Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 500 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/PhysXExtensions/src/ExtJoint.h b/PhysX_3.4/Source/PhysXExtensions/src/ExtJoint.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 NP_JOINTCONSTRAINT_H
+#define NP_JOINTCONSTRAINT_H
+
+#include "PsAllocator.h"
+#include "PsUtilities.h"
+#include "PxConstraint.h"
+#include "PxConstraintExt.h"
+#include "PxJoint.h"
+#include "PxD6Joint.h"
+#include "PxRigidDynamic.h"
+#include "PxRigidStatic.h"
+#include "ExtPvd.h"
+#include "PxMetaData.h"
+#include "CmRenderOutput.h"
+#include "PxPhysics.h"
+#include "PsFoundation.h"
+
+#if PX_SUPPORT_PVD
+#include "PxScene.h"
+#include "PxPvdClient.h"
+#include "PxPvdSceneClient.h"
+#endif
+
+// PX_SERIALIZATION
+
+namespace physx
+{
+
+PxConstraint* resolveConstraintPtr(PxDeserializationContext& v,
+								   PxConstraint* old, 
+								   PxConstraintConnector* connector,
+								   PxConstraintShaderTable& shaders);
+
+// ~PX_SERIALIZATION
+
+namespace Ext
+{
+	struct JointData
+	{
+	//= 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.
+	//==================================================================================================
+							PxConstraintInvMassScale	invMassScale;
+							PxTransform					c2b[2];		
+	protected:
+		                    ~JointData(){}
+	};
+
+	template <class Base, class ValueStruct>
+	class Joint : public Base, 
+				  public PxConstraintConnector, 
+				  public Ps::UserAllocated
+	{
+  
+    public:
+// PX_SERIALIZATION
+						Joint(PxBaseFlags baseFlags) : Base(baseFlags) {}
+		virtual	void	requires(PxProcessPxBaseCallback& c)
+		{			
+			c.process(*mPxConstraint);
+			
+			{
+				PxRigidActor* a0 = NULL;
+				PxRigidActor* a1 = NULL;
+				mPxConstraint->getActors(a0,a1);
+				
+				if (a0)
+				{
+					c.process(*a0);
+				}
+				if (a1)
+				{
+					c.process(*a1);
+				}
+			}
+		}	
+//~PX_SERIALIZATION
+		
+#if PX_SUPPORT_PVD
+
+		virtual bool updatePvdProperties(physx::pvdsdk::PvdDataStream& pvdConnection, const PxConstraint* c, PxPvdUpdateType::Enum updateType) const
+		{
+			if(updateType == PxPvdUpdateType::UPDATE_SIM_PROPERTIES)
+			{
+				Ext::Pvd::simUpdate<Base>(pvdConnection, *this);
+				return true;
+			}
+			else if(updateType == PxPvdUpdateType::UPDATE_ALL_PROPERTIES)
+			{
+				Ext::Pvd::updatePvdProperties<Base, ValueStruct>(pvdConnection, *this);
+				return true;
+			}
+			else if(updateType == PxPvdUpdateType::CREATE_INSTANCE)
+			{
+				Ext::Pvd::createPvdInstance<Base>(pvdConnection, *c, *this);
+				return true;
+			}
+			else if(updateType == PxPvdUpdateType::RELEASE_INSTANCE)
+			{
+				Ext::Pvd::releasePvdInstance(pvdConnection, *c, *this);
+				return true;
+			}
+			return false;
+		}
+#else
+		virtual bool updatePvdProperties(physx::pvdsdk::PvdDataStream&, const PxConstraint*, PxPvdUpdateType::Enum) const
+		{
+			return false;
+		}
+#endif
+
+
+
+		void getActors(PxRigidActor*& actor0, PxRigidActor*& actor1)	const		
