Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 85 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/LowLevelDynamics/src/DySolverExt.h b/PhysX_3.4/Source/LowLevelDynamics/src/DySolverExt.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_SOLVEREXTBODY_H
+#define DY_SOLVEREXTBODY_H
+
+#include "foundation/PxVec3.h"
+#include "foundation/PxTransform.h"
+#include "CmPhysXCommon.h"
+#include "CmSpatialVector.h"
+
+namespace physx
+{
+
+class PxsRigidBody;
+struct PxsBodyCore;
+struct PxSolverBody;
+struct PxSolverBodyData;
+
+
+namespace Dy
+{
+
+
+struct FsData;
+struct SolverConstraint1D;
+
+class SolverExtBody
+{
+public:
+	union
+	{
+		const FsData* mFsData;
+		const PxSolverBody* mBody;
+	};
+	const PxSolverBodyData* mBodyData;
+
+	PxU16 mLinkIndex;
+
+	SolverExtBody(const void* bodyOrArticulation, const void* bodyData, PxU16 linkIndex): 
+	  mBody(reinterpret_cast<const PxSolverBody*>(bodyOrArticulation)),
+	  mBodyData(reinterpret_cast<const PxSolverBodyData*>(bodyData)),
+		  mLinkIndex(linkIndex)
+	  {}
+
+	  void getResponse(const PxVec3& linImpulse, const PxVec3& angImpulse,
+					   PxVec3& linDeltaV, PxVec3& angDeltaV, PxReal dominance) const;
+
+	  PxReal projectVelocity(const PxVec3& linear, const PxVec3& angular) const;
+	  PxVec3 getLinVel() const;
+	  PxVec3 getAngVel() const;
+};
+
+}
+
+}
+
+#endif //DY_SOLVEREXTBODY_H