Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 228 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/LowLevelDynamics/src/DySolverContact.h b/PhysX_3.4/Source/LowLevelDynamics/src/DySolverContact.h
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+++ b/PhysX_3.4/Source/LowLevelDynamics/src/DySolverContact.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_SOLVERCONTACT_H
+#define DY_SOLVERCONTACT_H
+
+#include "foundation/PxSimpleTypes.h"
+#include "foundation/PxVec3.h"
+#include "PxvConfig.h"
+#include "PsVecMath.h"
+
+namespace physx
+{
+
+using namespace Ps::aos;
+
+namespace Sc
+{
+	class ShapeInteraction;
+}
+/**
+\brief A header to represent a friction patch for the solver.
+*/
+
+namespace Dy
+{
+
+struct SolverContactHeader
+{
+	enum DySolverContactFlags
+	{
+		eHAS_FORCE_THRESHOLDS = 0x1
+	};
+
+	PxU8	type;					//Note: mType should be first as the solver expects a type in the first byte.
+	PxU8	flags;	
+	PxU8	numNormalConstr;
+	PxU8	numFrictionConstr;					//4
+
+	PxReal	angDom0;							//8
+	PxReal	angDom1;							//12
+	PxReal	invMass0;							//16
+
+	Vec4V   staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W;		//32
+	Vec3V	normal;															//48
+
+	PxReal	invMass1;														//52
+	PxU32 broken;															//56
+	PxU8* frictionBrokenWritebackByte;										//60	64
+	Sc::ShapeInteraction* shapeInteraction;									//64	72
+#if PX_P64_FAMILY
+	PxU32	pad[2];															//64	80
+#endif // PX_X64
+
+
+	PX_FORCE_INLINE void setStaticFriction(const FloatV f)	{staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W=V4SetX(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W,f);}
+	PX_FORCE_INLINE void setDynamicFriction(const FloatV f)	{staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W=V4SetY(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W,f);}
+	PX_FORCE_INLINE void setDominance0(const FloatV f)		{staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W=V4SetZ(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W,f);}
+	PX_FORCE_INLINE void setDominance1(const FloatV f)		{staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W=V4SetW(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W,f);}
+
+	PX_FORCE_INLINE FloatV getStaticFriction() const		{return V4GetX(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W);}
+	PX_FORCE_INLINE FloatV getDynamicFriction() const		{return V4GetY(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W);}
+	PX_FORCE_INLINE FloatV getDominance0() const			{return V4GetZ(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W);}
+	PX_FORCE_INLINE FloatV getDominance1() const			{return V4GetW(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W);}
+
+	PX_FORCE_INLINE void setStaticFriction(PxF32 f)			{V4WriteX(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W, f);}
+	PX_FORCE_INLINE void setDynamicFriction(PxF32 f)		{V4WriteY(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W, f);}
+	PX_FORCE_INLINE void setDominance0(PxF32 f)				{V4WriteZ(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W, f);}
+	PX_FORCE_INLINE void setDominance1(PxF32 f)				{V4WriteW(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W, f);}
+
+	PX_FORCE_INLINE PxF32 getStaticFrictionPxF32() const	{return V4ReadX(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W);}
+	PX_FORCE_INLINE PxF32 getDynamicFrictionPxF32() const	{return V4ReadY(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W);}
+	PX_FORCE_INLINE PxF32 getDominance0PxF32() const		{return V4ReadZ(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W);}
+	PX_FORCE_INLINE PxF32 getDominance1PxF32() const		{return V4ReadW(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W);}
+}; 
+
+#if !PX_P64_FAMILY
+PX_COMPILE_TIME_ASSERT(sizeof(SolverContactHeader) == 64);
+#else
+PX_COMPILE_TIME_ASSERT(sizeof(SolverContactHeader) == 80);
+#endif
+
+/**
+\brief A single rigid body contact point for the solver.
+*/
+struct SolverContactPoint
+{
+	Vec3V raXn;
+	Vec3V rbXn;
+
+	PxF32 velMultiplier;
+	PxF32 biasedErr;
+	PxF32 unbiasedErr;
+	PxF32 maxImpulse;
+
+	PX_FORCE_INLINE FloatV getVelMultiplier() const			{return FLoad(velMultiplier);}
+
+	PX_FORCE_INLINE FloatV getBiasedErr() const				{return FLoad(biasedErr);}
+	PX_FORCE_INLINE FloatV getMaxImpulse() const			{return FLoad(maxImpulse);}
+
+
+#ifdef PX_SUPPORT_SIMD
+	PX_FORCE_INLINE Vec3V getRaXn() const					{return raXn;}
+	PX_FORCE_INLINE Vec3V getRbXn() const					{return rbXn;}
+#endif
+
+	PX_FORCE_INLINE void setRaXn(const PxVec3& v)			{V3WriteXYZ(raXn, v);}
+	PX_FORCE_INLINE void setRbXn(const PxVec3& v)			{V3WriteXYZ(rbXn, v);}
+	PX_FORCE_INLINE void setVelMultiplier(PxF32 f)			{velMultiplier = f;}
+
+	PX_FORCE_INLINE void setBiasedErr(PxF32 f)				{biasedErr = f;}
+	PX_FORCE_INLINE void setUnbiasedErr(PxF32 f)			{unbiasedErr = f;}
+
+	PX_FORCE_INLINE PxF32 getVelMultiplierPxF32() const		{return velMultiplier;}
+	PX_FORCE_INLINE const PxVec3& getRaXnPxVec3() const		{return V3ReadXYZ(raXn);}
+	PX_FORCE_INLINE const PxVec3& getRbXnPxVec3() const		{return V3ReadXYZ(rbXn);}
+	PX_FORCE_INLINE PxF32 getBiasedErrPxF32() const			{return biasedErr;}
+}; 
+
+
+PX_COMPILE_TIME_ASSERT(sizeof(SolverContactPoint) == 48);
+
+/**
+\brief A single extended articulation contact point for the solver.
