PhysX 3.4.1, APEX 1.4.1 Release @23131702

14 files changed, 180 insertions, 107 deletions

diff --git a/PhysX_3.4/Source/PhysXExtensions/src/ExtConstraintHelper.h b/PhysX_3.4/Source/PhysXExtensions/src/ExtConstraintHelper.h
index cf4d300c..6f45fca4 100644
--- a/PhysX_3.4/Source/PhysXExtensions/src/ExtConstraintHelper.h
+++ b/PhysX_3.4/Source/PhysXExtensions/src/ExtConstraintHelper.h
@@ -254,9 +254,16 @@ namespace Ext
 				if(lin)
 				{
 					PxMat33 axes(qA);
-					if(lin&1) linear(axes[0], -cB2cAp[0], PxConstraintSolveHint::eEQUALITY, current++);
-					if(lin&2) linear(axes[1], -cB2cAp[1], PxConstraintSolveHint::eEQUALITY, current++);
-					if(lin&4) linear(axes[2], -cB2cAp[2], PxConstraintSolveHint::eEQUALITY, current++);
+
+					PxVec3 error(0.f);
+
+					if(lin&1) error -= axes[0]*cB2cAp[0];
+					if(lin&2) error -= axes[1]*cB2cAp[1];
+					if(lin&4) error -= axes[2]*cB2cAp[2];
+
+					if(lin&1) linear(axes[0], -cB2cAp[0], PxConstraintSolveHint::eEQUALITY, current++, error);
+					if(lin&2) linear(axes[1], -cB2cAp[1], PxConstraintSolveHint::eEQUALITY, current++, error);
+					if(lin&4) linear(axes[2], -cB2cAp[2], PxConstraintSolveHint::eEQUALITY, current++, error);
 				}
 
 				for(Px1DConstraint* front = mCurrent; front < current; front++)
@@ -300,10 +307,11 @@ namespace Ext
 				return c;
 			}
 
-			PX_FORCE_INLINE Px1DConstraint* linear(const PxVec3& axis, PxReal posErr, PxConstraintSolveHint::Enum hint, Px1DConstraint* c)
+			PX_FORCE_INLINE Px1DConstraint* linear(const PxVec3& axis, PxReal posErr, PxConstraintSolveHint::Enum hint, Px1DConstraint* c,
+				const PxVec3& errorVec)
 			{
 				c->solveHint		= PxU16(hint);
-				c->linear0 = axis;					c->angular0	= mRa.cross(axis);
+				c->linear0 = axis;					c->angular0	= (mRa + errorVec).cross(axis);
 				c->linear1 = axis;					c->angular1 = mRb.cross(axis);
 				PX_ASSERT(c->linear0.isFinite());
 				PX_ASSERT(c->linear1.isFinite());
diff --git a/PhysX_3.4/Source/PhysXExtensions/src/ExtD6Joint.cpp b/PhysX_3.4/Source/PhysXExtensions/src/ExtD6Joint.cpp
index f60aa21b..152cf8f6 100644
--- a/PhysX_3.4/Source/PhysXExtensions/src/ExtD6Joint.cpp
+++ b/PhysX_3.4/Source/PhysXExtensions/src/ExtD6Joint.cpp
@@ -343,11 +343,6 @@ This used to be in angular locked:
 
 namespace
 {
-PxReal tanHalfFromSin(PxReal sin)
-{
-	return Ps::tanHalf(sin, 1 - sin*sin);
-}
-
 PxQuat truncate(const PxQuat& qIn, PxReal minCosHalfTol, bool& truncated)
 {
 	PxQuat q = qIn.w >= 0 ? qIn : -qIn;
@@ -440,7 +435,7 @@ void D6JointVisualize(PxConstraintVisualizer &viz,
  				      const void* constantBlock,
 					  const PxTransform& body0Transform,
 					  const PxTransform& body1Transform,
-					  PxU32 /*flags*/)
+					  PxU32 flags)
 {
 	using namespace joint;
 
@@ -459,57 +454,78 @@ void D6JointVisualize(PxConstraintVisualizer &viz,
 	PxTransform cA2w = body0Transform * data.c2b[0];
 	PxTransform cB2w = body1Transform * data.c2b[1];
 
