Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 123 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/LowLevelDynamics/src/DySolverContactPF.h b/PhysX_3.4/Source/LowLevelDynamics/src/DySolverContactPF.h
new file mode 100644
index 00000000..e18421e9
--- /dev/null
+++ b/PhysX_3.4/Source/LowLevelDynamics/src/DySolverContactPF.h
@@ -0,0 +1,123 @@
+// 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_SOLVERCONTACTPF_H
+#define DY_SOLVERCONTACTPF_H
+
+#include "foundation/PxSimpleTypes.h"
+#include "foundation/PxVec3.h"
+#include "PxvConfig.h"
+#include "PsVecMath.h"
+
+namespace physx
+{
+
+using namespace Ps::aos;
+
+namespace Dy
+{
+
+struct SolverContactCoulombHeader
+{
+	PxU8	type;					//Note: mType should be first as the solver expects a type in the first byte.
+	PxU8	numNormalConstr;
+	PxU16	frictionOffset;					//4
+	//PxF32	restitution;
+	PxF32	angDom0;						//8
+	PxF32	dominance0;						//12
+	PxF32	dominance1;						//16
+	PX_ALIGN(16, PxVec3	normalXYZ);			//28
+	PxF32	angDom1;						//32
+	
+	Sc::ShapeInteraction* shapeInteraction;		//36	40
+	PxU8	flags;								//37	41
+	PxU8	pad0[3];							//40	44
+#if !PX_P64_FAMILY
+	PxU32	pad1[2];							//48	
+#else
+	PxU32 pad1;									//		48
+#endif
+	
+	
+	
+	PX_FORCE_INLINE void setDominance0(const FloatV f)		{FStore(f, &dominance0);}
+	PX_FORCE_INLINE void setDominance1(const FloatV f)		{FStore(f, &dominance1);}
+	PX_FORCE_INLINE void setNormal(const Vec3V n)			{V3StoreA(n, normalXYZ);}
+	
+	PX_FORCE_INLINE FloatV getDominance0() const			{return FLoad(dominance0);}
+	PX_FORCE_INLINE FloatV getDominance1() const			{return FLoad(dominance1);}
+	//PX_FORCE_INLINE FloatV getRestitution() const			{return FLoad(restitution);}
+	PX_FORCE_INLINE	Vec3V getNormal()const					{return V3LoadA(normalXYZ);}
+
+  
+	PX_FORCE_INLINE void setDominance0(PxF32 f)				{ dominance0 = f; }
+	PX_FORCE_INLINE void setDominance1(PxF32 f)				{ dominance1 = f;}
+	//PX_FORCE_INLINE void setRestitution(PxF32 f)			{ restitution = f;}
+
+	PX_FORCE_INLINE PxF32 getDominance0PxF32() const		{return dominance0;}
+	PX_FORCE_INLINE PxF32 getDominance1PxF32() const		{return dominance1;}
+	//PX_FORCE_INLINE PxF32 getRestitutionPxF32() const		{return restitution;}
+
+}; 
+PX_COMPILE_TIME_ASSERT(sizeof(SolverContactCoulombHeader) == 48);
+
+struct SolverFrictionHeader
+{
+	PxU8	type;					//Note: mType should be first as the solver expects a type in the first byte.
+	PxU8	numNormalConstr;
+	PxU8	numFrictionConstr;
+	PxU8	flags;
+	PxF32   staticFriction;
+	PxF32   invMass0D0;
+	PxF32	invMass1D1;
+	PxF32	angDom0;
+	PxF32	angDom1;
+	PxU32	pad2[2];
+
+	PX_FORCE_INLINE void setStaticFriction(const FloatV f)	{FStore(f, &staticFriction);}
+	
+	PX_FORCE_INLINE FloatV getStaticFriction() const		{return FLoad(staticFriction);}
+	
+	PX_FORCE_INLINE void setStaticFriction(PxF32 f)			{staticFriction = f;}
+
+	PX_FORCE_INLINE PxF32 getStaticFrictionPxF32() const	{return staticFriction;}	
+
+	PX_FORCE_INLINE PxU32 getAppliedForcePaddingSize() const {return sizeof(PxU32)*((4 * ((numNormalConstr + 3)/4)));}
+	static PX_FORCE_INLINE PxU32 getAppliedForcePaddingSize(const PxU32 numConstr) {return sizeof(PxU32)*((4 * ((numConstr + 3)/4)));}
+}; 
+
+PX_COMPILE_TIME_ASSERT(sizeof(SolverFrictionHeader) == 32);
+
+}
+
+}
+
+#endif //DY_SOLVERCONTACTPF_H