+		{	
+			if ( mPxConstraint ) mPxConstraint->getActors(actor0,actor1);
+			else
+			{
+				actor0 = NULL;
+				actor1 = NULL;
+			}
+		}
+		
+		void setActors(PxRigidActor* actor0, PxRigidActor* actor1)
+		{	
+			//TODO SDK-DEV
+			//You can get the debugger stream from the NpScene
+			//Ext::Pvd::setActors( stream, this, mPxConstraint, actor0, actor1 );
+			PX_CHECK_AND_RETURN(actor0 != actor1, "PxJoint::setActors: actors must be different");
+			PX_CHECK_AND_RETURN((actor0 && !actor0->is<PxRigidStatic>()) || (actor1 && !actor1->is<PxRigidStatic>()), "PxJoint::setActors: at least one actor must be non-static");
+
+#if PX_SUPPORT_PVD
+			PxScene* scene = getScene();
+			if(scene)
+			{
+				//if pvd not connect data stream is NULL
+				physx::pvdsdk::PvdDataStream* conn = scene->getScenePvdClient()->getClientInternal()->getDataStream();
+				if( conn != NULL )
+					Ext::Pvd::setActors(
+					*conn,
+					*this,
+					*mPxConstraint,
+					actor0, 
+					actor1
+					);
+			}
+#endif
+
+			mPxConstraint->setActors(actor0, actor1);
+			mData->c2b[0] = getCom(actor0).transformInv(mLocalPose[0]);
+			mData->c2b[1] = getCom(actor1).transformInv(mLocalPose[1]);
+			mPxConstraint->markDirty();
+		}
+
+		// this is the local pose relative to the actor, and we store internally the local
+		// pose relative to the body 
+
+		PxTransform getLocalPose(PxJointActorIndex::Enum actor) const
+		{	
+			return mLocalPose[actor];
+		}
+		
+		void setLocalPose(PxJointActorIndex::Enum actor, const PxTransform& pose)
+		{
+			PX_CHECK_AND_RETURN(pose.isSane(), "PxJoint::setLocalPose: transform is invalid");
+			PxTransform p = pose.getNormalized();
+			mLocalPose[actor] = p;
+			mData->c2b[actor] = getCom(actor).transformInv(p); 
+			mPxConstraint->markDirty();
+		}
+
+		PxTransform			getBodyPose(const PxRigidActor* actor) const
+		{
+			if(!actor)
+				return PxTransform(PxIdentity);
+			else if(actor->is<PxRigidStatic>())
+				return actor->getGlobalPose();
+			else
+				return actor->getGlobalPose() * static_cast<const PxRigidBody*>(actor)->getCMassLocalPose();
+		}
+
+
+		void getActorVelocity(const PxRigidActor* actor, PxVec3& linear, PxVec3& angular) const
+		{
+			if(!actor || actor->is<PxRigidStatic>())
+			{
+				linear = angular = PxVec3(0);
+				return;
+			}
+			
+			linear = static_cast<const PxRigidBody*>(actor)->getLinearVelocity();
+			angular = static_cast<const PxRigidBody*>(actor)->getAngularVelocity();
+		}
+
+
+		PxTransform			getRelativeTransform()					const
+		{
+			PxRigidActor* actor0, * actor1;
+			mPxConstraint->getActors(actor0, actor1);
+			PxTransform t0 = getBodyPose(actor0) * mLocalPose[0],
+						t1 = getBodyPose(actor1) * mLocalPose[1];
+			return t0.transformInv(t1);
+		}
+
+		PxVec3	getRelativeLinearVelocity()			const
+		{
+			PxRigidActor* actor0, * actor1;
+			PxVec3 l0, a0, l1, a1;
+			mPxConstraint->getActors(actor0, actor1);
+
+			PxTransform t0 = getCom(actor0), t1 = getCom(actor1);