-	viz.visualizeJointFrames(cA2w, cB2w);
+	if(flags & PxConstraintVisualizationFlag::eLOCAL_FRAMES)
+		viz.visualizeJointFrames(cA2w, cB2w);
 
-	if(cA2w.q.dot(cB2w.q)<0)
-		cB2w.q = -cB2w.q;
+	if(flags & PxConstraintVisualizationFlag::eLIMITS)
+	{
+		if(cA2w.q.dot(cB2w.q)<0)
+			cB2w.q = -cB2w.q;
 
-	PxTransform cB2cA = cA2w.transformInv(cB2w);	
+		PxTransform cB2cA = cA2w.transformInv(cB2w);	
 
-	PxQuat swing, twist;
-	Ps::separateSwingTwist(cB2cA.q,swing,twist);
+		PxQuat swing, twist;
+		Ps::separateSwingTwist(cB2cA.q,swing,twist);
 
-	PxMat33 cA2w_m(cA2w.q), cB2w_m(cB2w.q);
-	PxVec3 bX = cB2w_m[0], aY = cA2w_m[1], aZ = cA2w_m[2];
+		PxMat33 cA2w_m(cA2w.q), cB2w_m(cB2w.q);
+		PxVec3 bX = cB2w_m[0], aY = cA2w_m[1], aZ = cA2w_m[2];
 
-	if(data.limited&TWIST_FLAG)
-	{
-		PxReal tqPhi = Ps::tanHalf(twist.x, twist.w);		// always support (-pi, +pi)
-		viz.visualizeAngularLimit(cA2w, data.twistLimit.lower, data.twistLimit.upper, 
-			PxAbs(tqPhi) > data.tqTwistHigh + data.tqSwingPad);
-	}
+		if(data.limited&TWIST_FLAG)
+		{
+			PxReal tqPhi = Ps::tanHalf(twist.x, twist.w);		// always support (-pi, +pi)
 
-	bool swing1Limited = (data.limited & SWING1_FLAG)!=0, swing2Limited = (data.limited & SWING2_FLAG)!=0;
+			// PT: TODO: refactor with similar code in revolute joint
+			PxReal quarterAngle = tqPhi;
+			PxReal lower = data.tqTwistLow;
+			PxReal upper = data.tqTwistHigh;
+			PxReal pad = data.tqTwistPad;
 
-	if(swing1Limited && swing2Limited)
-	{
-		PxVec3 tanQSwing = PxVec3(0, Ps::tanHalf(swing.z,swing.w), -Ps::tanHalf(swing.y,swing.w));
-		Cm::ConeLimitHelper coneHelper(data.tqSwingZ, data.tqSwingY, data.tqSwingPad);
-		viz.visualizeLimitCone(cA2w, data.tqSwingZ, data.tqSwingY, 
-			!coneHelper.contains(tanQSwing));
-	}
-	else if(swing1Limited ^ swing2Limited)
-	{
-		PxTransform yToX = PxTransform(PxVec3(0), PxQuat(-PxPi/2, PxVec3(0,0,1.f)));
-		PxTransform zToX = PxTransform(PxVec3(0), PxQuat(PxPi/2, PxVec3(0,1.f,0)));
+			if(data.twistLimit.isSoft())
+				pad = 0.0f;
+
+			bool active = false;
+			PX_ASSERT(lower<upper);
+			if(quarterAngle < lower+pad)
+				active = true;
+			if(quarterAngle > upper-pad)
+				active = true;
+
+			viz.visualizeAngularLimit(cA2w, data.twistLimit.lower, data.twistLimit.upper, active);
+		}
+
+		bool swing1Limited = (data.limited & SWING1_FLAG)!=0, swing2Limited = (data.limited & SWING2_FLAG)!=0;
 
