PhysX 3.4.1, APEX 1.4.1 Release @22845541v3.4.1

8 files changed, 48 insertions, 59 deletions

diff --git a/PhysX_3.4/Source/PhysX/src/NpPhysics.cpp b/PhysX_3.4/Source/PhysX/src/NpPhysics.cpp
index 57f7feeb..606f55b6 100644
--- a/PhysX_3.4/Source/PhysX/src/NpPhysics.cpp
+++ b/PhysX_3.4/Source/PhysX/src/NpPhysics.cpp
@@ -73,8 +73,8 @@
 #include "NpCloth.h"
 #endif
 
-#if PX_NX
-#include "nx/NpMiddlewareInfo.h"
+#if PX_SWITCH
+#include "switch/NpMiddlewareInfo.h"
 #endif
 
 using namespace physx;
@@ -233,7 +233,7 @@ NpPhysics* NpPhysics::createInstance(PxU32 version, PxFoundation& foundation, co
 {
 	PX_UNUSED(foundation);
 
-#if PX_NX
+#if PX_SWITCH
 	NpSetMiddlewareInfo();  // register middleware info such that PhysX usage can be tracked
 #endif
 	
diff --git a/PhysX_3.4/Source/PhysX/src/NpRigidActorTemplate.h b/PhysX_3.4/Source/PhysX/src/NpRigidActorTemplate.h
index e7bef5c6..855409a1 100644
--- a/PhysX_3.4/Source/PhysX/src/NpRigidActorTemplate.h
+++ b/PhysX_3.4/Source/PhysX/src/NpRigidActorTemplate.h
@@ -233,14 +233,16 @@ template<class APIClass>
 void NpRigidActorTemplate<APIClass>::detachShape(PxShape& shape, bool wakeOnLostTouch)
 {
 	NP_WRITE_CHECK(NpActor::getOwnerScene(*this));
-	PX_CHECK_AND_RETURN(mShapeManager.shapeIsAttached(static_cast<NpShape&>(shape)), "PxRigidActor::detachShape: shape is not attached!")
 	if (mShapeManager.getPruningStructure())
 	{
 		Ps::getFoundation().error(PxErrorCode::eINVALID_OPERATION, __FILE__, __LINE__, "PxRigidActor::detachShape: Actor is part of a pruning structure, pruning structure is now invalid!");
 		mShapeManager.getPruningStructure()->invalidate(this);
 	}
 
-	mShapeManager.detachShape(static_cast<NpShape&>(shape), *this, wakeOnLostTouch);
+	if(!mShapeManager.detachShape(static_cast<NpShape&>(shape), *this, wakeOnLostTouch))
+	{
+		Ps::getFoundation().error(PxErrorCode::eINVALID_OPERATION, __FILE__, __LINE__, "PxRigidActor::detachShape: shape is not attached to this actor!");
+	}
 }
 
 
diff --git a/PhysX_3.4/Source/PhysX/src/NpScene.cpp b/PhysX_3.4/Source/PhysX/src/NpScene.cpp
index 783436da..2afb7e08 100644
--- a/PhysX_3.4/Source/PhysX/src/NpScene.cpp
+++ b/PhysX_3.4/Source/PhysX/src/NpScene.cpp
@@ -136,6 +136,7 @@ NpScene::NpScene(const PxSceneDesc& desc) :
 	mHasSimulatedOnce		(false),
 	mBetweenFetchResults	(false)
 {
+	
 	mSceneExecution.setObject(this);
 	mSceneCollide.setObject(this);
 	mSceneAdvance.setObject(this);
@@ -143,6 +144,10 @@ NpScene::NpScene(const PxSceneDesc& desc) :
 	mTaskManager = mScene.getScScene().getTaskManagerPtr();
 	mThreadReadWriteDepth = Ps::TlsAlloc();
 