+			getActorVelocity(actor0, l0, a0);
+			getActorVelocity(actor1, l1, a1);
+
+			PxVec3 p0 = t0.q.rotate(mLocalPose[0].p), 
+				   p1 = t1.q.rotate(mLocalPose[1].p);
+			return t0.transformInv(l1 - a1.cross(p1) - l0 + a0.cross(p0));
+		}
+
+		PxVec3				getRelativeAngularVelocity()		const
+		{
+			PxRigidActor* actor0, * actor1;
+			PxVec3 l0, a0, l1, a1;
+			mPxConstraint->getActors(actor0, actor1);
+
+			PxTransform t0 = getCom(actor0);
+			getActorVelocity(actor0, l0, a0);
+			getActorVelocity(actor1, l1, a1);
+
+			return t0.transformInv(a1 - a0);
+		}
+
+
+		void getBreakForce(PxReal& force, PxReal& torque)	const
+		{
+			mPxConstraint->getBreakForce(force,torque);
+		}
+
+		void setBreakForce(PxReal force, PxReal torque)
+		{
+			PX_CHECK_AND_RETURN(PxIsFinite(force) && PxIsFinite(torque), "NpJoint::setBreakForce: invalid float");
+			mPxConstraint->setBreakForce(force,torque);
+		}
+
+
+		PxConstraintFlags getConstraintFlags()									const
+		{
+			return mPxConstraint->getFlags();
+		}
+
+		void setConstraintFlags(PxConstraintFlags flags)
+		{
+			mPxConstraint->setFlags(flags);
+		}
+
+		void setConstraintFlag(PxConstraintFlag::Enum flag, bool value)
+		{
+			mPxConstraint->setFlag(flag, value);
+		}
+
+		void setInvMassScale0(PxReal invMassScale)
+		{
+			PX_CHECK_AND_RETURN(PxIsFinite(invMassScale) && invMassScale>=0, "PxJoint::setInvMassScale0: scale must be non-negative");
+			mData->invMassScale.linear0 = invMassScale;
+			mPxConstraint->markDirty();
+		}
+
+		PxReal getInvMassScale0() const
+		{
+			return mData->invMassScale.linear0;
+		}
+
+		void setInvInertiaScale0(PxReal invInertiaScale)
+		{
+			PX_CHECK_AND_RETURN(PxIsFinite(invInertiaScale) && invInertiaScale>=0, "PxJoint::setInvInertiaScale0: scale must be non-negative");
+			mData->invMassScale.angular0 = invInertiaScale;
+			mPxConstraint->markDirty();
+		}
+
+		PxReal getInvInertiaScale0() const
+		{
+			return mData->invMassScale.angular0;
+		}
+
+		void setInvMassScale1(PxReal invMassScale)
+		{
+			PX_CHECK_AND_RETURN(PxIsFinite(invMassScale) && invMassScale>=0, "PxJoint::setInvMassScale1: scale must be non-negative");
+			mData->invMassScale.linear1 = invMassScale;
+			mPxConstraint->markDirty();
+		}
+
+		PxReal getInvMassScale1() const
+		{
+			return mData->invMassScale.linear1;
+		}
+
+		void setInvInertiaScale1(PxReal invInertiaScale)
+		{
+			PX_CHECK_AND_RETURN(PxIsFinite(invInertiaScale) && invInertiaScale>=0, "PxJoint::setInvInertiaScale: scale must be non-negative");
+			mData->invMassScale.angular1 = invInertiaScale;
+			mPxConstraint->markDirty();
+	}
+
+		PxReal getInvInertiaScale1() const
+		{
+			return mData->invMassScale.angular1;
+		}
+
+		const char* getName() const
+		{
+			return mName;
+		}
+
+		void setName(const char* name)
+		{
+			mName = name;
+		}
+
+		void onComShift(PxU32 actor)
+		{
+			mData->c2b[actor] = getCom(actor).transformInv(mLocalPose[actor]); 
+			markDirty();
+		}
+
