Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 101 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/LowLevelDynamics/src/DyArticulationScalar.h b/PhysX_3.4/Source/LowLevelDynamics/src/DyArticulationScalar.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_SCALAR_H
+#define DY_ARTICULATION_SCALAR_H
+
+// Scalar helpers for articulations
+
+#include "foundation/PxUnionCast.h"
+#include "DyArticulationUtils.h"
+#include "DySpatial.h"
+#include "PsFPU.h"
+
+namespace physx
+{
+
+namespace Dy
+{
+
+PX_FORCE_INLINE Cm::SpatialVector&	velocityRef(FsData &m, PxU32 i)
+{	
+	return reinterpret_cast<Cm::SpatialVector&>(getVelocity(m)[i]); 
+}
+
+PX_FORCE_INLINE Cm::SpatialVector&	deferredVelRef(FsData &m, PxU32 i)
+{	
+	return reinterpret_cast<Cm::SpatialVector&>(getDeferredVel(m)[i]); 
+}
+
+PX_FORCE_INLINE PxVec3& deferredSZRef(FsData &m, PxU32 i)
+{	
+	return reinterpret_cast<PxVec3 &>(getDeferredSZ(m)[i]); 
+}
+
+PX_FORCE_INLINE const PxVec3& deferredSZ(const FsData &s, PxU32 i) 
+{	
+	return reinterpret_cast<const PxVec3 &>(getDeferredSZ(s)[i]); 
+}
+
+PX_FORCE_INLINE Cm::SpatialVector& deferredZRef(FsData &s)
+{
+	return unsimdRef(s.deferredZ);
+}
+
+
+PX_FORCE_INLINE const Cm::SpatialVector& deferredZ(const FsData &s)
+{
+	return unsimdRef(s.deferredZ);
+}
+
+PX_FORCE_INLINE const PxVec3& getJointOffset(const FsJointVectors& j) 
+{	
+	return reinterpret_cast<const PxVec3& >(j.jointOffset);		
+}
+
+PX_FORCE_INLINE const PxVec3& getParentOffset(const FsJointVectors& j) 
+{	
+	return reinterpret_cast<const PxVec3&>(j.parentOffset);		
+}
+
+
+
+
+PX_FORCE_INLINE const Cm::SpatialVector* getDSI(const FsRow& row)
+{	
+	return PxUnionCast<const Cm::SpatialVector*,const Cm::SpatialVectorV*>(row.DSI); //reinterpret_cast<const Cm::SpatialVector*>(row.DSI); 
+}
+
+}
+
+}
+
+#endif //DY_ARTICULATION_SCALAR_H