-		if(swing1Limited)
+		if(swing1Limited && swing2Limited)
 		{
-			if(data.locked & SWING2_FLAG)
-				viz.visualizeAngularLimit(cA2w * yToX, -data.swingLimit.yAngle, data.swingLimit.yAngle, 
-					PxAbs(Ps::tanHalf(swing.y, swing.w)) > data.tqSwingY - data.tqSwingPad);
-			else
-				viz.visualizeDoubleCone(cA2w * zToX, data.swingLimit.yAngle, 
-					PxAbs(tanHalfFromSin(aZ.dot(bX)))> data.thSwingY - data.thSwingPad);
+			PxVec3 tanQSwing = PxVec3(0, Ps::tanHalf(swing.z,swing.w), -Ps::tanHalf(swing.y,swing.w));
+			const PxReal pad = data.swingLimit.isSoft() ? 0.0f : data.tqSwingPad;
+			Cm::ConeLimitHelper coneHelper(data.tqSwingZ, data.tqSwingY, pad);
+			viz.visualizeLimitCone(cA2w, data.tqSwingZ, data.tqSwingY, 
+				!coneHelper.contains(tanQSwing));
 		}
-		else 
+		else if(swing1Limited ^ swing2Limited)
 		{
-			if(data.locked & SWING1_FLAG)
-				viz.visualizeAngularLimit(cA2w * zToX, -data.swingLimit.zAngle, data.swingLimit.zAngle,
-					PxAbs(Ps::tanHalf(swing.z, swing.w)) > data.tqSwingZ - data.tqSwingPad);
-			else
-				viz.visualizeDoubleCone(cA2w * yToX, data.swingLimit.zAngle,  
-					PxAbs(tanHalfFromSin(aY.dot(bX)))> data.thSwingZ - data.thSwingPad);
+			PxTransform yToX = PxTransform(PxVec3(0), PxQuat(-PxPi/2, PxVec3(0,0,1.f)));
+			PxTransform zToX = PxTransform(PxVec3(0), PxQuat(PxPi/2, PxVec3(0,1.f,0)));
+
+			if(swing1Limited)
+			{
+				if(data.locked & SWING2_FLAG)
+					viz.visualizeAngularLimit(cA2w * yToX, -data.swingLimit.yAngle, data.swingLimit.yAngle, 
+						PxAbs(Ps::tanHalf(swing.y, swing.w)) > data.tqSwingY - data.tqSwingPad);
+				else
+					viz.visualizeDoubleCone(cA2w * zToX, data.swingLimit.yAngle, 
+						PxAbs(tanHalfFromSin(aZ.dot(bX)))> data.thSwingY - data.thSwingPad);
+			}
+			else 
+			{
+				if(data.locked & SWING1_FLAG)
+					viz.visualizeAngularLimit(cA2w * zToX, -data.swingLimit.zAngle, data.swingLimit.zAngle,
+						PxAbs(Ps::tanHalf(swing.z, swing.w)) > data.tqSwingZ - data.tqSwingPad);
+				else
+					viz.visualizeDoubleCone(cA2w * yToX, data.swingLimit.zAngle,  
+						PxAbs(tanHalfFromSin(aY.dot(bX)))> data.thSwingZ - data.thSwingPad);
+			}
 		}
 	}
 }
diff --git a/PhysX_3.4/Source/PhysXExtensions/src/ExtD6Joint.h b/PhysX_3.4/Source/PhysXExtensions/src/ExtD6Joint.h
index 059ba002..9cba22af 100644
--- a/PhysX_3.4/Source/PhysXExtensions/src/ExtD6Joint.h
+++ b/PhysX_3.4/Source/PhysXExtensions/src/ExtD6Joint.h
@@ -33,12 +33,18 @@
 
 #include "ExtJoint.h"
 #include "PxD6Joint.h"
+#include "PsMathUtils.h"
 
 namespace physx
 {
 struct PxD6JointGeneratedValues;
 namespace Ext
 {
+	PX_FORCE_INLINE	PxReal tanHalfFromSin(PxReal sin)
+	{
+		return Ps::tanHalf(sin, PxSqrt(1.0f - sin*sin));
+	}
+
 	struct D6JointData : public JointData
 	{
 	//= ATTENTION! =====================================================================================
diff --git a/PhysX_3.4/Source/PhysXExtensions/src/ExtD6JointSolverPrep.cpp b/PhysX_3.4/Source/PhysXExtensions/src/ExtD6JointSolverPrep.cpp
index 632f53d4..c6d3f7c1 100644
--- a/PhysX_3.4/Source/PhysXExtensions/src/ExtD6JointSolverPrep.cpp
+++ b/PhysX_3.4/Source/PhysXExtensions/src/ExtD6JointSolverPrep.cpp
@@ -68,7 +68,7 @@ namespace Ext
 		PxTransform cB2w = bB2w.transform(data.c2b[1]);
 
