Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 108 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/LowLevelDynamics/src/DyArticulationPImpl.h b/PhysX_3.4/Source/LowLevelDynamics/src/DyArticulationPImpl.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 DY_ARTICULATION_INTERFACE_H
+#define DY_ARTICULATION_INTERFACE_H
+
+#include "DyArticulationUtils.h"
+
+namespace physx
+{
+
+class PxcConstraintBlockStream;
+class PxcScratchAllocator;
+class PxsConstraintBlockManager;
+struct PxSolverConstraintDesc;
+
+namespace Dy
+{
+	
+	struct ArticulationSolverDesc;
+
+
+class ArticulationPImpl
+{
+public:
+
+	typedef PxU32 (*ComputeUnconstrainedVelocitiesFn)(const ArticulationSolverDesc& desc,
+													 PxReal dt,
+													 PxcConstraintBlockStream& stream,
+													 PxSolverConstraintDesc* constraintDesc,
+													 PxU32& acCount,
+													 PxsConstraintBlockManager& constraintBlockManager,
+													 const PxVec3& gravity, PxU64 contextID);
+
+	typedef void (*UpdateBodiesFn)(const ArticulationSolverDesc& desc,
+								   PxReal dt);
+
+	typedef void (*SaveVelocityFn)(const ArticulationSolverDesc &m);
+
+	static ComputeUnconstrainedVelocitiesFn sComputeUnconstrainedVelocities;
+	static UpdateBodiesFn sUpdateBodies;
+	static SaveVelocityFn sSaveVelocity;
+
+	static PxU32 computeUnconstrainedVelocities(const ArticulationSolverDesc& desc,
+										   PxReal dt,
+										   PxcConstraintBlockStream& stream,
+										   PxSolverConstraintDesc* constraintDesc,
+										   PxU32& acCount,
+										   PxcScratchAllocator&,
+										   PxsConstraintBlockManager& constraintBlockManager,
+										   const PxVec3& gravity, PxU64 contextID)
+	{
+		PX_ASSERT(sComputeUnconstrainedVelocities);
+		if(sComputeUnconstrainedVelocities)
+			return (sComputeUnconstrainedVelocities)(desc, dt, stream, constraintDesc, acCount, constraintBlockManager, gravity, contextID);
+		else
+			return 0;
+	}
+
+	static void	updateBodies(const ArticulationSolverDesc& desc,
+						 PxReal dt)
+	{
+		PX_ASSERT(sUpdateBodies);
+		if(sUpdateBodies)
+			(*sUpdateBodies)(desc, dt);
+	}
+
+	static void	saveVelocity(const ArticulationSolverDesc& desc)
+	{
+		PX_ASSERT(sSaveVelocity);
+		if(sSaveVelocity)
+			(*sSaveVelocity)(desc);
+	}
+};
+
+
+}
+}
+#endif //DY_ARTICULATION_INTERFACE_H
+