+#if PX_SUPPORT_GPU_PHYSX
+	updatePhysXIndicator();
+#endif
+
 }
 
 NpSceneQueries::~NpSceneQueries()
@@ -1555,6 +1560,16 @@ void NpScene::visualize()
 		}
 	}
 
+	if(getVisualizationParameter(PxVisualizationParameter::eCULL_BOX)!=0.0f)
+	{
+		const PxBounds3& cullbox = getScene().getVisualizationCullingBox();
+		if(!cullbox.isEmpty())
+		{
+			out << PxU32(PxDebugColor::eARGB_YELLOW);
+			out << Cm::DebugBox(cullbox);
+		}
+	}
+
 #if PX_SUPPORT_PVD
 	mScene.getScenePvdClient().visualize(mRenderBuffer);
 #endif
@@ -2625,7 +2640,7 @@ void NpScene::removeCloth(NpCloth& cloth)
 
 void NpScene::updatePhysXIndicator()
 {
-	Ps::IntBool isGpu = 0;
+	Ps::IntBool isGpu = mScene.getScScene().isUsingGpuRigidBodies();
 
 #if PX_USE_PARTICLE_SYSTEM_API
 	PxParticleBase*const* particleBaseList = mPxParticleBaseSet.getEntries();
diff --git a/PhysX_3.4/Source/PhysX/src/NpShapeManager.cpp b/PhysX_3.4/Source/PhysX/src/NpShapeManager.cpp
index e93883fa..d7a904e5 100644
--- a/PhysX_3.4/Source/PhysX/src/NpShapeManager.cpp
+++ b/PhysX_3.4/Source/PhysX/src/NpShapeManager.cpp
@@ -103,32 +103,26 @@ void NpShapeManager::attachShape(NpShape& shape, PxRigidActor& actor)
 	shape.onActorAttach(actor);
 }
 				 
-void NpShapeManager::detachShape(NpShape& s, PxRigidActor& actor, bool wakeOnLostTouch)
+bool NpShapeManager::detachShape(NpShape& s, PxRigidActor& actor, bool wakeOnLostTouch)
 {
 	PX_ASSERT(!mPruningStructure);
 
-	PtrTableStorageManager& sm = NpFactory::getInstance().getPtrTableStorageManager();
-
 	const PxU32 index = mShapes.find(&s);
-	PX_ASSERT(index!=0xffffffff);
-
-	Scb::RigidObject& ro = static_cast<Scb::RigidObject&>(NpActor::getScbFromPxActor(actor));
+	if(index==0xffffffff)
+		return false;
 
 	NpScene* scene = NpActor::getAPIScene(actor);
 	if(scene && isSceneQuery(s))
 		scene->getSceneQueryManagerFast().removePrunerShape(getPrunerData(index));
 
-	Scb::Shape& scbShape = s.getScbShape();
-	ro.onShapeDetach(scbShape, wakeOnLostTouch, (s.getRefCount() == 1));
+	Scb::RigidObject& ro = static_cast<Scb::RigidObject&>(NpActor::getScbFromPxActor(actor));
+	ro.onShapeDetach(s.getScbShape(), wakeOnLostTouch, (s.getRefCount() == 1));
+	PtrTableStorageManager& sm = NpFactory::getInstance().getPtrTableStorageManager();
 	mShapes.replaceWithLast(index, sm);
 	mSceneQueryData.replaceWithLast(index, sm);
 	
 	s.onActorDetach();
-}
-
-bool NpShapeManager::shapeIsAttached(NpShape& s) const
-{
-	return mShapes.find(&s)!=0xffffffff;
+	return true;
 }
 
 void NpShapeManager::detachAll(NpScene* scene)
@@ -291,24 +285,6 @@ void NpShapeManager::teardownSceneQuery(SceneQueryManager& sqManager, PxU32 inde
 #include "GuConvexEdgeFlags.h"
 #include "GuMidphaseInterface.h"
 