 		body0WorldOffset = cB2w.p-bA2w.p;
-		ConstraintHelper g(constraints, cA2w.p-bA2w.p, cB2w.p-bB2w.p);
+		ConstraintHelper g(constraints, cB2w.p-bA2w.p, cB2w.p-bB2w.p);
 
 		if(cA2w.q.dot(cB2w.q)<0)	// minimum dist quat (equiv to flipping cB2bB.q, which we don't use anywhere)
 			cB2w.q = -cB2w.q;
@@ -147,7 +147,8 @@ namespace Ext
 
 			if(limited & SWING1_FLAG && limited & SWING2_FLAG)
 			{
-				Cm::ConeLimitHelper coneHelper(data.tqSwingZ, data.tqSwingY, data.tqSwingPad);
+				const PxReal pad = data.swingLimit.isSoft() ? 0.0f : data.tqSwingPad;
+				Cm::ConeLimitHelper coneHelper(data.tqSwingZ, data.tqSwingY, pad);
 
 				PxVec3 axis;
 				PxReal error;
@@ -163,26 +164,16 @@ namespace Ext
 				if(limited & SWING1_FLAG)
 				{
 					if(locked & SWING2_FLAG)
-					{
 						g.quarterAnglePair(Ps::tanHalf(swing.y, swing.w), -data.tqSwingY, data.tqSwingY, tqPad, aY, limit);
-					}
 					else
-					{
-						PxReal dot=-aZ.dot(bX);
-						g.halfAnglePair(Ps::tanHalf(dot, 1-dot*dot), -data.thSwingY, data.thSwingY, thPad, aZ.cross(bX), limit);
-					}
+						g.halfAnglePair(tanHalfFromSin(-aZ.dot(bX)), -data.thSwingY, data.thSwingY, thPad, aZ.cross(bX), limit);
 				}
 				if(limited & SWING2_FLAG)
 				{
 					if(locked & SWING1_FLAG)
-					{
 						g.quarterAnglePair(Ps::tanHalf(swing.z, swing.w), -data.tqSwingZ, data.tqSwingZ, tqPad, aZ, limit);
-					}
 					else
-					{
-						PxReal dot=aY.dot(bX);
-						g.halfAnglePair(Ps::tanHalf(dot, 1-dot*dot), -data.thSwingZ, data.thSwingZ, thPad, -aY.cross(bX), limit);
-					}
+						g.halfAnglePair(tanHalfFromSin(aY.dot(bX)), -data.thSwingZ, data.thSwingZ, thPad, -aY.cross(bX), limit);
 				}
 			}
 
diff --git a/PhysX_3.4/Source/PhysXExtensions/src/ExtDistanceJoint.cpp b/PhysX_3.4/Source/PhysXExtensions/src/ExtDistanceJoint.cpp
index c1dde681..9168d893 100644
--- a/PhysX_3.4/Source/PhysXExtensions/src/ExtDistanceJoint.cpp
+++ b/PhysX_3.4/Source/PhysXExtensions/src/ExtDistanceJoint.cpp
@@ -148,12 +148,35 @@ void DistanceJoint::setDistanceJointFlag(PxDistanceJointFlag::Enum flag, bool va
 
