Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 184 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/PhysXExtensions/src/ExtRevoluteJoint.h b/PhysX_3.4/Source/PhysXExtensions/src/ExtRevoluteJoint.h
new file mode 100644
index 00000000..caf65b3a
--- /dev/null
+++ b/PhysX_3.4/Source/PhysXExtensions/src/ExtRevoluteJoint.h
@@ -0,0 +1,184 @@
+// 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_REVOLUTEJOINTCONSTRAINT_H
+#define NP_REVOLUTEJOINTCONSTRAINT_H
+
+#include "ExtJoint.h"
+#include "PxRevoluteJoint.h"
+#include "PsIntrinsics.h"
+#include "CmUtils.h"
+
+namespace physx
+{
+
+class PxConstraintSolverPrepKernel;
+class PxConstraintProjectionKernel;
+struct PxRevoluteJointGeneratedValues;
+
+namespace Ext
+{
+	struct RevoluteJointData : public 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.
+	//==================================================================================================
+
+							PxReal					driveVelocity;
+							PxReal					driveForceLimit;
+							PxReal					driveGearRatio;
+
+							PxJointAngularLimitPair	limit;
+							
+							PxReal					tqHigh;
+							PxReal					tqLow;
+							PxReal					tqPad;
+
+							PxReal					projectionLinearTolerance;
+							PxReal					projectionAngularTolerance;
+							
+							PxRevoluteJointFlags	jointFlags;
+		// forestall compiler complaints about not being able to generate a constructor
+	private:
+		RevoluteJointData(const PxJointAngularLimitPair &pair):
+			limit(pair) {}
+	};
+
+    typedef Joint<PxRevoluteJoint, PxRevoluteJointGeneratedValues> RevoluteJointT;
+    
+	class RevoluteJoint : public RevoluteJointT
+	{
+	//= 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.
+	//==================================================================================================
+	public:
+// PX_SERIALIZATION
+									RevoluteJoint(PxBaseFlags baseFlags) : RevoluteJointT(baseFlags) {}
+					void			resolveReferences(PxDeserializationContext& context);
+		virtual		void			exportExtraData(PxSerializationContext& context);
+					void			importExtraData(PxDeserializationContext& context);
+		static		RevoluteJoint*	createObject(PxU8*& address, PxDeserializationContext& context);
+		static		void			getBinaryMetaData(PxOutputStream& stream);
+//~PX_SERIALIZATION
+		virtual						~RevoluteJoint()
+		{
+			if(getBaseFlags()&PxBaseFlag::eOWNS_MEMORY)
+				PX_FREE(mData);
+		}
+
+		RevoluteJoint(const PxTolerancesScale& /*scale*/,
+					  PxRigidActor* actor0, const PxTransform& localFrame0, 
+					  PxRigidActor* actor1, const PxTransform& localFrame1)
+		: RevoluteJointT(PxJointConcreteType::eREVOLUTE, PxBaseFlag::eOWNS_MEMORY | PxBaseFlag::eIS_RELEASABLE)
+		{
+			RevoluteJointData* data = reinterpret_cast<RevoluteJointData*>(PX_ALLOC(sizeof(RevoluteJointData), "RevoluteJointData"));
+			Cm::markSerializedMem(data, sizeof(RevoluteJointData));
+			mData = data;
+
+			initCommonData(*data, actor0, localFrame0, actor1, localFrame1);
+
+			data->projectionLinearTolerance = 1e10f;
+			data->projectionAngularTolerance = PxPi;
+			data->driveForceLimit = PX_MAX_F32;
+			data->driveVelocity = 0;
+			data->driveGearRatio = 1.0f;
+			data->limit = PxJointAngularLimitPair(-PxPi/2, PxPi/2);
+			data->jointFlags = PxRevoluteJointFlags();
+		}
+
+		PxReal					getAngle() const;
+		PxReal					getVelocity() const;
+
+		PxJointAngularLimitPair	getLimit()	const;
+		void					setLimit(const PxJointAngularLimitPair& limit);
+
+		PxReal					getDriveVelocity() const;
+		void					setDriveVelocity(PxReal velocity);
+
+		PxReal					getDriveForceLimit() const;
+		void					setDriveForceLimit(PxReal forceLimit);
+
+		PxReal					getDriveGearRatio() const;
+		void					setDriveGearRatio(PxReal gearRatio);
+
+		void					setProjectionAngularTolerance(PxReal tolerance);
+		PxReal					getProjectionAngularTolerance()				const;
+
+		void					setProjectionLinearTolerance(PxReal distance);
+		PxReal					getProjectionLinearTolerance()				const;
+		
+		PxRevoluteJointFlags	getRevoluteJointFlags(void)					const;
+		void					setRevoluteJointFlags(PxRevoluteJointFlags flags);
+		void					setRevoluteJointFlag(PxRevoluteJointFlag::Enum flag, bool value);
+
+		void*					prepareData();
+		
+		bool					attach(PxPhysics &physics, PxRigidActor* actor0, PxRigidActor* actor1);
+		
+		static const PxConstraintShaderTable& getConstraintShaderTable() { return sShaders; }
+
+		virtual PxConstraintSolverPrep getPrep() const { return sShaders.solverPrep; }
+
+	private:
+
+		static PxConstraintShaderTable sShaders;
+
+		PX_FORCE_INLINE RevoluteJointData& data() const				
+		{	
+			return *static_cast<RevoluteJointData*>(mData);
+		}
+
+	};
+
+} // namespace Ext
+
+namespace Ext
+{
+	extern "C"  PxU32 RevoluteJointSolverPrep(Px1DConstraint* constraints,
+		PxVec3& body0WorldOffset,
+		PxU32 maxConstraints,
+		PxConstraintInvMassScale& invMassScale,
+		const void* constantBlock,
+		const PxTransform& bA2w,
+		const PxTransform& bB2w);
+	
+	// global function to share the joint shaders with API capture	
+	extern "C" const PxConstraintShaderTable* GetRevoluteJointShaderTable();
+}
+
+}
+
+#endif