Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 283 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/PhysX/src/buffering/ScbArticulationJoint.h b/PhysX_3.4/Source/PhysX/src/buffering/ScbArticulationJoint.h
new file mode 100644
index 00000000..04a49f1c
--- /dev/null
+++ b/PhysX_3.4/Source/PhysX/src/buffering/ScbArticulationJoint.h
@@ -0,0 +1,283 @@
+// 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_SCB_ARTICULATION_JOINT
+#define PX_PHYSICS_SCB_ARTICULATION_JOINT
+
+#include "ScArticulationJointCore.h"
+#include "ScbBody.h"
+#include "ScbBase.h"
+#include "ScbDefs.h"
+
+namespace physx
+{
+namespace Scb
+{
+
+struct ArticulationJointBuffer
+{	
+	template <PxU32 I, PxU32 Dummy> struct Fns {};
+	typedef Sc::ArticulationJointCore Core;
+	typedef ArticulationJointBuffer Buf;
+
+	SCB_REGULAR_ATTRIBUTE(0,  PxTransform,	ParentPose)
+	SCB_REGULAR_ATTRIBUTE(1,  PxTransform,	ChildPose)
+	SCB_REGULAR_ATTRIBUTE(2,  PxQuat,		TargetOrientation)
+	SCB_REGULAR_ATTRIBUTE(3,  PxVec3,		TargetVelocity)
+	SCB_REGULAR_ATTRIBUTE(4,  PxReal,		Stiffness)
+	SCB_REGULAR_ATTRIBUTE(5,  PxReal,		Damping)
+	SCB_REGULAR_ATTRIBUTE(6,  PxReal,		InternalCompliance)
+	SCB_REGULAR_ATTRIBUTE(7,  PxReal,		ExternalCompliance)
+	SCB_REGULAR_ATTRIBUTE(8,  PxReal,		SwingLimitContactDistance)
+	SCB_REGULAR_ATTRIBUTE(9,  bool,			SwingLimitEnabled)
+	SCB_REGULAR_ATTRIBUTE(10, PxReal,		TangentialStiffness)
+	SCB_REGULAR_ATTRIBUTE(11, PxReal,		TangentialDamping)
+	SCB_REGULAR_ATTRIBUTE(12, PxReal,		TwistLimitContactDistance)
+	SCB_REGULAR_ATTRIBUTE(13, bool,			TwistLimitEnabled)
+	SCB_REGULAR_ATTRIBUTE(14, PxArticulationJointDriveType::Enum, DriveType)
+
+	enum	{ BF_SwingLimit = 1<<15 };
+	enum	{ BF_TwistLimit = 1<<16 };
+
+	PxReal				mSwingLimitY;
+	PxReal				mSwingLimitZ;
+	PxReal				mTwistLimitLower;
+	PxReal				mTwistLimitUpper;
+};
+	
+class ArticulationJoint : public Base
+{
+//= 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.
+//==================================================================================================
+
+	typedef ArticulationJointBuffer Buf;
+	typedef Sc::ArticulationJointCore Core;
+
+public:
+// PX_SERIALIZATION
+										ArticulationJoint(const PxEMPTY) : Base(PxEmpty), mJoint(PxEmpty)	{}
+	static		void					getBinaryMetaData(PxOutputStream& stream);
+//~PX_SERIALIZATION
+
+	PX_INLINE							ArticulationJoint(const PxTransform& parentFrame,
+														  const PxTransform& childFrame);
+	PX_INLINE							~ArticulationJoint();
+
+	//---------------------------------------------------------------------------------
+	// Wrapper for Sc::ArticulationJoint interface
+	//---------------------------------------------------------------------------------
+
+	PX_INLINE PxTransform				getParentPose() const					{ return read<Buf::BF_ParentPose>(); }
+	PX_INLINE void						setParentPose(const PxTransform& v)		{ write<Buf::BF_ParentPose>(v); }
+
+	PX_INLINE PxTransform				getChildPose() const					{ return read<Buf::BF_ChildPose>(); }
+	PX_INLINE void						setChildPose(const PxTransform& v)		{ write<Buf::BF_ChildPose>(v); }
+
+	PX_INLINE PxQuat					getTargetOrientation() const			{ return read<Buf::BF_TargetOrientation>(); }
+	PX_INLINE void						setTargetOrientation(const PxQuat& v)	{ write<Buf::BF_TargetOrientation>(v); }