 namespace
 {
-void DistanceJointVisualize(PxConstraintVisualizer& /*viz*/,
-							const void* /*constantBlock*/,
-							const PxTransform& /*body0Transform*/,
-							const PxTransform& /*body1Transform*/,
-							PxU32 /*flags*/)
+static void DistanceJointVisualize(PxConstraintVisualizer& viz, const void* constantBlock, const PxTransform& body0Transform, const PxTransform& body1Transform, PxU32 flags)
 {
+	const DistanceJointData& data = *reinterpret_cast<const DistanceJointData*>(constantBlock);
+
+	const PxTransform cA2w = body0Transform.transform(data.c2b[0]);
+	const PxTransform cB2w = body1Transform.transform(data.c2b[1]);
+
+	if(flags & PxConstraintVisualizationFlag::eLOCAL_FRAMES)
+		viz.visualizeJointFrames(cA2w, cB2w);
+
+	// PT: we consider the following is part of the joint's "limits" since that's the only available flag we have
+	if(flags & PxConstraintVisualizationFlag::eLIMITS)
+	{
+		const bool enforceMax = (data.jointFlags & PxDistanceJointFlag::eMAX_DISTANCE_ENABLED);
+		const bool enforceMin = (data.jointFlags & PxDistanceJointFlag::eMIN_DISTANCE_ENABLED);
+		if(!enforceMin && !enforceMax)
+			return;
+
+		PxVec3 dir = cB2w.p - cA2w.p;
+		const float currentDist = dir.normalize();
+
+		PxU32 color = 0x00ff00;
+		if(enforceMax && currentDist>data.maxDistance)
+			color = 0xff0000;
+		if(enforceMin && currentDist<data.minDistance)
+			color = 0x0000ff;
+
+		viz.visualizeLine(cA2w.p, cB2w.p, color);
+	}
 }
 
 void DistanceJointProject(const void* /*constantBlock*/,
diff --git a/PhysX_3.4/Source/PhysXExtensions/src/ExtFixedJoint.cpp b/PhysX_3.4/Source/PhysXExtensions/src/ExtFixedJoint.cpp
index bee99ed2..980721c1 100644
--- a/PhysX_3.4/Source/PhysXExtensions/src/ExtFixedJoint.cpp
+++ b/PhysX_3.4/Source/PhysXExtensions/src/ExtFixedJoint.cpp
@@ -93,14 +93,17 @@ void FixedJointVisualize(PxConstraintVisualizer& viz,
 						 const void* constantBlock,
 						 const PxTransform& body0Transform,
 						 const PxTransform& body1Transform,
-						 PxU32 /*flags*/)
+						 PxU32 flags)
 {
-	const FixedJointData& data = *reinterpret_cast<const FixedJointData*>(constantBlock);
+	if(flags & PxConstraintVisualizationFlag::eLOCAL_FRAMES)
+	{
+		const FixedJointData& data = *reinterpret_cast<const FixedJointData*>(constantBlock);
 
-	const PxTransform& t0 = body0Transform * data.c2b[0];
-	const PxTransform& t1 = body1Transform * data.c2b[1];
+		const PxTransform& t0 = body0Transform * data.c2b[0];
+		const PxTransform& t1 = body1Transform * data.c2b[1];
 
-	viz.visualizeJointFrames(t0, t1);
+		viz.visualizeJointFrames(t0, t1);
+	}
 }
 
 
diff --git a/PhysX_3.4/Source/PhysXExtensions/src/ExtFixedJointSolverPrep.cpp b/PhysX_3.4/Source/PhysXExtensions/src/ExtFixedJointSolverPrep.cpp
index d677bee1..162440a4 100644
--- a/PhysX_3.4/Source/PhysXExtensions/src/ExtFixedJointSolverPrep.cpp
+++ b/PhysX_3.4/Source/PhysXExtensions/src/ExtFixedJointSolverPrep.cpp
@@ -55,7 +55,7 @@ namespace Ext
 		PxVec3 bOriginInA = cA2w.transformInv(cB2w.p);
 
 		body0WorldOffset = cB2w.p-bA2w.p;
-		joint::ConstraintHelper ch(constraints,cA2w.p-bA2w.p, cB2w.p-bB2w.p);
+		joint::ConstraintHelper ch(constraints,cB2w.p-bA2w.p, cB2w.p-bB2w.p);
 		ch.prepareLockedAxes(cA2w.q, cB2w.q, bOriginInA, 7, 7);
 
 		return ch.getCount();
diff --git a/PhysX_3.4/Source/PhysXExtensions/src/ExtJoint.h b/PhysX_3.4/Source/PhysXExtensions/src/ExtJoint.h
index 9a8b1d9d..d6428f0f 100644
--- a/PhysX_3.4/Source/PhysXExtensions/src/ExtJoint.h
+++ b/PhysX_3.4/Source/PhysXExtensions/src/ExtJoint.h
@@ -202,17 +202,13 @@ namespace Ext
 			mPxConstraint->markDirty();
 		}
 
