Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 158 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/PhysX/src/NpArticulationLink.h b/PhysX_3.4/Source/PhysX/src/NpArticulationLink.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_LINK
+#define PX_PHYSICS_NP_ARTICULATION_LINK
+
+#include "NpRigidBodyTemplate.h"
+#include "PxArticulationLink.h"
+
+#if PX_ENABLE_DEBUG_VISUALIZATION
+#include "CmRenderOutput.h"
+#endif
+
+namespace physx
+{
+
+class NpArticulation;
+class NpArticulationLink;
+class NpArticulationJoint;
+class PxConstraintVisualizer;
+
+class NpArticulationLink;
+typedef NpRigidBodyTemplate<PxArticulationLink> NpArticulationLinkT;
+
+class NpArticulationLinkArray : public Ps::InlineArray<NpArticulationLink*, 4>  //!!!AL TODO: check if default of 4 elements makes sense
+{
+//= 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:
+// PX_SERIALIZATION
+	NpArticulationLinkArray(const PxEMPTY) : Ps::InlineArray<NpArticulationLink*, 4> (PxEmpty) {}
+	static	void	getBinaryMetaData(PxOutputStream& stream);
+//~PX_SERIALIZATION
+	NpArticulationLinkArray() : Ps::InlineArray<NpArticulationLink*, 4>(PX_DEBUG_EXP("articulationLinkArray")) {}
+};
+
+
+
+class NpArticulationLink : public NpArticulationLinkT
+{
+//= 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:
+// PX_SERIALIZATION
+									NpArticulationLink(PxBaseFlags baseFlags) : NpArticulationLinkT(baseFlags), mChildLinks(PxEmpty)	{}
+	virtual		void				exportExtraData(PxSerializationContext& stream);
+				void				importExtraData(PxDeserializationContext& context);
+				void				registerReferences(PxSerializationContext& stream);
+				void				resolveReferences(PxDeserializationContext& context);
+	virtual		void				requires(PxProcessPxBaseCallback& c);
+	virtual		bool			    isSubordinate()  const	 { return true; } 
+	static		NpArticulationLink*	createObject(PxU8*& address, PxDeserializationContext& context);
+	static		void				getBinaryMetaData(PxOutputStream& stream);		
+//~PX_SERIALIZATION
+	virtual							~NpArticulationLink();
+
+	//---------------------------------------------------------------------------------
+	// PxArticulationLink implementation
+	//---------------------------------------------------------------------------------
+	virtual		void				release();
+
+
+	virtual		PxActorType::Enum	getType() const { return PxActorType::eARTICULATION_LINK; }
+
+	// Pose
+	virtual		void				setGlobalPose(const PxTransform& pose);
+	virtual		void 				setGlobalPose(const PxTransform& pose, bool autowake);
+	virtual		PxTransform			getGlobalPose() const;
+
+	// Velocity
+	virtual		void				setLinearVelocity(const PxVec3&, bool autowake = true);
+	virtual		void				setAngularVelocity(const PxVec3&, bool autowake = true);
+
+	virtual		PxArticulation&		getArticulation() const;
+	
+	virtual		PxArticulationJoint* getInboundJoint() const;
+
+	virtual		PxU32				getNbChildren() const;
+	virtual		PxU32				getChildren(PxArticulationLink** userBuffer, PxU32 bufferSize, PxU32 startIndex) const;
+
+	virtual		void				setCMassLocalPose(const PxTransform& pose);
+
+	virtual		void				addForce(const PxVec3& force, PxForceMode::Enum mode = PxForceMode::eFORCE, bool autowake = true);
+	virtual		void				addTorque(const PxVec3& torque, PxForceMode::Enum mode = PxForceMode::eFORCE, bool autowake = true);
+	virtual		void				clearForce(PxForceMode::Enum mode = PxForceMode::eFORCE);
+	virtual		void				clearTorque(PxForceMode::Enum mode = PxForceMode::eFORCE);
+
+	//---------------------------------------------------------------------------------
+	// Miscellaneous
+	//---------------------------------------------------------------------------------
+									NpArticulationLink(const PxTransform& bodyPose, NpArticulation& root, NpArticulationLink* parent);
+
+				void				releaseInternal();
+
+	PX_INLINE	NpArticulation&		getRoot()	{ return *mRoot; }
+	PX_INLINE	NpArticulationLink*	getParent()	{ return mParent; }
+
+	PX_INLINE	void				setInboundJoint(NpArticulationJoint& joint) { mInboundJoint = &joint; }
+
+private:
+	PX_INLINE	void				addToChildList(NpArticulationLink& link) { mChildLinks.pushBack(&link); }
+	PX_INLINE	void				removeFromChildList(NpArticulationLink& link) { PX_ASSERT(mChildLinks.find(&link) != mChildLinks.end()); mChildLinks.findAndReplaceWithLast(&link); }
+
+public:
+	PX_INLINE	NpArticulationLink* const*	getChildren() { return mChildLinks.empty() ? NULL : &mChildLinks.front(); }
+
+#if PX_ENABLE_DEBUG_VISUALIZATION
+public:
+				void				visualize(Cm::RenderOutput& out, NpScene* scene);
+				void				visualizeJoint(PxConstraintVisualizer& jointViz);
+#endif
+
+
+private:
+				NpArticulation*					mRoot;  //!!!AL TODO: Revisit: Could probably be avoided if registration and deregistration in root is handled differently
+				NpArticulationJoint*			mInboundJoint;
+				NpArticulationLink*				mParent;  //!!!AL TODO: Revisit: Some memory waste but makes things faster
+				NpArticulationLinkArray			mChildLinks;
+};
+
+}
+
+#endif