Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 107 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/LowLevelDynamics/src/DyRigidBodyToSolverBody.cpp b/PhysX_3.4/Source/LowLevelDynamics/src/DyRigidBodyToSolverBody.cpp
new file mode 100644
index 00000000..c6c66e8a
--- /dev/null
+++ b/PhysX_3.4/Source/LowLevelDynamics/src/DyRigidBodyToSolverBody.cpp
@@ -0,0 +1,107 @@
+// 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.  
+
+
+#include "CmUtils.h"
+#include "DySolverBody.h"
+#include "PxsRigidBody.h"
+#include "PxvDynamics.h"
+
+namespace physx
+{
+
+namespace Dy
+{
+//This method returns values of 0 when the inertia is 0. This is a bit of a hack but allows us to 
+//represent kinematic objects' velocities in our new format
+PX_FORCE_INLINE PxVec3 computeSafeSqrtInertia(const PxVec3& v)
+{
+	return PxVec3(v.x == 0.f ? 0.f : PxSqrt(v.x), v.y == 0.f ? 0.f : PxSqrt(v.y), v.z == 0.f ? 0.f : PxSqrt(v.z));
+}
+
+void copyToSolverBodyData(const PxVec3& linearVelocity, const PxVec3& angularVelocity, const PxReal invMass, const PxVec3& invInertia, const PxTransform& globalPose,
+	const PxReal maxDepenetrationVelocity, const PxReal maxContactImpulse, const PxU32 nodeIndex, const PxReal reportThreshold, PxSolverBodyData& data, PxU32 lockFlags)
+{
+	data.nodeIndex = nodeIndex;
+
+	PxVec3 safeSqrtInvInertia = computeSafeSqrtInertia(invInertia);
+
+	PxMat33 rotation(globalPose.q);
+
+	Cm::transformInertiaTensor(safeSqrtInvInertia, rotation, data.sqrtInvInertia);
+
+	// Copy simple properties
+	data.linearVelocity = linearVelocity;
+	data.angularVelocity = angularVelocity;
+
+	if (lockFlags)
+	{
+		if (lockFlags & PxRigidDynamicLockFlag::eLOCK_LINEAR_X)
+			data.linearVelocity.x = 0.f;
+		if (lockFlags & PxRigidDynamicLockFlag::eLOCK_LINEAR_Y)
+			data.linearVelocity.y = 0.f;
+		if (lockFlags & PxRigidDynamicLockFlag::eLOCK_LINEAR_Z)
+			data.linearVelocity.z = 0.f;
+
+		//KS - technically, we can zero the inertia columns and produce stiffer constraints. However, this can cause numerical issues with the 
+		//joint solver, which is fixed by disabling joint preprocessing and setting minResponseThreshold to some reasonable value > 0. However, until
+		//this is handled automatically, it's probably better not to zero these inertia rows
+		if (lockFlags & PxRigidDynamicLockFlag::eLOCK_ANGULAR_X)
+		{
+			data.angularVelocity.x = 0.f;
+			//data.sqrtInvInertia.column0 = PxVec3(0.f);
+		}
+		if (lockFlags & PxRigidDynamicLockFlag::eLOCK_ANGULAR_Y)
+		{
+			data.angularVelocity.y = 0.f;
+			//data.sqrtInvInertia.column1 = PxVec3(0.f);
+		}
+		if (lockFlags & PxRigidDynamicLockFlag::eLOCK_ANGULAR_Z)
+		{
+			data.angularVelocity.z = 0.f;
+			//data.sqrtInvInertia.column2 = PxVec3(0.f);
+		}
+	}
+
+
+	PX_ASSERT(linearVelocity.isFinite());
+	PX_ASSERT(angularVelocity.isFinite());
+
+	data.invMass = invMass;
+	data.penBiasClamp = maxDepenetrationVelocity;
+	data.maxContactImpulse = maxContactImpulse;
+	data.body2World = globalPose;
+	data.lockFlags = lockFlags;
+
+	data.reportThreshold = reportThreshold;
+}
+
+}
+
+}