Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 173 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/PhysXExtensions/src/ExtFixedJoint.cpp b/PhysX_3.4/Source/PhysXExtensions/src/ExtFixedJoint.cpp
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+++ b/PhysX_3.4/Source/PhysXExtensions/src/ExtFixedJoint.cpp
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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.  
+
+
+#include "ExtFixedJoint.h"
+#include "ExtConstraintHelper.h"
+#include "CmVisualization.h"
+
+#include "common/PxSerialFramework.h"
+
+using namespace physx;
+using namespace Ext;
+
+namespace physx
+{
+	PxFixedJoint* PxFixedJointCreate(PxPhysics& physics,
+		PxRigidActor* actor0, const PxTransform& localFrame0,
+		PxRigidActor* actor1, const PxTransform& localFrame1);
+}
+
+PxFixedJoint* physx::PxFixedJointCreate(PxPhysics& physics,
+										PxRigidActor* actor0, const PxTransform& localFrame0,
+										PxRigidActor* actor1, const PxTransform& localFrame1)
+{
+	PX_CHECK_AND_RETURN_NULL(localFrame0.isSane(), "PxFixedJointCreate: local frame 0 is not a valid transform"); 
+	PX_CHECK_AND_RETURN_NULL(localFrame1.isSane(), "PxFixedJointCreate: local frame 1 is not a valid transform"); 
+	PX_CHECK_AND_RETURN_NULL((actor0 && actor0->is<PxRigidBody>()) || (actor1 && actor1->is<PxRigidBody>()), "PxFixedJointCreate: at least one actor must be dynamic");
+	PX_CHECK_AND_RETURN_NULL(actor0 != actor1, "PxFixedJointCreate: actors must be different");
+
+	FixedJoint* j;
+	PX_NEW_SERIALIZED(j,FixedJoint)(physics.getTolerancesScale(), actor0, localFrame0, actor1, localFrame1);
+
+	if(j->attach(physics, actor0, actor1))
+		return j;
+
+	PX_DELETE(j);
+	return NULL;
+}
+
+PxReal FixedJoint::getProjectionLinearTolerance() const
+{ 
+	return data().projectionLinearTolerance; 
+}
+
+void FixedJoint::setProjectionLinearTolerance(PxReal tolerance)
+{ 
+	PX_CHECK_AND_RETURN(PxIsFinite(tolerance) && tolerance >=0, "PxFixedJoint::setProjectionLinearTolerance: invalid parameter");
+	data().projectionLinearTolerance = tolerance; 
+	markDirty(); 
+}
+
+PxReal FixedJoint::getProjectionAngularTolerance() const
+{ 
+	return data().projectionAngularTolerance; 
+}
+
+void FixedJoint::setProjectionAngularTolerance(PxReal tolerance)	
+{ 
+	PX_CHECK_AND_RETURN(PxIsFinite(tolerance) && tolerance >=0 && tolerance <= PxPi, "PxFixedJoint::setProjectionAngularTolerance: invalid parameter");
+	data().projectionAngularTolerance = tolerance; markDirty(); 
+}
+
+
+namespace
+{
+void FixedJointVisualize(PxConstraintVisualizer& viz,
+						 const void* constantBlock,
+						 const PxTransform& body0Transform,
+						 const PxTransform& body1Transform,
+						 PxU32 /*flags*/)
+{
+	const FixedJointData& data = *reinterpret_cast<const FixedJointData*>(constantBlock);
+
+	const PxTransform& t0 = body0Transform * data.c2b[0];
+	const PxTransform& t1 = body1Transform * data.c2b[1];
+
+	viz.visualizeJointFrames(t0, t1);
+}
+
+
+
+void FixedJointProject(const void* constantBlock,
+					   PxTransform& bodyAToWorld,
+					   PxTransform& bodyBToWorld,
+					   bool projectToA)
+{
+
+	using namespace joint;
+	const FixedJointData &data = *reinterpret_cast<const FixedJointData*>(constantBlock);
+
+	PxTransform cA2w, cB2w, cB2cA, projected;
+	computeDerived(data, bodyAToWorld, bodyBToWorld, cA2w, cB2w, cB2cA);
+
+	bool linearTrunc, angularTrunc;
+	projected.p = truncateLinear(cB2cA.p, data.projectionLinearTolerance, linearTrunc);
+	projected.q = truncateAngular(cB2cA.q, PxSin(data.projectionAngularTolerance/2), PxCos(data.projectionAngularTolerance/2), angularTrunc);
+	
+	if(linearTrunc || angularTrunc)
+		projectTransforms(bodyAToWorld, bodyBToWorld, cA2w, cB2w, projected, data, projectToA);
+}
+}
+
+bool Ext::FixedJoint::attach(PxPhysics &physics, PxRigidActor* actor0, PxRigidActor* actor1)
+{
+	mPxConstraint = physics.createConstraint(actor0, actor1, *this, sShaders, sizeof(FixedJointData));
+	return mPxConstraint!=NULL;
+}
+
+void FixedJoint::exportExtraData(PxSerializationContext& stream) const
+{
+	if(mData)
+	{
+		stream.alignData(PX_SERIAL_ALIGN);
+		stream.writeData(mData, sizeof(FixedJointData));
+	}
+	stream.writeName(mName);
+}
+
+void FixedJoint::importExtraData(PxDeserializationContext& context)
+{
+	if(mData)
+		mData = context.readExtraData<FixedJointData, PX_SERIAL_ALIGN>();
+	context.readName(mName);
+}
+
+void FixedJoint::resolveReferences(PxDeserializationContext& context)
+{
+	setPxConstraint(resolveConstraintPtr(context, getPxConstraint(), getConnector(), sShaders));	
+}
+
+FixedJoint* FixedJoint::createObject(PxU8*& address, PxDeserializationContext& context)
+{
+	FixedJoint* obj = new (address) FixedJoint(PxBaseFlag::eIS_RELEASABLE);
+	address += sizeof(FixedJoint);	
+	obj->importExtraData(context);
+	obj->resolveReferences(context);
+	return obj;
+}
+
+// global function to share the joint shaders with API capture	
+const PxConstraintShaderTable* Ext::GetFixedJointShaderTable() 
+{ 
+	return &FixedJoint::getConstraintShaderTable();
+}
+
+//~PX_SERIALIZATION
+PxConstraintShaderTable Ext::FixedJoint::sShaders = { Ext::FixedJointSolverPrep, FixedJointProject, FixedJointVisualize, PxConstraintFlag::Enum(0) };