-		PxTransform			getBodyPose(const PxRigidActor* actor) const
+		static	PxTransform	getGlobalPose(const PxRigidActor* actor)
 		{
 			if(!actor)
 				return PxTransform(PxIdentity);
-			else if(actor->is<PxRigidStatic>())
-				return actor->getGlobalPose();
-			else
-				return actor->getGlobalPose() * static_cast<const PxRigidBody*>(actor)->getCMassLocalPose();
+			return actor->getGlobalPose();
 		}
 
-
 		void getActorVelocity(const PxRigidActor* actor, PxVec3& linear, PxVec3& angular) const
 		{
 			if(!actor || actor->is<PxRigidStatic>())
@@ -230,8 +226,8 @@ namespace Ext
 		{
 			PxRigidActor* actor0, * actor1;
 			mPxConstraint->getActors(actor0, actor1);
-			PxTransform t0 = getBodyPose(actor0) * mLocalPose[0],
-						t1 = getBodyPose(actor1) * mLocalPose[1];
+			const PxTransform t0 = getGlobalPose(actor0) * mLocalPose[0];
+			const PxTransform t1 = getGlobalPose(actor1) * mLocalPose[1];
 			return t0.transformInv(t1);
 		}
 
diff --git a/PhysX_3.4/Source/PhysXExtensions/src/ExtPrismaticJoint.cpp b/PhysX_3.4/Source/PhysXExtensions/src/ExtPrismaticJoint.cpp
index 882803dd..7ce3f789 100644
--- a/PhysX_3.4/Source/PhysXExtensions/src/ExtPrismaticJoint.cpp
+++ b/PhysX_3.4/Source/PhysXExtensions/src/ExtPrismaticJoint.cpp
@@ -123,20 +123,21 @@ void PrismaticJointVisualize(PxConstraintVisualizer& viz,
 							 const void* constantBlock,
 							 const PxTransform& body0Transform,
 							 const PxTransform& body1Transform,
-							 PxU32 /*flags*/)
+							 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);
+	if(flags & PxConstraintVisualizationFlag::eLOCAL_FRAMES)
+		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)
+	if((flags & PxConstraintVisualizationFlag::eLIMITS) && (data.jointFlags & PxPrismaticJointFlag::eLIMIT_ENABLED))
 	{
+		const PxVec3 bOriginInA = t0.transformInv(t1.p);
+		const PxReal ordinate = bOriginInA.x;
+
 		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);
 	}
diff --git a/PhysX_3.4/Source/PhysXExtensions/src/ExtPrismaticJointSolverPrep.cpp b/PhysX_3.4/Source/PhysXExtensions/src/ExtPrismaticJointSolverPrep.cpp
index a5d7d633..d65086e6 100644
--- a/PhysX_3.4/Source/PhysXExtensions/src/ExtPrismaticJointSolverPrep.cpp
+++ b/PhysX_3.4/Source/PhysXExtensions/src/ExtPrismaticJointSolverPrep.cpp
@@ -59,7 +59,7 @@ namespace Ext
 		PxVec3 bOriginInA = cA2w.transformInv(cB2w.p);
 
 		body0WorldOffset = cB2w.p-bA2w.p;
-		joint::ConstraintHelper ch(constraints,cA2w.p-bA2w.p, cB2w.p-bB2w.p);
+		joint::ConstraintHelper ch(constraints,cB2w.p-bA2w.p, cB2w.p-bB2w.p);
 		ch.prepareLockedAxes(cA2w.q, cB2w.q, bOriginInA, limitIsLocked ? 7ul : 6ul, 7ul);
 
 		if(limitEnabled && !limitIsLocked)
diff --git a/PhysX_3.4/Source/PhysXExtensions/src/ExtRevoluteJoint.cpp b/PhysX_3.4/Source/PhysXExtensions/src/ExtRevoluteJoint.cpp
index 40300b90..6f3e82c4 100644
--- a/PhysX_3.4/Source/PhysXExtensions/src/ExtRevoluteJoint.cpp
+++ b/PhysX_3.4/Source/PhysXExtensions/src/ExtRevoluteJoint.cpp
@@ -82,7 +82,7 @@ PxReal RevoluteJoint::getAngle() const
 
 PxReal RevoluteJoint::getVelocity() const
 {
-	return getRelativeAngularVelocity().x;
+	return getRelativeAngularVelocity().magnitude();
 }
 