+
+	PX_INLINE PxVec3					getTargetVelocity() const				{ return read<Buf::BF_TargetVelocity>(); }
+	PX_INLINE void						setTargetVelocity(const PxVec3& v)		{ write<Buf::BF_TargetVelocity>(v); }
+
+	PX_INLINE PxReal					getStiffness() const					{ return read<Buf::BF_Stiffness>(); }
+	PX_INLINE void						setStiffness(PxReal v)					{ write<Buf::BF_Stiffness>(v); }
+
+	PX_INLINE PxReal					getDamping() const						{ return read<Buf::BF_Damping>(); }
+	PX_INLINE void						setDamping(PxReal v)					{ write<Buf::BF_Damping>(v); }
+
+	PX_INLINE PxReal					getInternalCompliance() const			{ return read<Buf::BF_InternalCompliance>(); }
+	PX_INLINE void						setInternalCompliance(PxReal v)			{ write<Buf::BF_InternalCompliance>(v); }
+
+	PX_INLINE PxReal					getExternalCompliance() const			{ return read<Buf::BF_ExternalCompliance>(); }
+	PX_INLINE void						setExternalCompliance(PxReal v)			{ write<Buf::BF_ExternalCompliance>(v); }
+
+	PX_INLINE PxReal					getTangentialStiffness() const 			{ return read<Buf::BF_TangentialStiffness>(); }
+	PX_INLINE void						setTangentialStiffness(PxReal v)		{ write<Buf::BF_TangentialStiffness>(v); }
+
+	PX_INLINE PxReal					getTangentialDamping() const			{ return read<Buf::BF_TangentialDamping>(); }
+	PX_INLINE void						setTangentialDamping(PxReal v)			{ write<Buf::BF_TangentialDamping>(v); }
+
+	PX_INLINE PxReal					getSwingLimitContactDistance() const	{ return read<Buf::BF_SwingLimitContactDistance>(); }
+	PX_INLINE void						setSwingLimitContactDistance(PxReal v)	{ write<Buf::BF_SwingLimitContactDistance>(v); }
+
+	PX_INLINE PxReal					getTwistLimitContactDistance() const	{ return read<Buf::BF_TwistLimitContactDistance>(); }
+	PX_INLINE void						setTwistLimitContactDistance(PxReal v)  { write<Buf::BF_TwistLimitContactDistance>(v); }
+
+	PX_INLINE PxArticulationJointDriveType::Enum
+										getDriveType() const					{ return read<Buf::BF_DriveType>(); }
+	PX_INLINE void						setDriveType(PxArticulationJointDriveType::Enum v) 
+																				{ write<Buf::BF_DriveType>(v); }
+
+	PX_INLINE bool						getSwingLimitEnabled() const			{ return read<Buf::BF_SwingLimitEnabled>(); }
+	PX_INLINE void						setSwingLimitEnabled(bool v)			{ write<Buf::BF_SwingLimitEnabled>(v); }
+
+	PX_INLINE bool						getTwistLimitEnabled() const			{ return read<Buf::BF_TwistLimitEnabled>(); }
+	PX_INLINE void						setTwistLimitEnabled(bool v)			{ write<Buf::BF_TwistLimitEnabled>(v); }
+
+	PX_INLINE void						getSwingLimit(PxReal& yLimit, PxReal& zLimit) const;
+	PX_INLINE void						setSwingLimit(PxReal yLimit, PxReal zLimit);
+
+	PX_INLINE void						getTwistLimit(PxReal &lower, PxReal &upper) const;
+	PX_INLINE void						setTwistLimit(PxReal lower, PxReal upper);
+
+	//---------------------------------------------------------------------------------
+	// Data synchronization
+	//---------------------------------------------------------------------------------
+	PX_INLINE void						syncState();
+
+	PX_FORCE_INLINE const Core&			getScArticulationJoint()		const	{ return mJoint; }  // Only use if you know what you're doing!
+	PX_FORCE_INLINE Core&				getScArticulationJoint()				{ return mJoint; }  // Only use if you know what you're doing!
