Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 151 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/PhysXExtensions/src/ExtSphericalJoint.h b/PhysX_3.4/Source/PhysXExtensions/src/ExtSphericalJoint.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_SPHERICALJOINTCONSTRAINT_H
+#define NP_SPHERICALJOINTCONSTRAINT_H
+
+#include "ExtJoint.h"
+#include "PxSphericalJoint.h"
+#include "CmUtils.h"
+
+namespace physx
+{
+struct PxSphericalJointGeneratedValues;
+namespace Ext
+{
+	struct SphericalJointData: 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.
+	//==================================================================================================
+		PxJointLimitCone		limit;
+		PxReal					tanQYLimit;
+		PxReal					tanQZLimit;
+		PxReal					tanQPad;
+
+		PxReal					projectionLinearTolerance;
+
+		PxSphericalJointFlags	jointFlags;
+		// forestall compiler complaints about not being able to generate a constructor
+	private:
+		SphericalJointData(const PxJointLimitCone &cone):
+			limit(cone) {}
+	};
+    
+    typedef Joint<PxSphericalJoint, PxSphericalJointGeneratedValues> SphericalJointT;
+   
+	class SphericalJoint : public SphericalJointT
+	{
+	//= 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
+									SphericalJoint(PxBaseFlags baseFlags) : SphericalJointT(baseFlags) {}
+		virtual		void			exportExtraData(PxSerializationContext& context);
+					void			importExtraData(PxDeserializationContext& context);
+					void			resolveReferences(PxDeserializationContext& context);
+		static		SphericalJoint*	createObject(PxU8*& address, PxDeserializationContext& context);
+		static		void			getBinaryMetaData(PxOutputStream& stream);
+//~PX_SERIALIZATION
+		virtual						~SphericalJoint()
+		{
+			if(getBaseFlags()&PxBaseFlag::eOWNS_MEMORY)
+				PX_FREE(mData);
+		}
+
+		SphericalJoint(const PxTolerancesScale& /*scale*/,
+					   PxRigidActor* actor0, const PxTransform& localFrame0, 
+					   PxRigidActor* actor1, const PxTransform& localFrame1)
+		: SphericalJointT(PxJointConcreteType::eSPHERICAL, PxBaseFlag::eOWNS_MEMORY | PxBaseFlag::eIS_RELEASABLE)
+		{
+			SphericalJointData* data = reinterpret_cast<SphericalJointData*>(PX_ALLOC(sizeof(SphericalJointData), "SphericalJointData"));
+			Cm::markSerializedMem(data, sizeof(SphericalJointData));
+			mData = data;
+
+			initCommonData(*data,actor0, localFrame0, actor1, localFrame1);
+			data->projectionLinearTolerance = 1e10f;
+			data->limit = PxJointLimitCone(PxPi/2, PxPi/2);
+			data->jointFlags = PxSphericalJointFlags();
+		}
+
+		void					setProjectionLinearTolerance(PxReal distance);
+		PxReal					getProjectionLinearTolerance() const;
+
+		void					setLimitCone(const PxJointLimitCone &limit);
+		PxJointLimitCone		getLimitCone() const;
+
+		PxSphericalJointFlags	getSphericalJointFlags(void) const;
+		void					setSphericalJointFlags(PxSphericalJointFlags flags);
+		void					setSphericalJointFlag(PxSphericalJointFlag::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 SphericalJointData& data() const				
+		{	
+			return *static_cast<SphericalJointData*>(mData);
+		}
+	};
+
+} // namespace Ext
+
+namespace Ext
+{
+	extern "C"  PxU32 SphericalJointSolverPrep(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* GetSphericalJointShaderTable();
+}
+
+}
+
+#endif