 
@@ -94,7 +94,7 @@ PxJointAngularLimitPair RevoluteJoint::getLimit()	const
 
 void RevoluteJoint::setLimit(const PxJointAngularLimitPair& limit)
 { 
-	PX_CHECK_AND_RETURN(limit.isValid(), "PxRevoluteJoint::setTwistLimit: limit invalid");
+	PX_CHECK_AND_RETURN(limit.isValid(), "PxRevoluteJoint::setLimit: 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; 
@@ -226,17 +226,42 @@ void RevoluteJointVisualize(PxConstraintVisualizer& viz,
 		 					const void* constantBlock,
 							const PxTransform& body0Transform,
 							const PxTransform& body1Transform,
-							PxU32 /*flags*/)
+							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(flags & PxConstraintVisualizationFlag::eLOCAL_FRAMES)
+		viz.visualizeJointFrames(t0, t1);
 
-	if(data.jointFlags & PxRevoluteJointFlag::eLIMIT_ENABLED)
-		viz.visualizeAngularLimit(t0, data.limit.lower, data.limit.upper, false);
+	if((flags & PxConstraintVisualizationFlag::eLIMITS) && (data.jointFlags & PxRevoluteJointFlag::eLIMIT_ENABLED))
+	{
+		// PT: TODO: refactor this with the solver prep code
+		PxQuat cB2cAq = t0.q.getConjugate() * t1.q;
+		PxQuat twist(cB2cAq.x,0,0,cB2cAq.w);
+
+		PxReal magnitude = twist.normalize();
+		PxReal tqPhi = physx::intrinsics::fsel(magnitude - 1e-6f, twist.x / (1.0f + twist.w), 0.f);
+
+		PxReal quarterAngle = tqPhi;
+		PxReal lower = data.tqLow;
+		PxReal upper = data.tqHigh;
+		PxReal pad = data.tqPad;
+
+		if(data.limit.isSoft())
+			pad = 0;
+
+		bool active = false;
+		PX_ASSERT(lower<upper);
+		if(quarterAngle < lower+pad)
+			active = true;
+		if(quarterAngle > upper-pad)
+			active = true;
+
+		viz.visualizeAngularLimit(t0, data.limit.lower, data.limit.upper, active);
+	}
 }
 }
 
diff --git a/PhysX_3.4/Source/PhysXExtensions/src/ExtRevoluteJointSolverPrep.cpp b/PhysX_3.4/Source/PhysXExtensions/src/ExtRevoluteJointSolverPrep.cpp
index faca3069..3d175b64 100644
--- a/PhysX_3.4/Source/PhysXExtensions/src/ExtRevoluteJointSolverPrep.cpp
+++ b/PhysX_3.4/Source/PhysXExtensions/src/ExtRevoluteJointSolverPrep.cpp
@@ -61,7 +61,7 @@ namespace Ext
 			cB2w.q = -cB2w.q;
 
 		body0WorldOffset = cB2w.p-bA2w.p;
-		Ext::joint::ConstraintHelper ch(constraints, cA2w.p - bA2w.p, cB2w.p - bB2w.p);
+		Ext::joint::ConstraintHelper ch(constraints, cB2w.p - bA2w.p, cB2w.p - bB2w.p);
 
 		ch.prepareLockedAxes(cA2w.q, cB2w.q, cA2w.transformInv(cB2w.p), 7, PxU32(limitIsLocked ? 7 : 6));
 
@@ -98,10 +98,13 @@ namespace Ext
 
 		if(limitEnabled)
 		{
-			PxQuat cB2cAq = cA2w.q.getConjugate() * cB2w.q;
-			PxQuat twist(cB2cAq.x,0,0,cB2cAq.w);
+			// PT: rotation part of "const PxTransform cB2cA = cA2w.transformInv(cB2w);"
+			const PxQuat cB2cAq = cA2w.q.getConjugate() * cB2w.q;
 
