Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 287 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/PhysXExtensions/src/ExtRevoluteJoint.cpp b/PhysX_3.4/Source/PhysXExtensions/src/ExtRevoluteJoint.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 "ExtRevoluteJoint.h"
+#include "PsUtilities.h"
+#include "ExtConstraintHelper.h"
+#include "CmRenderOutput.h"
+#include "PsMathUtils.h"
+#include "CmVisualization.h"
+#include "CmUtils.h"
+
+#include "common/PxSerialFramework.h"
+
+using namespace physx;
+using namespace Ext;
+
+namespace physx
+{
+	PxRevoluteJoint* PxRevoluteJointCreate(PxPhysics& physics,
+		PxRigidActor* actor0, const PxTransform& localFrame0,
+		PxRigidActor* actor1, const PxTransform& localFrame1);
+}
+
+PxRevoluteJoint* physx::PxRevoluteJointCreate(PxPhysics& physics,
+											  PxRigidActor* actor0, const PxTransform& localFrame0,
+											  PxRigidActor* actor1, const PxTransform& localFrame1)
+{
+	PX_CHECK_AND_RETURN_NULL(localFrame0.isSane(), "PxRevoluteJointCreate: local frame 0 is not a valid transform"); 
+	PX_CHECK_AND_RETURN_NULL(localFrame1.isSane(), "PxRevoluteJointCreate: local frame 1 is not a valid transform"); 
+	PX_CHECK_AND_RETURN_NULL(actor0 != actor1, "PxRevoluteJointCreate: actors must be different");
+	PX_CHECK_AND_RETURN_NULL((actor0 && actor0->is<PxRigidBody>()) || (actor1 && actor1->is<PxRigidBody>()), "PxRevoluteJointCreate: at least one actor must be dynamic");
+
+	RevoluteJoint* j;
+	PX_NEW_SERIALIZED(j,RevoluteJoint)(physics.getTolerancesScale(), actor0, localFrame0, actor1, localFrame1);
+	if(j->attach(physics, actor0, actor1))
+		return j;
+
+	PX_DELETE(j);
+	return NULL;
+}
+
+
+PxReal RevoluteJoint::getAngle() const
+{
+	PxQuat q = getRelativeTransform().q, swing, twist;
+	Ps::separateSwingTwist(q, swing, twist);
+	PxReal angle = twist.getAngle();
+	if(q.x<0)
+		angle = 2*PxPi - angle;
+	if(angle>PxPi)
+		angle-=2*PxPi;
+	return angle;
+	
+}
+
+PxReal RevoluteJoint::getVelocity() const
+{
+	return getRelativeAngularVelocity().x;
+}
+
+
+
+PxJointAngularLimitPair RevoluteJoint::getLimit()	const
+{ 
+	return data().limit;	
+}
+
+void RevoluteJoint::setLimit(const PxJointAngularLimitPair& limit)
+{ 
+	PX_CHECK_AND_RETURN(limit.isValid(), "PxRevoluteJoint::setTwistLimit: limit invalid");
+	PX_CHECK_AND_RETURN(limit.lower>-PxPi && limit.upper<PxPi , "PxRevoluteJoint::twist limit must be strictly -*PI and PI");
+	PX_CHECK_AND_RETURN(limit.upper - limit.lower < PxTwoPi, "PxRevoluteJoint::twist limit range must be strictly less than 2*PI");
+	data().limit = limit; 
+	markDirty();	
+}
+
+PxReal RevoluteJoint::getDriveVelocity() const
+{ 
+	return data().driveVelocity;	
+}
+
+void RevoluteJoint::setDriveVelocity(PxReal velocity)
+{ 
+	PX_CHECK_AND_RETURN(PxIsFinite(velocity), "PxRevoluteJoint::setDriveVelocity: invalid parameter");
+	data().driveVelocity = velocity; 
+	markDirty(); 
+}
+
+PxReal RevoluteJoint::getDriveForceLimit() const
+{ 
+	return data().driveForceLimit;	
+}
+
+void RevoluteJoint::setDriveForceLimit(PxReal forceLimit)
+{ 
+	PX_CHECK_AND_RETURN(PxIsFinite(forceLimit), "PxRevoluteJoint::setDriveForceLimit: invalid parameter");
+	data().driveForceLimit = forceLimit; 
+	markDirty(); 
+}
+
+PxReal RevoluteJoint::getDriveGearRatio() const
+{ 
+	return data().driveGearRatio;	
+}
+
+void RevoluteJoint::setDriveGearRatio(PxReal gearRatio)
+{ 
+	PX_CHECK_AND_RETURN(PxIsFinite(gearRatio) && gearRatio>0, "PxRevoluteJoint::setDriveGearRatio: invalid parameter");
+	data().driveGearRatio = gearRatio; 
+	markDirty(); 
+}
+
+void RevoluteJoint::setProjectionAngularTolerance(PxReal tolerance)
+{ 
+	PX_CHECK_AND_RETURN(PxIsFinite(tolerance) && tolerance>=0 && tolerance<=PxPi, "PxRevoluteJoint::setProjectionAngularTolerance: invalid parameter");
+	data().projectionAngularTolerance = tolerance;
+	markDirty();	
+}
+
+PxReal RevoluteJoint::getProjectionAngularTolerance() const	
+{ 
+	return data().projectionAngularTolerance; 
+}
+
+void RevoluteJoint::setProjectionLinearTolerance(PxReal tolerance)