+
+private:
+	Core mJoint;
+
+	PX_FORCE_INLINE	const Buf*			getBuffer()	const	{ return reinterpret_cast<const Buf*>(getStream()); }
+	PX_FORCE_INLINE	Buf*				getBuffer()			{ return reinterpret_cast<Buf*>(getStream()); }
+
+	//---------------------------------------------------------------------------------
+	// Infrastructure for regular attributes
+	//---------------------------------------------------------------------------------
+
+	struct Access: public BufferedAccess<Buf, Core, ArticulationJoint> {};
+	template<PxU32 f> PX_FORCE_INLINE typename Buf::Fns<f,0>::Arg read() const		{	return Access::read<Buf::Fns<f,0> >(*this, mJoint);	}
+	template<PxU32 f> PX_FORCE_INLINE void write(typename Buf::Fns<f,0>::Arg v)		{	Access::write<Buf::Fns<f,0> >(*this, mJoint, v);	}
+	template<PxU32 f> PX_FORCE_INLINE void flush(const Buf& buf)					{	Access::flush<Buf::Fns<f,0> >(*this, mJoint, buf);	}
+};
+
+
+ArticulationJoint::ArticulationJoint(const PxTransform& parentFrame,
+									 const PxTransform& childFrame) :
+	mJoint(parentFrame, childFrame)
+{
+	setScbType(ScbType::ARTICULATION_JOINT);
+}
+
+
+ArticulationJoint::~ArticulationJoint()
+{
+}
+
+PX_INLINE void ArticulationJoint::getSwingLimit(PxReal &yLimit, PxReal &zLimit) const
+{
+	if (isBuffered(Buf::BF_SwingLimit))
+	{
+		yLimit = getBuffer()->mSwingLimitY;
+		zLimit = getBuffer()->mSwingLimitZ;
+	}
+	else
+		getScArticulationJoint().getSwingLimit(yLimit, zLimit);
+}
+
+
+PX_INLINE void ArticulationJoint::setSwingLimit(PxReal yLimit, PxReal zLimit)
+{
+	if (!isBuffering())
+		getScArticulationJoint().setSwingLimit(yLimit, zLimit);
+	else
+	{
+		getBuffer()->mSwingLimitY = yLimit;
+		getBuffer()->mSwingLimitZ = zLimit;
+		markUpdated(Buf::BF_SwingLimit);
+	}
+}
+
+
+PX_INLINE void ArticulationJoint::getTwistLimit(PxReal &lower, PxReal &upper) const
+{
+	if (isBuffered(Buf::BF_TwistLimit))
+	{
+		lower = getBuffer()->mTwistLimitLower;
+		upper = getBuffer()->mTwistLimitUpper;
+	}
+	else
+		mJoint.getTwistLimit(lower, upper);
+}
+
+
+PX_INLINE void ArticulationJoint::setTwistLimit(PxReal lower, PxReal upper)
+{
+	if (!isBuffering())
+		mJoint.setTwistLimit(lower, upper);
+	else
+	{
+		getBuffer()->mTwistLimitLower = lower;
+		getBuffer()->mTwistLimitUpper = upper;
+		markUpdated(Buf::BF_TwistLimit);
+	}
+}
+
+
+//--------------------------------------------------------------
+//
+// Data synchronization
+//
+//--------------------------------------------------------------
+
+PX_INLINE void ArticulationJoint::syncState()
+{
+	PxU32 flags = getBufferFlags();
+	if(flags)  // Optimization to avoid all the if-statements below if possible
+	{
+		const Buf& buffer = *getBuffer();
+
+		flush<Buf::BF_ParentPose>(buffer);
+		flush<Buf::BF_ChildPose>(buffer);
+		flush<Buf::BF_TargetOrientation>(buffer);
+		flush<Buf::BF_TargetVelocity>(buffer);
+		flush<Buf::BF_Stiffness>(buffer);
+		flush<Buf::BF_Damping>(buffer);
+		flush<Buf::BF_InternalCompliance>(buffer);
+		flush<Buf::BF_ExternalCompliance>(buffer);
+		flush<Buf::BF_SwingLimitContactDistance>(buffer);
+		flush<Buf::BF_SwingLimitEnabled>(buffer);
+		flush<Buf::BF_TwistLimitContactDistance>(buffer);
+		flush<Buf::BF_TwistLimitEnabled>(buffer);
+		flush<Buf::BF_TangentialStiffness>(buffer);
+		flush<Buf::BF_TangentialDamping>(buffer);
+
+		if (isBuffered(Buf::BF_SwingLimit))
+			getScArticulationJoint().setSwingLimit(	buffer.mSwingLimitY, buffer.mSwingLimitZ);
+
+		if (isBuffered(Buf::BF_TwistLimit))
+			getScArticulationJoint().setTwistLimit(	buffer.mTwistLimitLower, buffer.mTwistLimitUpper);
+	}
+
+	postSyncState();
+}
+
+}  // namespace Scb
+
+}
+
+#endif