Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 179 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/LowLevelDynamics/src/DySolverContact4.h b/PhysX_3.4/Source/LowLevelDynamics/src/DySolverContact4.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_SOLVERCONTACT4_H
+#define DY_SOLVERCONTACT4_H
+
+#include "foundation/PxSimpleTypes.h"
+#include "foundation/PxVec3.h"
+#include "PxvConfig.h"
+#include "PsVecMath.h"
+#include "DySolverContact.h"
+
+namespace physx
+{
+
+struct PxcNpWorkUnit;
+struct PxSolverBody;
+struct PxSolverBodyData;
+struct PxSolverConstraintDesc;
+
+namespace Sc
+{
+	class ShapeInteraction;
+}
+	
+namespace Dy
+{
+
+
+
+
+/**
+\brief Batched SOA contact data. Note, we don't support batching with extended contacts for the simple reason that handling multiple articulations would be complex.
+*/
+struct SolverContactHeader4
+{
+	enum
+	{
+		eHAS_MAX_IMPULSE = 1 << 0,
+		eHAS_TARGET_VELOCITY = 1 << 1
+	};
+
+	PxU8	type;					//Note: mType should be first as the solver expects a type in the first byte.
+	PxU8	numNormalConstr;
+	PxU8	numFrictionConstr;
+	PxU8	flag;
+
+	PxU8	flags[4];
+	//These counts are the max of the 4 sets of data.
+	//When certain pairs have fewer patches/contacts than others, they are padded with 0s so that no work is performed but 
+	//calculations are still shared (afterall, they're computationally free because we're doing 4 things at a time in SIMD)
+
+	//KS - used for write-back only
+	PxU8	numNormalConstr0, numNormalConstr1, numNormalConstr2, numNormalConstr3;
+	PxU8	numFrictionConstr0, numFrictionConstr1, numFrictionConstr2, numFrictionConstr3;			
+
+	Vec4V	restitution;																			
+	Vec4V   staticFriction;
+	Vec4V	dynamicFriction;
+	//Technically, these mass properties could be pulled out into a new structure and shared. For multi-manifold contacts,
+	//this would save 64 bytes per-manifold after the cost of the first manifold
+	Vec4V	invMass0D0;
+	Vec4V	invMass1D1;
+	Vec4V	angDom0;
+	Vec4V	angDom1;
+	//Normal is shared between all contacts in the batch. This will save some memory!
+	Vec4V normalX;
+	Vec4V normalY;
+	Vec4V normalZ;
+
+	Sc::ShapeInteraction* shapeInteraction[4];		//192 or 208
+}; 
+
+#if !PX_P64_FAMILY
+PX_COMPILE_TIME_ASSERT(sizeof(SolverContactHeader4) == 192);
+#else
+PX_COMPILE_TIME_ASSERT(sizeof(SolverContactHeader4) == 208);
+#endif
+
+
+/**
+\brief This represents a batch of 4 contacts with static rolled into a single structure
+*/
+struct SolverContactBatchPointBase4
+{
+	Vec4V raXnX;
+	Vec4V raXnY;
+	Vec4V raXnZ;
+	Vec4V velMultiplier;
+	Vec4V scaledBias;
+	Vec4V biasedErr;
+};
+PX_COMPILE_TIME_ASSERT(sizeof(SolverContactBatchPointBase4) == 96);
+
+/**
+\brief Contains the additional data required to represent 4 contacts between 2 dynamic bodies
+@see SolverContactBatchPointBase4
+*/
+struct SolverContactBatchPointDynamic4 : public SolverContactBatchPointBase4
+{	
+	Vec4V rbXnX;
+	Vec4V rbXnY;
+	Vec4V rbXnZ;
+}; 
+PX_COMPILE_TIME_ASSERT(sizeof(SolverContactBatchPointDynamic4) == 144);
+
+/**
+\brief This represents the shared information of a batch of 4 friction constraints
+*/
+struct SolverFrictionSharedData4
+{
+	BoolV broken;
+	PxU8* frictionBrokenWritebackByte[4];
+	Vec4V normalX[2];
+	Vec4V normalY[2];
+	Vec4V normalZ[2];
+};
+#if !PX_P64_FAMILY
+PX_COMPILE_TIME_ASSERT(sizeof(SolverFrictionSharedData4) == 128);
+#endif
+
+
+/**
+\brief This represents a batch of 4 friction constraints with static rolled into a single structure
+*/
+struct SolverContactFrictionBase4
+{
+	Vec4V raXnX;
+	Vec4V raXnY;
+	Vec4V raXnZ;
+	Vec4V scaledBias;
+	Vec4V velMultiplier;
+	Vec4V targetVelocity;
+};
+PX_COMPILE_TIME_ASSERT(sizeof(SolverContactFrictionBase4) == 96);
+
+/**
+\brief Contains the additional data required to represent 4 friction constraints between 2 dynamic bodies
+@see SolverContactFrictionBase4
+*/
+struct SolverContactFrictionDynamic4 : public SolverContactFrictionBase4
+{
+	Vec4V rbXnX;
+	Vec4V rbXnY;
+	Vec4V rbXnZ;
+}; 
+PX_COMPILE_TIME_ASSERT(sizeof(SolverContactFrictionDynamic4) == 144);
+
+}
+
+}
+
+#endif //DY_SOLVERCONTACT4_H