-static const PxDebugColor::Enum gColors[] =
-{
-	PxDebugColor::eARGB_BLACK,		
-	PxDebugColor::eARGB_RED,		
-	PxDebugColor::eARGB_GREEN,		
-	PxDebugColor::eARGB_BLUE,		
-	PxDebugColor::eARGB_YELLOW,	
-	PxDebugColor::eARGB_MAGENTA,	
-	PxDebugColor::eARGB_CYAN,		
-	PxDebugColor::eARGB_WHITE,		
-	PxDebugColor::eARGB_GREY,		
-	PxDebugColor::eARGB_DARKRED,	
-	PxDebugColor::eARGB_DARKGREEN,	
-	PxDebugColor::eARGB_DARKBLUE,	
-};
-
-static const PxU32 gColorCount = sizeof(gColors)/sizeof(PxDebugColor::Enum);
-
 static const PxU32 gCollisionShapeColor = PxU32(PxDebugColor::eARGB_MAGENTA);
 
 static void visualizeSphere(const PxSphereGeometry& geometry, RenderOutput& out, const PxTransform& absPose)
@@ -528,7 +504,7 @@ static void visualizeTriangleMesh(const PxTriangleMeshGeometry& geometry, Render
 	{
 		if(visualizeShapes)
 		{
-			PxU32 scolor = gCollisionShapeColor;
+			const PxU32 scolor = gCollisionShapeColor;
 
 			out << midt << scolor;	// PT: no need to output this for each segment!
 
@@ -542,11 +518,6 @@ static void visualizeTriangleMesh(const PxTriangleMeshGeometry& geometry, Render
 			{
 				PxVec3 wp[3];
 				getTriangle(*triangleMesh, i, wp, transformed, indices, has16Bit);
-				const PxU32 localMaterialIndex = triangleMesh->getTriangleMaterialIndex(i);
-				// PT: TODO: I doubt this is correct. "localMaterialIndex" will be 0xffff for most meshes so
-				// the color we pick is basically random. Also, get rid of these modulos (==divisions)
-				scolor = gColors[localMaterialIndex % gColorCount];
-			
 				outputTriangle(segments, wp[0], wp[1], wp[2], scolor);
 				segments+=3;
 			}
@@ -569,8 +540,7 @@ static void visualizeHeightField(const PxHeightFieldGeometry& hfGeometry, Render
 	const HeightField* heightfield = static_cast<const HeightField*>(hfGeometry.heightField);
 
 	// PT: TODO: the debug viz for HFs is minimal at the moment...
-	// PT: TODO: REALLY? all shapes use magenta but HFs use yellow?
-	PxU32 scolor = PxU32(PxDebugColor::eARGB_YELLOW);
+	const PxU32 scolor = gCollisionShapeColor;
 	const PxMat44 midt = PxMat44(PxIdentity);
 
 	HeightFieldUtil hfUtil(hfGeometry);
@@ -603,10 +573,6 @@ static void visualizeHeightField(const PxHeightFieldGeometry& hfGeometry, Render
 			//The check has been done in the findOverlapHeightField
 			//if(heightfield->isValidTriangle(index) && heightfield->getTriangleMaterial(index) != PxHeightFieldMaterial::eHOLE)
 			{
-				const PxU16 localMaterialIndex = heightfield->getTriangleMaterialIndex(index);
-				// PT: TODO: optimize away modulos/divisions
-				scolor = gColors[localMaterialIndex % gColorCount];
-
 				outputTriangle(segments, currentTriangle.verts[0], currentTriangle.verts[1], currentTriangle.verts[2], scolor);
 				segments+=3;
 			}
@@ -623,15 +589,13 @@ static void visualizeHeightField(const PxHeightFieldGeometry& hfGeometry, Render
 
 		for(PxU32 i=0; i<nbTriangles; i++)
 		{
-			// PT: TODO: optimize away the useless divisions/modulos in the lines below
 			if(heightfield->isValidTriangle(i) && heightfield->getTriangleMaterial(i) != PxHeightFieldMaterial::eHOLE)
 			{
 				PxU32 vi0, vi1, vi2;
 				heightfield->getTriangleVertexIndices(i, vi0, vi1, vi2);
-				const PxU16 localMaterialIndex = heightfield->getTriangleMaterialIndex(i);
 
