Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 142 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/LowLevelDynamics/src/DySpatial.h b/PhysX_3.4/Source/LowLevelDynamics/src/DySpatial.h
new file mode 100644
index 00000000..e27406b3
--- /dev/null
+++ b/PhysX_3.4/Source/LowLevelDynamics/src/DySpatial.h
@@ -0,0 +1,142 @@
+// 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_SPATIAL_H
+#define DY_SPATIAL_H
+
+#include "foundation/PxVec3.h"
+#include "foundation/PxTransform.h"
+#include "PsMathUtils.h"
+#include "CmSpatialVector.h"
+
+namespace physx
+{
+namespace Dy
+{
+// translate a motion resolved at position p to the origin
+
+
+// should have a 'from' frame and a 'to' frame
+class SpInertia
+{
+public:
+	SpInertia() {}
+
+	SpInertia(const PxMat33& ll, const PxMat33& la, const PxMat33& aa): mLL(ll), mLA(la), mAA(aa)
+	{
+	}
+
+	static SpInertia getZero()
+	{
+		return SpInertia(PxMat33(PxZero), PxMat33(PxZero), 
+							     PxMat33(PxZero));
+	}
+
+	static SpInertia dyad(const Cm::SpatialVector& column, const Cm::SpatialVector& row) 
+	{
+		return SpInertia(dyad(column.linear, row.linear),  
+						 dyad(column.linear, row.angular),  
+					     dyad(column.angular, row.angular));
+	}
+
+
+	static SpInertia inertia(PxReal mass, const PxVec3& inertia)
+	{
+		return SpInertia(PxMat33::createDiagonal(PxVec3(mass,mass,mass)), PxMat33(PxZero),			 
+							     PxMat33::createDiagonal(inertia));
+	}
+
+
+	SpInertia operator+(const SpInertia& m) const
+	{
+		return SpInertia(mLL+m.mLL, mLA+m.mLA, mAA+m.mAA);
+	}
+
+	SpInertia operator-(const SpInertia& m) const
+	{
+		return SpInertia(mLL-m.mLL, mLA-m.mLA, mAA-m.mAA);
+	}
+
+	SpInertia operator*(PxReal r) const
+	{
+		return SpInertia(mLL*r, mLA*r, mAA*r);
+	}
+
+	void operator+=(const SpInertia& m)
+	{
+		mLL+=m.mLL; 
+		mLA+=m.mLA;		
+		mAA+=m.mAA;
+	}
+
+	void operator-=(const SpInertia& m)
+	{
+		mLL-=m.mLL; 
+		mLA-=m.mLA;		
+		mAA-=m.mAA;
+	}
+
+
+	PX_FORCE_INLINE Cm::SpatialVector operator *(const Cm::SpatialVector& v) const
+	{
+		return Cm::SpatialVector(mLL*v.linear            +mLA*v.angular,
+		 					    mLA.transformTranspose(v.linear)+mAA*v.angular);
+	}
+
+	SpInertia operator *(const SpInertia& v) const
+	{
+		return SpInertia(mLL*v.mLL             + mLA * v.mLA.getTranspose(), 
+						 mLL*v.mLA             + mLA * v.mAA,
+						 mLA.getTranspose()*v.mLA + mAA * v.mAA);
+	}
+
+
+	bool isFinite() const
+	{
+		return true;
+//		return mLL.isFinite() && mLA.isFinite() && mAA.isFinite(); 
+	}
+
+	PxMat33 mLL, mLA;		// linear force from angular motion, linear force from linear motion
+	PxMat33 mAA;		    // angular force from angular motion, mAL = mLA.transpose()
+
+private:
+	static PxMat33 dyad(PxVec3 col, PxVec3 row)	
+	{ 
+		return PxMat33(col*row.x, col*row.y, col*row.z); 
+	}
+
+
+};
+
+}
+}
+
+#endif //DY_SPATIAL_H