Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 219 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/PhysXExtensions/src/ExtPrismaticJoint.cpp b/PhysX_3.4/Source/PhysXExtensions/src/ExtPrismaticJoint.cpp
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+++ b/PhysX_3.4/Source/PhysXExtensions/src/ExtPrismaticJoint.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 "ExtPrismaticJoint.h"
+#include "ExtConstraintHelper.h"
+#include "CmRenderOutput.h"
+#include "CmVisualization.h"
+
+#include "common/PxSerialFramework.h"
+
+using namespace physx;
+using namespace Ext;
+
+PxPrismaticJoint* physx::PxPrismaticJointCreate(PxPhysics& physics,
+												PxRigidActor* actor0, const PxTransform& localFrame0,
+												PxRigidActor* actor1, const PxTransform& localFrame1)
+{
+	PX_CHECK_AND_RETURN_NULL(localFrame0.isSane(), "PxPrismaticJointCreate: local frame 0 is not a valid transform"); 
+	PX_CHECK_AND_RETURN_NULL(localFrame1.isSane(), "PxPrismaticJointCreate: local frame 1 is not a valid transform"); 
+	PX_CHECK_AND_RETURN_NULL((actor0 && actor0->is<PxRigidBody>()) || (actor1 && actor1->is<PxRigidBody>()), "PxPrismaticJointCreate: at least one actor must be dynamic");
+	PX_CHECK_AND_RETURN_NULL(actor0 != actor1, "PxPrismaticJointCreate: actors must be different");
+
+	PrismaticJoint* j;
+	PX_NEW_SERIALIZED(j,PrismaticJoint)(physics.getTolerancesScale(), actor0, localFrame0, actor1, localFrame1);
+
+	if(j->attach(physics, actor0, actor1))
+		return j;
+
+	PX_DELETE(j);
+	return NULL;
+}
+
+void PrismaticJoint::setProjectionAngularTolerance(PxReal tolerance)
+{ 
+	PX_CHECK_AND_RETURN(PxIsFinite(tolerance) && tolerance >=0 && tolerance <= PxPi, "PxPrismaticJoint::setProjectionAngularTolerance: invalid parameter");
+	data().projectionAngularTolerance = tolerance;	
+	markDirty();	
+}
+
+PxReal PrismaticJoint::getProjectionAngularTolerance() const
+{ 
+	return data().projectionAngularTolerance; 
+}
+
+void PrismaticJoint::setProjectionLinearTolerance(PxReal tolerance) 
+{ 
+	PX_CHECK_AND_RETURN(PxIsFinite(tolerance) && tolerance >=0, "PxPrismaticJoint::setProjectionLinearTolerance: invalid parameter");
+	data().projectionLinearTolerance = tolerance;	
+	markDirty(); 
+}
+
+PxReal PrismaticJoint::getProjectionLinearTolerance() const	
+{ 
+	return data().projectionLinearTolerance;		
+}
+
+PxPrismaticJointFlags PrismaticJoint::getPrismaticJointFlags(void) const
+{ 
+	return data().jointFlags;		
+}
+
+void PrismaticJoint::setPrismaticJointFlags(PxPrismaticJointFlags flags)
+{ 
+	data().jointFlags = flags; markDirty();	
+}
+
+void PrismaticJoint::setPrismaticJointFlag(PxPrismaticJointFlag::Enum flag, bool value)
+{
+	if(value)
+		data().jointFlags |= flag;
+	else
+		data().jointFlags &= ~flag;
+	markDirty();
+}
+
+
+PxJointLinearLimitPair PrismaticJoint::getLimit() const
+{ 
+	return data().limit;	
+}
+
+void PrismaticJoint::setLimit(const PxJointLinearLimitPair& limit)
+{ 
+	PX_CHECK_AND_RETURN(limit.isValid(), "PxPrismaticJoint::setLimit: invalid parameter");
+	data().limit = limit;
+	markDirty();
+}
+
+
+
+namespace
+{
+
+
+void PrismaticJointVisualize(PxConstraintVisualizer& viz,
+							 const void* constantBlock,