 				PxDebugLine* segments = out.reserveSegments(3);
-				outputTriangle(segments, tmpVerts[vi0], tmpVerts[vi1], tmpVerts[vi2], gColors[localMaterialIndex % gColorCount]);
+				outputTriangle(segments, tmpVerts[vi0], tmpVerts[vi1], tmpVerts[vi2], scolor);
 			}
 		}
 		PX_FREE(tmpVerts);
@@ -686,17 +650,17 @@ void NpShapeManager::visualize(RenderOutput& out, NpScene* scene, const PxRigidA
 	const bool visualizeCompounds = (nbShapes>1) && scene->getVisualizationParameter(PxVisualizationParameter::eCOLLISION_COMPOUNDS)!=0.0f;
 
 	// PT: moved all these out of the loop, no need to grab them once per shape
+	const PxBounds3& cullbox		= scene->getScene().getVisualizationCullingBox();
 	const bool visualizeAABBs		= scene->getVisualizationParameter(PxVisualizationParameter::eCOLLISION_AABBS)!=0.0f;
 	const bool visualizeShapes		= scene->getVisualizationParameter(PxVisualizationParameter::eCOLLISION_SHAPES)!=0.0f;
 	const bool visualizeEdges		= scene->getVisualizationParameter(PxVisualizationParameter::eCOLLISION_EDGES)!=0.0f;
 	const float fNormals			= scene->getVisualizationParameter(PxVisualizationParameter::eCOLLISION_FNORMALS);
 	const bool visualizeFNormals	= fNormals!=0.0f;
 	const bool visualizeCollision	= visualizeShapes || visualizeFNormals || visualizeEdges;
-	const bool useCullBox			= scene->getVisualizationParameter(PxVisualizationParameter::eCULL_BOX)!=0.0f;
+	const bool useCullBox			= !cullbox.isEmpty();
 	const bool needsShapeBounds0	= visualizeCompounds || (visualizeCollision && useCullBox);
 	const PxReal collisionAxes		= scale * scene->getVisualizationParameter(PxVisualizationParameter::eCOLLISION_AXES);
 	const PxReal fscale				= scale * fNormals;
-	const PxBounds3& cullbox		= scene->getScene().getVisualizationCullingBox();
 
 	const PxTransform actorPose = actor.getGlobalPose();
 
diff --git a/PhysX_3.4/Source/PhysX/src/NpShapeManager.h b/PhysX_3.4/Source/PhysX/src/NpShapeManager.h
index f777f105..be12bf05 100644
--- a/PhysX_3.4/Source/PhysX/src/NpShapeManager.h
+++ b/PhysX_3.4/Source/PhysX/src/NpShapeManager.h
@@ -73,8 +73,7 @@ public:
 					PxU32					getShapes(PxShape** buffer, PxU32 bufferSize, PxU32 startIndex=0) const;
 
 					void					attachShape(NpShape& shape, PxRigidActor& actor);
-					void					detachShape(NpShape& s, PxRigidActor &actor, bool wakeOnLostTouch);
-					bool					shapeIsAttached(NpShape& s) const;
+					bool					detachShape(NpShape& s, PxRigidActor &actor, bool wakeOnLostTouch);
 					void					detachAll(NpScene *scene);
 
 					void					teardownSceneQuery(Sq::SceneQueryManager& sqManager, const NpShape& shape);
diff --git a/PhysX_3.4/Source/PhysX/src/buffering/ScbArticulation.h b/PhysX_3.4/Source/PhysX/src/buffering/ScbArticulation.h
index 702b9b18..75465694 100644
--- a/PhysX_3.4/Source/PhysX/src/buffering/ScbArticulation.h
+++ b/PhysX_3.4/Source/PhysX/src/buffering/ScbArticulation.h
@@ -105,8 +105,8 @@ public:
 	PX_INLINE		PxReal		getSleepThreshold() const						{ return read<Buf::BF_SleepThreshold>();			}
 	PX_INLINE		void		setSleepThreshold(const PxReal v)				{ write<Buf::BF_SleepThreshold>(v);					}
 