+*/
+struct SolverContactPointExt : public SolverContactPoint
+{
+	Vec3V linDeltaVA;
+	Vec3V angDeltaVA;
+	Vec3V linDeltaVB;
+	Vec3V angDeltaVB;
+};
+
+PX_COMPILE_TIME_ASSERT(sizeof(SolverContactPointExt) == 112);
+
+
+/**
+\brief A single friction constraint for the solver.
+*/
+struct SolverContactFriction
+{
+	Vec4V normalXYZ_appliedForceW;		//16
+	Vec4V raXnXYZ_velMultiplierW;		//32
+	Vec4V rbXnXYZ_biasW;				//48
+	PxReal targetVel;					//52
+	PxU32 mPad[3];						//64
+
+	PX_FORCE_INLINE void setAppliedForce(const FloatV f)	{normalXYZ_appliedForceW=V4SetW(normalXYZ_appliedForceW,f);}
+	PX_FORCE_INLINE void setVelMultiplier(const FloatV f)	{raXnXYZ_velMultiplierW=V4SetW(raXnXYZ_velMultiplierW,f);}
+	PX_FORCE_INLINE void setBias(const FloatV f)			{rbXnXYZ_biasW=V4SetW(rbXnXYZ_biasW,f);}
+
+	PX_FORCE_INLINE FloatV getAppliedForce() const			{return V4GetW(normalXYZ_appliedForceW);}
+	PX_FORCE_INLINE FloatV getVelMultiplier() const			{return V4GetW(raXnXYZ_velMultiplierW);}
+	PX_FORCE_INLINE FloatV getBias() const					{return V4GetW(rbXnXYZ_biasW);}
+
+#ifdef PX_SUPPORT_SIMD
+	PX_FORCE_INLINE Vec3V getNormal() const					{return Vec3V_From_Vec4V(normalXYZ_appliedForceW);}
+	PX_FORCE_INLINE Vec3V getRaXn() const					{return Vec3V_From_Vec4V(raXnXYZ_velMultiplierW);}
+	PX_FORCE_INLINE Vec3V getRbXn() const					{return Vec3V_From_Vec4V(rbXnXYZ_biasW);}
+#endif	
+
+	PX_FORCE_INLINE void setNormal(const PxVec3& v)			{V4WriteXYZ(normalXYZ_appliedForceW, v);}
+	PX_FORCE_INLINE void setRaXn(const PxVec3& v)			{V4WriteXYZ(raXnXYZ_velMultiplierW, v);}
+	PX_FORCE_INLINE void setRbXn(const PxVec3& v)			{V4WriteXYZ(rbXnXYZ_biasW, v);}
+
+	PX_FORCE_INLINE const PxVec3& getNormalPxVec3() const	{return V4ReadXYZ(normalXYZ_appliedForceW);}
+	PX_FORCE_INLINE const PxVec3& getRaXnPxVec3() const		{return V4ReadXYZ(raXnXYZ_velMultiplierW);}
+	PX_FORCE_INLINE const PxVec3& getRbXnPxVec3() const		{return V4ReadXYZ(rbXnXYZ_biasW);}
+
+	PX_FORCE_INLINE void setAppliedForce(PxF32 f)			{V4WriteW(normalXYZ_appliedForceW, f);}
+	PX_FORCE_INLINE void setVelMultiplier(PxF32 f)			{V4WriteW(raXnXYZ_velMultiplierW, f);}
+	PX_FORCE_INLINE void setBias(PxF32 f)					{V4WriteW(rbXnXYZ_biasW, f);}
+	
+	PX_FORCE_INLINE PxF32 getAppliedForcePxF32() const		{return V4ReadW(normalXYZ_appliedForceW);}
+	PX_FORCE_INLINE PxF32 getVelMultiplierPxF32() const		{return V4ReadW(raXnXYZ_velMultiplierW);}
+	PX_FORCE_INLINE PxF32 getBiasPxF32() const				{return V4ReadW(rbXnXYZ_biasW);}
+
+}; 
+
+PX_COMPILE_TIME_ASSERT(sizeof(SolverContactFriction) == 64);
+
+/**
+\brief A single extended articulation friction constraint for the solver.
+*/
+struct SolverContactFrictionExt : public SolverContactFriction
+{
+	Vec3V linDeltaVA;
+	Vec3V angDeltaVA;
+	Vec3V linDeltaVB;
+	Vec3V angDeltaVB;
+};
+PX_COMPILE_TIME_ASSERT(sizeof(SolverContactFrictionExt) == 128);
+
+}
+
+}
+
+
+
+#endif //DY_SOLVERCONTACT_H