+							 const PxTransform& body0Transform,
+							 const PxTransform& body1Transform,
+							 PxU32 /*flags*/)
+{
+	const PrismaticJointData& data = *reinterpret_cast<const PrismaticJointData*>(constantBlock);
+
+	const PxTransform& t0 = body0Transform * data.c2b[0];
+	const PxTransform& t1 = body1Transform * data.c2b[1];
+
+	viz.visualizeJointFrames(t0, t1);
+
+	PxVec3 axis = t0.rotate(PxVec3(1.f,0,0));
+	PxReal ordinate = axis.dot(t0.transformInv(t1.p)-t0.p);
+
+	if(data.jointFlags & PxPrismaticJointFlag::eLIMIT_ENABLED)
+	{
+		viz.visualizeLinearLimit(t0, t1, data.limit.lower, ordinate < data.limit.lower + data.limit.contactDistance);
+		viz.visualizeLinearLimit(t0, t1, data.limit.upper, ordinate > data.limit.upper - data.limit.contactDistance);
+	}
+
+}
+
+
+
+void PrismaticJointProject(const void* constantBlock,
+						   PxTransform& bodyAToWorld,
+						   PxTransform& bodyBToWorld,
+						   bool projectToA)
+{
+	using namespace joint;
+
+	const PrismaticJointData& data = *reinterpret_cast<const PrismaticJointData*>(constantBlock);
+
+	PxTransform cA2w, cB2w, cB2cA, projected;
+	computeDerived(data, bodyAToWorld, bodyBToWorld, cA2w, cB2w, cB2cA);
+
+	PxVec3 v(0,cB2cA.p.y,cB2cA.p.z);
+	bool linearTrunc, angularTrunc;
+	projected.p = truncateLinear(v, data.projectionLinearTolerance, linearTrunc);
+	projected.q = truncateAngular(cB2cA.q, PxSin(data.projectionAngularTolerance/2), PxCos(data.projectionAngularTolerance/2), angularTrunc);
+	
+	if(linearTrunc || angularTrunc)
+	{
+		projected.p.x = cB2cA.p.x;
+		projectTransforms(bodyAToWorld, bodyBToWorld, cA2w, cB2w, projected, data, projectToA);
+	}
+}
+}
+
+bool Ext::PrismaticJoint::attach(PxPhysics &physics, PxRigidActor* actor0, PxRigidActor* actor1)
+{
+	mPxConstraint = physics.createConstraint(actor0, actor1, *this, sShaders, sizeof(PrismaticJointData));
+	return mPxConstraint!=NULL;
+}
+
+void PrismaticJoint::exportExtraData(PxSerializationContext& stream)
+{
+	if(mData)
+	{
+		stream.alignData(PX_SERIAL_ALIGN);
+		stream.writeData(mData, sizeof(PrismaticJointData));
+	}
+	stream.writeName(mName);
+}
+
+void PrismaticJoint::importExtraData(PxDeserializationContext& context)
+{
+	if(mData)
+		mData = context.readExtraData<PrismaticJointData, PX_SERIAL_ALIGN>();
+	context.readName(mName);
+}
+
+void PrismaticJoint::resolveReferences(PxDeserializationContext& context)
+{
+	setPxConstraint(resolveConstraintPtr(context, getPxConstraint(), getConnector(), sShaders));	
+}
+
+PrismaticJoint* PrismaticJoint::createObject(PxU8*& address, PxDeserializationContext& context)
+{
+	PrismaticJoint* obj = new (address) PrismaticJoint(PxBaseFlag::eIS_RELEASABLE);
+	address += sizeof(PrismaticJoint);	
+	obj->importExtraData(context);
+	obj->resolveReferences(context);
+	return obj;
+}
+
+// global function to share the joint shaders with API capture	
+const PxConstraintShaderTable* Ext::GetPrismaticJointShaderTable() 
+{ 
+	return &PrismaticJoint::getConstraintShaderTable();
+}
+
+//~PX_SERIALIZATION
+PxConstraintShaderTable Ext::PrismaticJoint::sShaders = { Ext::PrismaticJointSolverPrep, PrismaticJointProject, PrismaticJointVisualize, PxConstraintFlag::Enum(0) };
+
+