swing, PxVec3& axis, PxReal& error)
+		{
+			PX_ASSERT(swing.w>0);
+			PxVec3 twistAxis = swing.getBasisVector0();
+			PxVec3 tanQSwing = PxVec3(0, Ps::tanHalf(swing.z,swing.w), -Ps::tanHalf(swing.y,swing.w));
+			if(contains(tanQSwing))
+				return false;
+
+			PxVec3 normal, clamped = clamp(tanQSwing, normal);
+
+			// rotation vector and ellipse normal
+			PxVec3 r(0,-clamped.z,clamped.y), d(0, -normal.z, normal.y);
+
+			// the point on the cone defined by the tanQ swing vector r
+			PxVec3 p(1.f,0,0);
+			PxReal r2 = r.dot(r), a = 1-r2, b = 1/(1+r2), b2 = b*b;
+			PxReal v1 = 2*a*b2;
+			PxVec3 v2(a, 2*r.z, -2*r.y);		// a*p + 2*r.cross(p);
+			PxVec3 coneLine = v1 * v2 - p;		// already normalized
+
+			// the derivative of coneLine in the direction d	
+			PxReal rd = r.dot(d);
+			PxReal dv1 = -4*rd*(3-r2)*b2*b;
+			PxVec3 dv2(-2*rd, 2*d.z, -2*d.y);
+	
+			PxVec3 coneNormal = v1 * dv2 + dv1 * v2;
+
+			axis = coneLine.cross(coneNormal)/coneNormal.magnitude();
+			error = coneLine.cross(axis).dot(twistAxis);
+
+			PX_ASSERT(PxAbs(axis.magnitude()-1)<1e-5f);
+
+#ifdef PX_PARANOIA_ELLIPSE_CHECK
+			bool inside = Ps::sqr(tanQSwing.y/mTanQYMax) + Ps::sqr(tanQSwing.z/mTanQZMax) <= 1;
+			PX_ASSERT(inside && error>-1e-4f || !inside && error<1e-4f);
+#endif
+
+			return true;
+		}
+
+	private:
+
+
+		PxReal mTanQYMax, mTanQZMax, mTanQPadding;
+	};
+
+
+} // namespace Cm
+
+}
+
+#endif