Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 141 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/LowLevelDynamics/src/DySolverConstraintDesc.h b/PhysX_3.4/Source/LowLevelDynamics/src/DySolverConstraintDesc.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_SOLVERCONSTRAINTDESC_H
+#define DY_SOLVERCONSTRAINTDESC_H
+
+#include "PxvConfig.h"
+#include "DySolverConstraintTypes.h"
+#include "PsUtilities.h"
+#include "PxConstraintDesc.h"
+#include "solver/PxSolverDefs.h"
+
+namespace physx
+{
+
+struct PxcNpWorkUnit;
+
+struct PxsContactManagerOutput;
+
+namespace Cm
+{
+	class SpatialVector;
+}
+
+struct PxSolverBody;
+struct PxSolverBodyData;
+
+namespace Dy
+{
+
+struct FsData;
+
+
+
+
+// dsequeira: moved this articulation stuff here to sever a build dep on Articulation.h through DyThreadContext.h and onward
+
+struct SelfConstraintBlock
+{
+	PxU32	startId;				
+	PxU32	numSelfConstraints;	
+	PxU16	fsDataLength;		
+	PxU16	requiredSolverProgress;
+	uintptr_t eaFsData;
+};
+
+//This class rolls together multiple contact managers into a single contact manager.
+struct CompoundContactManager
+{
+	PxU32 mStartIndex;
+	PxU16 mStride;
+	PxU16 mReducedContactCount;
+
+	PxcNpWorkUnit* unit;			//This is a work unit but the contact buffer has been adjusted to contain all the contacts for all the subsequent pairs
+	PxsContactManagerOutput* cmOutput;
+	PxU8* originalContactPatches;	//This is the original contact buffer that we replaced with a combined buffer	
+	PxU8* originalContactPoints;
+	PxU8 originalContactCount;
+	PxU8 originalPatchCount;
+	PxU8 originalStatusFlags;
+	PxReal* originalForceBuffer;	//This is the original force buffer that we replaced with a combined force buffer
+	PxU16* forceBufferList;			//This is a list of indices from the reduced force buffer to the original force buffers - we need this to fix up the write-backs from the solver	
+};
+
+struct SolverConstraintPrepState
+{
+enum Enum 
+{
+	eOUT_OF_MEMORY,
+	eUNBATCHABLE,
+	eSUCCESS
+};
+};
+
+PX_FORCE_INLINE bool isArticulationConstraint(const PxSolverConstraintDesc& desc)
+{
+	return desc.linkIndexA != PxSolverConstraintDesc::NO_LINK || 
+		desc.linkIndexB != PxSolverConstraintDesc::NO_LINK;
+}
+
+
+PX_FORCE_INLINE void setConstraintLength(PxSolverConstraintDesc& desc, const PxU32 constraintLength)
+{
+	PX_ASSERT(0==(constraintLength & 0x0f));
+	PX_ASSERT(constraintLength <= PX_MAX_U16 * 16);
+	desc.constraintLengthOver16 = Ps::to16(constraintLength >> 4);
+}
+
+PX_FORCE_INLINE void setWritebackLength(PxSolverConstraintDesc& desc, const PxU32 writeBackLength)
+{
+	PX_ASSERT(0==(writeBackLength & 0x03));
+	PX_ASSERT(writeBackLength <= PX_MAX_U16 * 4);
+	desc.writeBackLengthOver4 = Ps::to16(writeBackLength >> 2);
+}
+
+PX_FORCE_INLINE PxU32 getConstraintLength(const PxSolverConstraintDesc& desc)
+{
+	return PxU32(desc.constraintLengthOver16 << 4);
+}
+
+PX_FORCE_INLINE PxU32 getWritebackLength(const PxSolverConstraintDesc& desc)
+{
+	return PxU32(desc.writeBackLengthOver4 << 2);
+}
+
+PX_COMPILE_TIME_ASSERT(0 == (0x0f & sizeof(PxSolverConstraintDesc)));
+
+#define MAX_PERMITTED_SOLVER_PROGRESS 0xFFFF
+
+}
+
+}
+
+#endif //DY_SOLVERCONSTRAINTDESC_H