Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 184 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/PhysX/src/NpArticulation.h b/PhysX_3.4/Source/PhysX/src/NpArticulation.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 PX_PHYSICS_NP_ARTICULATION
+#define PX_PHYSICS_NP_ARTICULATION
+
+#include "PxArticulation.h"
+#include "CmPhysXCommon.h"
+
+#if PX_ENABLE_DEBUG_VISUALIZATION
+#include "CmRenderOutput.h"
+#endif
+
+#include "ScbArticulation.h"
+#include "NpArticulationLink.h"
+
+namespace physx
+{
+
+class NpArticulationLink;
+class NpScene;
+class NpAggregate;
+class PxAggregate;
+
+
+class NpArticulation : public PxArticulation, public Ps::UserAllocated
+{
+//= ATTENTION! =====================================================================================
+// Changing the data layout of this class breaks the binary serialization format.  See comments for 
+// PX_BINARY_SERIAL_VERSION.  If a modification is required, please adjust the getBinaryMetaData 
+// function.  If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
+// accordingly.
+//==================================================================================================
+public:
+	virtual										~NpArticulation();
+
+// PX_SERIALIZATION
+												NpArticulation(PxBaseFlags baseFlags) :	PxArticulation(baseFlags), mArticulation(PxEmpty), mArticulationLinks(PxEmpty)	{}
+	virtual			void						exportExtraData(PxSerializationContext& stream);
+					void						importExtraData(PxDeserializationContext& context);
+					void						resolveReferences(PxDeserializationContext& context);
+	virtual	        void						requires(PxProcessPxBaseCallback& c);
+	static			NpArticulation*				createObject(PxU8*& address, PxDeserializationContext& context);
+	static			void						getBinaryMetaData(PxOutputStream& stream);
+//~PX_SERIALIZATION
+
+	//---------------------------------------------------------------------------------
+	// PxArticulation implementation
+	//---------------------------------------------------------------------------------
+	virtual			void						release();
+
+	virtual			PxScene*					getScene() const;
+
+	virtual			PxU32						getInternalDriveIterations() const;
+	virtual			void						setInternalDriveIterations(PxU32 iterations);
+
+	virtual			PxU32						getExternalDriveIterations() const;
+	virtual			void						setExternalDriveIterations(PxU32 iterations);
+
+	virtual			PxU32						getMaxProjectionIterations() const;
+	virtual			void						setMaxProjectionIterations(PxU32 iterations);
+
+	virtual			PxReal						getSeparationTolerance() const;
+	virtual			void						setSeparationTolerance(PxReal tolerance);
+
+	virtual			void						setSleepThreshold(PxReal threshold);
+	virtual			PxReal						getSleepThreshold() const;
+
+	virtual			void						setStabilizationThreshold(PxReal threshold);
+	virtual			PxReal						getStabilizationThreshold() const;
+
+	virtual			void						setWakeCounter(PxReal wakeCounterValue);
+	virtual			PxReal						getWakeCounter() const;
+
+	virtual			void						setSolverIterationCounts(PxU32 positionIters, PxU32 velocityIters);
+	virtual			void						getSolverIterationCounts(PxU32 & positionIters, PxU32 & velocityIters) const;
+
+	virtual			bool						isSleeping() const;
+	virtual			void						wakeUp();
+	virtual			void						putToSleep();
+
+	virtual			PxArticulationLink*			createLink(PxArticulationLink* parent, const PxTransform& pose);
+
+	virtual			PxU32						getNbLinks() const;
+	virtual			PxU32						getLinks(PxArticulationLink** userBuffer, PxU32 bufferSize, PxU32 startIndex) const;
+
+	virtual			PxBounds3					getWorldBounds(float inflation=1.01f) const;
+
+	virtual			PxAggregate*				getAggregate() const;
+
+	// Debug name
+	virtual			void						setName(const char*);
+	virtual			const char*					getName() const;
+
+	virtual		PxArticulationDriveCache* 
+								createDriveCache(PxReal compliance, PxU32 driveIterations) const;
+
+	virtual		void			updateDriveCache(PxArticulationDriveCache& cache, PxReal compliance, PxU32 driveIterations) const;
+
+	virtual		void			releaseDriveCache(PxArticulationDriveCache&) const;
+
+	virtual		void			applyImpulse(PxArticulationLink*,
+											 const PxArticulationDriveCache& driveCache,
+											 const PxVec3& force,
+											 const PxVec3& torque);
+
+	virtual		void			computeImpulseResponse(PxArticulationLink*,
+													   PxVec3& linearResponse, 
+													   PxVec3& angularResponse,
+													   const PxArticulationDriveCache& driveCache,
+													   const PxVec3& force,
+													   const PxVec3& torque) const;
+
+
+
+
+	//---------------------------------------------------------------------------------
+	// Miscellaneous
+	//---------------------------------------------------------------------------------
+												NpArticulation();
+
+	PX_INLINE		void						addToLinkList(NpArticulationLink& link)				{ mArticulationLinks.pushBack(&link); }
+					bool						removeLinkFromList(NpArticulationLink& link)		{ PX_ASSERT(mArticulationLinks.find(&link) != mArticulationLinks.end()); return mArticulationLinks.findAndReplaceWithLast(&link); }
+	PX_FORCE_INLINE	NpArticulationLink* const*	getLinks()											{ return &mArticulationLinks.front(); }
+
+					NpArticulationLink*			getRoot();
+
+	PX_FORCE_INLINE	const Scb::Articulation&	getArticulation()							const	{ return mArticulation; }
+	PX_FORCE_INLINE	Scb::Articulation&			getArticulation()									{ return mArticulation; }
+
+					NpScene*					getAPIScene() const;
+					NpScene*					getOwnerScene() const;		// the scene the user thinks the actor is in, or from which the actor is pending removal
+
+	PX_FORCE_INLINE	void						setAggregate(NpAggregate* a) { mAggregate = a; }
+
+					void						wakeUpInternal(bool forceWakeUp, bool autowake);
+
+	PX_FORCE_INLINE	Scb::Articulation&			getScbArticulation()			{ return mArticulation; }
+	PX_FORCE_INLINE	const Scb::Articulation&	getScbArticulation() const		{ return mArticulation; }
+
+
+#if PX_ENABLE_DEBUG_VISUALIZATION
+public:
+					void						visualize(Cm::RenderOutput& out, NpScene* scene);
+#endif
+
+private:
+					Scb::Articulation 			mArticulation;
+					NpArticulationLinkArray		mArticulationLinks;
+					NpAggregate*				mAggregate;
+					const char*					mName;
+};
+
+
+}
+
+#endif