+			// PT: twist part of "Ps::separateSwingTwist(cB2cAq,swing,twist)" (more or less)
+			PxQuat twist(cB2cAq.x,0,0,cB2cAq.w);
 			PxReal magnitude = twist.normalize();
+
 			PxReal tqPhi = physx::intrinsics::fsel(magnitude - 1e-6f, twist.x / (1.0f + twist.w), 0.f);
 
 			ch.quarterAnglePair(tqPhi, data.tqLow, data.tqHigh, data.tqPad, axis, limit);
diff --git a/PhysX_3.4/Source/PhysXExtensions/src/ExtSphericalJoint.cpp b/PhysX_3.4/Source/PhysXExtensions/src/ExtSphericalJoint.cpp
index 362b3f9d..d60f94de 100644
--- a/PhysX_3.4/Source/PhysXExtensions/src/ExtSphericalJoint.cpp
+++ b/PhysX_3.4/Source/PhysXExtensions/src/ExtSphericalJoint.cpp
@@ -128,7 +128,7 @@ void SphericalJointVisualize(PxConstraintVisualizer& viz,
 							 const void* constantBlock,
 							 const PxTransform& body0Transform,
 							 const PxTransform& body1Transform,
-							 PxU32 /*flags*/)
+							 PxU32 flags)
 {
 	using namespace joint;
 	const SphericalJointData& data = *reinterpret_cast<const SphericalJointData*>(constantBlock);
@@ -136,10 +136,10 @@ void SphericalJointVisualize(PxConstraintVisualizer& viz,
 	PxTransform cA2w = body0Transform * data.c2b[0];
 	PxTransform cB2w = body1Transform * data.c2b[1];
 
-	viz.visualizeJointFrames(cA2w, cB2w);
+	if(flags & PxConstraintVisualizationFlag::eLOCAL_FRAMES)
+		viz.visualizeJointFrames(cA2w, cB2w);
 
-
-	if(data.jointFlags & PxSphericalJointFlag::eLIMIT_ENABLED)
+	if((flags & PxConstraintVisualizationFlag::eLIMITS) && (data.jointFlags & PxSphericalJointFlag::eLIMIT_ENABLED))
 	{
 		if(cA2w.q.dot(cB2w.q)<0)
 			cB2w.q = -cB2w.q;
@@ -149,7 +149,8 @@ void SphericalJointVisualize(PxConstraintVisualizer& viz,
 		Ps::separateSwingTwist(cB2cA.q,swing,twist);
 
 		PxVec3 tanQSwing = PxVec3(0, Ps::tanHalf(swing.z,swing.w), -Ps::tanHalf(swing.y,swing.w));
-		Cm::ConeLimitHelper coneHelper(data.tanQZLimit, data.tanQYLimit, data.tanQPad);
+		const PxReal pad = data.limit.isSoft() ? 0.0f : data.tanQPad;
+		Cm::ConeLimitHelper coneHelper(data.tanQZLimit, data.tanQYLimit, pad);
 		viz.visualizeLimitCone(cA2w, data.tanQZLimit, data.tanQYLimit, 
 			!coneHelper.contains(tanQSwing));
 	}
diff --git a/PhysX_3.4/Source/PhysXExtensions/src/ExtSphericalJointSolverPrep.cpp b/PhysX_3.4/Source/PhysXExtensions/src/ExtSphericalJointSolverPrep.cpp
index 6a82189d..148ff7d7 100644
--- a/PhysX_3.4/Source/PhysXExtensions/src/ExtSphericalJointSolverPrep.cpp
+++ b/PhysX_3.4/Source/PhysXExtensions/src/ExtSphericalJointSolverPrep.cpp
@@ -66,13 +66,13 @@ namespace Ext
 			Ps::separateSwingTwist(cA2w.q.getConjugate() * cB2w.q, swing, twist);
 			PX_ASSERT(PxAbs(swing.x)<1e-6f);
 
-			Cm::ConeLimitHelper coneHelper(data.tanQZLimit, data.tanQYLimit, data.tanQPad);
+			const PxReal pad = data.limit.isSoft() ? 0.0f : data.tanQPad;
+			Cm::ConeLimitHelper coneHelper(data.tanQZLimit, data.tanQYLimit, pad);
 
 			PxVec3 axis;
 			PxReal error;
 			if(coneHelper.getLimit(swing, axis, error))
 				ch.angularLimit(cA2w.rotate(axis),error,data.limit);
-
 		}
 
 		ch.prepareLockedAxes(cA2w.q, cB2w.q, cA2w.transformInv(cB2w.p), 7, 0);