Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 102 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/PhysXCooking/src/convex/VolumeIntegration.h b/PhysX_3.4/Source/PhysXCooking/src/convex/VolumeIntegration.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_FOUNDATION_NXVOLUMEINTEGRATION
+#define PX_FOUNDATION_NXVOLUMEINTEGRATION
+/** \addtogroup foundation
+  @{
+*/
+
+
+#include "foundation/Px.h"
+#include "foundation/PxVec3.h"
+#include "foundation/PxMat33.h"
+#include "CmPhysXCommon.h"
+
+namespace physx
+{
+
+class PxSimpleTriangleMesh;
+class PxConvexMeshDesc;
+
+/**
+\brief Data structure used to store mass properties.
+*/
+struct PxIntegrals
+	{
+	PxVec3 COM;					//!< Center of mass
+	PxF64 mass;						//!< Total mass
+	PxF64 inertiaTensor[3][3];		//!< Inertia tensor (mass matrix) relative to the origin
+	PxF64 COMInertiaTensor[3][3];	//!< Inertia tensor (mass matrix) relative to the COM
+
+	/**
+	\brief Retrieve the inertia tensor relative to the center of mass.
+
+	\param inertia Inertia tensor.
+	*/
+	void getInertia(PxMat33& inertia)
+	{
+		for(PxU32 j=0;j<3;j++)
+		{
+			for(PxU32 i=0;i<3;i++)
+			{
+				inertia(i,j) = PxF32(COMInertiaTensor[i][j]);
+			}
+		}
+	}
+
+	/**
+	\brief Retrieve the inertia tensor relative to the origin.
+
+	\param inertia Inertia tensor.
+	*/
+	void getOriginInertia(PxMat33& inertia)
+	{
+		for(PxU32 j=0;j<3;j++)
+		{
+			for(PxU32 i=0;i<3;i++)
+			{
+				inertia(i,j) = PxF32(inertiaTensor[i][j]);
+			}
+		}
+	}
+	};
+
+	bool computeVolumeIntegrals(const PxSimpleTriangleMesh& mesh, PxReal density, PxIntegrals& integrals);
+
+	// specialized method taking polygons directly, so we don't need to compute and store triangles for each polygon
+	bool computeVolumeIntegralsEberly(const PxConvexMeshDesc& mesh, PxReal density, PxIntegrals& integrals, const PxVec3& origin);   // Eberly simplified method
+
+	// specialized method taking polygons directly, so we don't need to compute and store triangles for each polygon, SIMD version
+	bool computeVolumeIntegralsEberlySIMD(const PxConvexMeshDesc& mesh, PxReal density, PxIntegrals& integrals, const PxVec3& origin);   // Eberly simplified method
+}
+
+ /** @} */
+#endif