Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 116 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/LowLevelDynamics/src/DySolverConstraintExtShared.h b/PhysX_3.4/Source/LowLevelDynamics/src/DySolverConstraintExtShared.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_SOLVER_CONSTRAINT_EXT_SHARED_H
+#define DY_SOLVER_CONSTRAINT_EXT_SHARED_H
+
+#include "foundation/PxPreprocessor.h"
+#include "PsVecMath.h"
+#include "DyArticulationContactPrep.h"
+#include "DySolverConstraintDesc.h"
+#include "DySolverConstraint1D.h"
+#include "DySolverContact.h"
+#include "DySolverContactPF.h"
+#include "DyArticulationHelper.h"
+#include "PxcNpWorkUnit.h"
+#include "PxsMaterialManager.h"
+#include "PxsMaterialCombiner.h"
+
+namespace physx
+{
+namespace Dy
+{
+	PX_FORCE_INLINE void setupExtSolverContact(const SolverExtBody& b0, const SolverExtBody& b1, 
+		const PxF32 d0, const PxF32 d1, const PxF32 angD0, const PxF32 angD1, const PxTransform& bodyFrame0, const PxTransform& bodyFrame1,
+		const Vec3VArg normal, const FloatVArg invDt, const FloatVArg invDtp8, const FloatVArg restDistance, const FloatVArg maxPenBias,  const FloatVArg restitution,
+		const FloatVArg bounceThreshold, const Gu::ContactPoint& contact, SolverContactPointExt& solverContact, const FloatVArg ccdMaxSeparation)
+	{
+		const FloatV zero = FZero();
+		const FloatV separation = FLoad(contact.separation);
+
+		const FloatV penetration = FSub(separation, restDistance);
+
+		const PxVec3 ra = contact.point - bodyFrame0.p;
+		const PxVec3 rb = contact.point - bodyFrame1.p;
+
+		const PxVec3 raXn = ra.cross(contact.normal);
+		const PxVec3 rbXn = rb.cross(contact.normal);
+
+		Cm::SpatialVector deltaV0, deltaV1;
+
+		const Cm::SpatialVector resp0 = createImpulseResponseVector(contact.normal, raXn, b0);
+		const Cm::SpatialVector resp1 = createImpulseResponseVector(-contact.normal, -rbXn, b1);
+
+		const FloatV unitResponse = FLoad(getImpulseResponse(b0, resp0, deltaV0, d0, angD0,
+															 b1, resp1, deltaV1, d1, angD1));
+
+		const FloatV vel0 = FLoad(b0.projectVelocity(contact.normal, raXn));
+		const FloatV vel1 = FLoad(b1.projectVelocity(contact.normal, rbXn));
+		const FloatV vrel = FSub(vel0, vel1);
+
+		FloatV velMultiplier = FSel(FIsEq(unitResponse, zero), zero, FRecip(unitResponse));
+		FloatV scaledBias = FMul(velMultiplier, FMax(maxPenBias, FMul(penetration, invDtp8)));
+		const FloatV penetrationInvDt = FMul(penetration, invDt);
+
+		const BoolV isGreater2 = BAnd(BAnd(FIsGrtr(restitution, zero), FIsGrtr(bounceThreshold, vrel)), FIsGrtr(FNeg(vrel), penetrationInvDt));
+
+		const BoolV ccdSeparationCondition = FIsGrtrOrEq(ccdMaxSeparation, penetration);
+
+		scaledBias = FSel(BAnd(ccdSeparationCondition, isGreater2), zero, scaledBias);
+
+		FloatV targetVelocity = FSel(isGreater2, FMul(FNeg(vrel), restitution), zero);
+
+		//Get the rigid body's current velocity and embed into the constraint target velocities
+		if(b0.mLinkIndex == PxSolverConstraintDesc::NO_LINK)
+			targetVelocity = FSub(targetVelocity, vel0);
+		else if(b1.mLinkIndex == PxSolverConstraintDesc::NO_LINK)
+			targetVelocity = FAdd(targetVelocity, vel1);
+
+		targetVelocity = FAdd(targetVelocity, V3Dot(V3LoadA(contact.targetVel), normal));
+
+		const FloatV biasedErr = FScaleAdd(targetVelocity, velMultiplier, FNeg(scaledBias));
+		const FloatV unbiasedErr = FScaleAdd(targetVelocity, velMultiplier, FSel(isGreater2, zero, FNeg(FMax(scaledBias, zero))));
+
+
+		FStore(velMultiplier, &solverContact.velMultiplier);
+		FStore(biasedErr, &solverContact.biasedErr);
+		FStore(unbiasedErr, &solverContact.unbiasedErr);
+		solverContact.maxImpulse = contact.maxImpulse;
+
+		solverContact.raXn = V3LoadA(resp0.angular);
+		solverContact.rbXn = V3Neg(V3LoadA(resp1.angular));
+		solverContact.linDeltaVA = V3LoadA(deltaV0.linear);
+		solverContact.angDeltaVA = V3LoadA(deltaV0.angular);
+		solverContact.linDeltaVB = V3LoadA(deltaV1.linear);
+		solverContact.angDeltaVB = V3LoadA(deltaV1.angular);
+	}
+}
+}
+
+#endif //DY_SOLVER_CONSTRAINT_EXT_SHARED_H