-	PX_INLINE		PxReal		getFreezeThreshold() const						{ return read<Buf::BF_SleepThreshold>();			}
-	PX_INLINE		void		setFreezeThreshold(const PxReal v)				{ write<Buf::BF_SleepThreshold>(v);					}
+	PX_INLINE		PxReal		getFreezeThreshold() const						{ return read<Buf::BF_FreezeThreshold>();			}
+	PX_INLINE		void		setFreezeThreshold(const PxReal v)				{ write<Buf::BF_FreezeThreshold>(v);				}
 
 	PX_INLINE		PxReal		getWakeCounter() const							{ return mBufferedWakeCounter;						}
 	PX_INLINE		void		setWakeCounter(const PxReal v);
diff --git a/PhysX_3.4/Source/PhysX/src/buffering/ScbBody.h b/PhysX_3.4/Source/PhysX/src/buffering/ScbBody.h
index ba8325da..e38961b4 100644
--- a/PhysX_3.4/Source/PhysX/src/buffering/ScbBody.h
+++ b/PhysX_3.4/Source/PhysX/src/buffering/ScbBody.h
@@ -577,7 +577,7 @@ PX_INLINE bool Body::getKinematicTarget(PxTransform& p) const
 		p = getBodyBuffer()->mKinematicTarget;
 		return true;
 	}
-	else if(getControlState() != ControlState::eREMOVE_PENDING)
+	else if(getControlState() != ControlState::eREMOVE_PENDING && (mBodyCore.getFlags() & PxRigidBodyFlag::eKINEMATIC))
 		return mBodyCore.getKinematicTarget(p);
 	else
 		return false;
diff --git a/PhysX_3.4/Source/PhysX/src/gpu/PxPhysXGpuModuleLoader.cpp b/PhysX_3.4/Source/PhysX/src/gpu/PxPhysXGpuModuleLoader.cpp
index fe44e8bf..88d0d516 100644
--- a/PhysX_3.4/Source/PhysX/src/gpu/PxPhysXGpuModuleLoader.cpp
+++ b/PhysX_3.4/Source/PhysX/src/gpu/PxPhysXGpuModuleLoader.cpp
@@ -35,6 +35,9 @@
 #include "PxGpu.h"
 
 #include "cudamanager/PxCudaContextManager.h"
+#if PX_WINDOWS
+#include "../../../Common/src/CmPhysXCommon.h"
+#endif
 
 #define STRINGIFY(x) #x
 #define GETSTRING(x) STRINGIFY(x)
@@ -130,6 +133,12 @@ namespace physx
 			g_PxCreateCudaContextManager_Func = (PxCreateCudaContextManager_FUNC*)GetProcAddress(s_library, "PxCreateCudaContextManager");
 			g_PxGetSuggestedCudaDeviceOrdinal_Func = (PxGetSuggestedCudaDeviceOrdinal_FUNC*)GetProcAddress(s_library, "PxGetSuggestedCudaDeviceOrdinal");
 		}
+
+		// Check for errors
+		if (s_library == NULL)
+			Ps::getFoundation().error(PxErrorCode::eINTERNAL_ERROR, __FILE__, __LINE__, "Failed to load PhysXGpu dll!");
+		if (g_PxCreatePhysXGpu_Func == NULL || g_PxCreateCudaContextManager_Func == NULL || g_PxGetSuggestedCudaDeviceOrdinal_Func == NULL)
+			Ps::getFoundation().error(PxErrorCode::eINTERNAL_ERROR, __FILE__, __LINE__, "PhysXGpu dll is incompatible with this version of PhysX!");
 	}
 
 #elif PX_LINUX