+		void onOriginShift(const PxVec3& shift)
+		{
+			PxRigidActor* a[2];
+			mPxConstraint->getActors(a[0], a[1]);
+
+			if (!a[0])
+			{
+				mLocalPose[0].p -= shift;
+				mData->c2b[0].p -= shift;
+				markDirty();
+			}
+			else if (!a[1])
+			{
+				mLocalPose[1].p -= shift;
+				mData->c2b[1].p -= shift;
+				markDirty();
+			}
+		}
+
+		void* prepareData()
+		{
+			return mData;
+		}
+
+		PxJoint* getPxJoint()
+		{
+			return this;
+		}
+
+		void* getExternalReference(PxU32& typeID)
+		{
+			typeID = PxConstraintExtIDs::eJOINT;
+			return static_cast<PxJoint*>( this );
+		}
+
+		PxConstraintConnector* getConnector()
+		{
+			return this;
+		}
+
+		PX_INLINE void setPxConstraint(PxConstraint* pxConstraint)
+		{
+			mPxConstraint = pxConstraint;
+		}
+
+		PX_INLINE PxConstraint* getPxConstraint()
+		{
+			return mPxConstraint;
+		}
+
+		PX_INLINE const PxConstraint* getPxConstraint() const
+		{
+			return mPxConstraint;
+		}
+
+		void release()
+		{
+			mPxConstraint->release();
+		}
+
+		PxBase* getSerializable()
+		{
+			return this;
+		}
+
+		void onConstraintRelease()
+		{
+			PX_FREE_AND_RESET(mData);
+			delete this;
+		}
+
+		PxScene* getScene() const
+		{
+			return mPxConstraint ? mPxConstraint->getScene() : NULL;
+		}
+
+	private:
+		PxConstraint* getConstraint() const { return mPxConstraint; }
+
+	protected:
+		
+		PxTransform getCom(PxU32 index) const
+		{
+			PxRigidActor* a[2];
+			mPxConstraint->getActors(a[0],a[1]);
+			return getCom(a[index]);
+		}
+
+		PxTransform getCom(PxRigidActor* actor) const
+		{
+			if (!actor)
+				return PxTransform(PxIdentity);
+			else if (actor->getType() == PxActorType::eRIGID_DYNAMIC || actor->getType() == PxActorType::eARTICULATION_LINK)
+				return static_cast<PxRigidBody*>(actor)->getCMassLocalPose();
+			else
+			{
+				PX_ASSERT(actor->getType() == PxActorType::eRIGID_STATIC);
+				return static_cast<PxRigidStatic*>(actor)->getGlobalPose().getInverse();
+			}
+		}
+
+		void initCommonData(JointData& data,
+							PxRigidActor* actor0, const PxTransform& localFrame0, 
+							PxRigidActor* actor1, const PxTransform& localFrame1)
+		{
+			mLocalPose[0] = localFrame0.getNormalized();
+			mLocalPose[1] = localFrame1.getNormalized();
+			data.c2b[0] = getCom(actor0).transformInv(localFrame0);
+			data.c2b[1] = getCom(actor1).transformInv(localFrame1);
+			data.invMassScale.linear0 = 1.0f;
+			data.invMassScale.angular0 = 1.0f;
+			data.invMassScale.linear1 = 1.0f;
+			data.invMassScale.angular1 = 1.0f;
+		}
+
+
+		Joint(PxType concreteType, PxBaseFlags baseFlags)
+		: Base(concreteType, baseFlags)
+		, mName(NULL)
+		, mPxConstraint(0)
+		{
+			Base::userData = NULL;
+		}
+
+
+		void markDirty()
+		{ 
+			mPxConstraint->markDirty();
+		}
+
+		virtual const void* getConstantBlock() const { return mData;  }
+
+		const char*						mName;
+		PxTransform						mLocalPose[2];
+		PxConstraint*					mPxConstraint;
+		JointData*						mData;
+	};
+
+} // namespace Ext
+
+}
+
+#endif