Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 58 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/GeomUtils/src/gjk/GuEPA.h b/PhysX_3.4/Source/GeomUtils/src/gjk/GuEPA.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 GU_EPA_H
+#define GU_EPA_H
+
+#include "GuGJKUtil.h"
+#include "GuGJKType.h"
+
+namespace physx
+{
+  
+namespace Gu
+{
+	//ML: The main entry point for EPA.
+	// 
+	//This function returns one of three status codes:
+	//(1)EPA_FAIL:	the algorithm failed to create a valid polytope(the origin wasn't inside the polytope) from the input simplex.
+	//(2)EPA_CONTACT : the algorithm found the MTD and converged successfully.
+	//(3)EPA_DEGENERATE: the algorithm cannot make further progress and the result is unknown.
+
+	GjkStatus epaPenetration(const GjkConvex& a, const GjkConvex& b, 					// two convexes, in the same space							   
+							   PxU8* PX_RESTRICT aInd, PxU8* PX_RESTRICT bInd,			// warm start index points to create an initial simplex that EPA will work on
+							   PxU8 _size,												// count of warm-start indices
+							   Ps::aos::Vec3V& contactA, Ps::aos::Vec3V& contactB,		// a point on each body: when B is translated by normal*penetrationDepth, these are coincident
+							   Ps::aos::Vec3V& normal, Ps::aos::FloatV& depth,			// MTD normal & penetration depth							    
+							   const bool takeCoreShape = false);						// indicates whether we take support point from the core shape of the convexes
+}
+
+}
+
+#endif