+{ 
+	PX_CHECK_AND_RETURN(PxIsFinite(tolerance) && tolerance >=0, "PxRevoluteJoint::setProjectionLinearTolerance: invalid parameter");
+	data().projectionLinearTolerance = tolerance;
+	markDirty(); 
+}
+
+PxReal RevoluteJoint::getProjectionLinearTolerance() const
+{ 
+	return data().projectionLinearTolerance;		
+}
+
+PxRevoluteJointFlags RevoluteJoint::getRevoluteJointFlags(void)	const
+{ 
+	return data().jointFlags; 
+}
+
+void RevoluteJoint::setRevoluteJointFlags(PxRevoluteJointFlags flags)
+{ 
+	data().jointFlags = flags; 
+}
+
+void RevoluteJoint::setRevoluteJointFlag(PxRevoluteJointFlag::Enum flag, bool value)
+{
+	if(value)
+		data().jointFlags |= flag;
+	else
+		data().jointFlags &= ~flag;
+	markDirty();
+}
+
+
+
+
+void* Ext::RevoluteJoint::prepareData()
+{
+	data().tqHigh =  PxTan(data().limit.upper/4);
+	data().tqLow = PxTan(data().limit.lower/4);
+	data().tqPad = PxTan(data().limit.contactDistance/4);
+
+	return RevoluteJointT::prepareData();
+}
+
+
+namespace
+{
+
+void RevoluteJointProject(const void* constantBlock,
+						  PxTransform& bodyAToWorld,
+						  PxTransform& bodyBToWorld,
+						  bool projectToA)
+{
+	using namespace joint;
+
+	const RevoluteJointData& data = *reinterpret_cast<const RevoluteJointData*>(constantBlock);
+
+	PxTransform cA2w, cB2w, cB2cA, projected;
+	computeDerived(data, bodyAToWorld, bodyBToWorld, cA2w, cB2w, cB2cA);
+
+	bool linearTrunc, angularTrunc;
+	projected.p = truncateLinear(cB2cA.p, data.projectionLinearTolerance, linearTrunc);
+
+	PxQuat swing, twist, projSwing;
+	Ps::separateSwingTwist(cB2cA.q,swing,twist);
+	projSwing = truncateAngular(swing, PxSin(data.projectionAngularTolerance/2), PxCos(data.projectionAngularTolerance/2), angularTrunc);
+	
+	if(linearTrunc || angularTrunc)
+	{
+		projected.q = projSwing * twist;
+		projectTransforms(bodyAToWorld, bodyBToWorld, cA2w, cB2w, projected, data, projectToA);
+	}
+}
+
+void RevoluteJointVisualize(PxConstraintVisualizer& viz,
+		 					const void* constantBlock,
+							const PxTransform& body0Transform,
+							const PxTransform& body1Transform,
+							PxU32 /*flags*/)
+{
+	const RevoluteJointData& data = *reinterpret_cast<const RevoluteJointData*>(constantBlock);
+
+	const PxTransform& t0 = body0Transform * data.c2b[0];
+	const PxTransform& t1 = body1Transform * data.c2b[1];
+
+	viz.visualizeJointFrames(t0, t1);
+
+	if(data.jointFlags & PxRevoluteJointFlag::eLIMIT_ENABLED)
+		viz.visualizeAngularLimit(t0, data.limit.lower, data.limit.upper, false);
+}
+}
+
+bool Ext::RevoluteJoint::attach(PxPhysics &physics, PxRigidActor* actor0, PxRigidActor* actor1)
+{
+	mPxConstraint = physics.createConstraint(actor0, actor1, *this, sShaders, sizeof(RevoluteJointData));
+	return mPxConstraint!=NULL;
+}
+
+void RevoluteJoint::exportExtraData(PxSerializationContext& stream)
+{
+	if(mData)
+	{
+		stream.alignData(PX_SERIAL_ALIGN);
+		stream.writeData(mData, sizeof(RevoluteJointData));
+	}
+	stream.writeName(mName);
+}
+
+void RevoluteJoint::importExtraData(PxDeserializationContext& context)
+{
+	if(mData)
+		mData = context.readExtraData<RevoluteJointData, PX_SERIAL_ALIGN>();
+	context.readName(mName);
+}
+
+void RevoluteJoint::resolveReferences(PxDeserializationContext& context)
+{
+	setPxConstraint(resolveConstraintPtr(context, getPxConstraint(), getConnector(), sShaders));	
+}
+
+RevoluteJoint* RevoluteJoint::createObject(PxU8*& address, PxDeserializationContext& context)
+{
+	RevoluteJoint* obj = new (address) RevoluteJoint(PxBaseFlag::eIS_RELEASABLE);
+	address += sizeof(RevoluteJoint);	
+	obj->importExtraData(context);
+	obj->resolveReferences(context);
+	return obj;
+}
+
+// global function to share the joint shaders with API capture	
+const PxConstraintShaderTable* Ext::GetRevoluteJointShaderTable() 
+{ 
+	return &RevoluteJoint::getConstraintShaderTable();
+}
+
+//~PX_SERIALIZATION
+PxConstraintShaderTable Ext::RevoluteJoint::sShaders = { Ext::RevoluteJointSolverPrep, RevoluteJointProject, RevoluteJointVisualize, PxConstraintFlag::Enum(0) };