Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 152 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/PhysXVehicle/src/PxVehicleDrive4W.cpp b/PhysX_3.4/Source/PhysXVehicle/src/PxVehicleDrive4W.cpp
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+++ b/PhysX_3.4/Source/PhysXVehicle/src/PxVehicleDrive4W.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 "PxVehicleDrive4W.h"
+#include "PxVehicleDrive.h"
+#include "PxVehicleSDK.h"
+#include "PxVehicleSuspWheelTire4.h"
+#include "PxVehicleSuspLimitConstraintShader.h"
+#include "PxVehicleDefaults.h"
+#include "PxRigidDynamic.h"
+#include "PxShape.h"
+#include "PsFoundation.h"
+#include "PsUtilities.h"
+#include "CmPhysXCommon.h"
+#include "PxScene.h"
+#include "CmUtils.h"
+
+namespace physx
+{
+
+extern PxF32 gToleranceScaleLength;
+
+bool PxVehicleDriveSimData4W::isValid() const
+{
+	PX_CHECK_AND_RETURN_VAL(PxVehicleDriveSimData::isValid(), "Invalid PxVehicleDriveSimData4W", false);
+	PX_CHECK_AND_RETURN_VAL(mDiff.isValid(), "Invalid PxVehicleCoreSimulationData.mDiff", false);
+	PX_CHECK_AND_RETURN_VAL(mAckermannGeometry.isValid(), "Invalid PxVehicleCoreSimulationData.mAckermannGeometry", false);
+	return true;
+}
+
+void PxVehicleDriveSimData4W::setDiffData(const PxVehicleDifferential4WData& diff)
+{
+	PX_CHECK_AND_RETURN(diff.mType!=PxVehicleDifferential4WData::eDIFF_TYPE_LS_4WD || (diff.mFrontRearSplit>=0 && diff.mFrontRearSplit<=1.0f), "Diff torque split between front and rear must be in range (0,1)");
+	PX_CHECK_AND_RETURN(diff.mType!=PxVehicleDifferential4WData::eDIFF_TYPE_LS_4WD || (diff.mCentreBias>=1), "Diff centre bias must be greater than or equal to 1");
+	PX_CHECK_AND_RETURN((diff.mType!=PxVehicleDifferential4WData::eDIFF_TYPE_LS_4WD && diff.mType!=PxVehicleDifferential4WData::eDIFF_TYPE_LS_FRONTWD) || (diff.mFrontBias>=1), "Diff front bias must be greater than or equal to 1");
+	PX_CHECK_AND_RETURN((diff.mType!=PxVehicleDifferential4WData::eDIFF_TYPE_LS_4WD && diff.mType!=PxVehicleDifferential4WData::eDIFF_TYPE_LS_REARWD) || (diff.mRearBias>=1), "Diff rear bias must be greater than or equal to 1");
+	PX_CHECK_AND_RETURN(diff.mType<PxVehicleDifferential4WData::eMAX_NB_DIFF_TYPES, "Illegal differential type");
+
+	mDiff=diff;
+}
+
+void PxVehicleDriveSimData4W::setAckermannGeometryData(const PxVehicleAckermannGeometryData& ackermannData)
+{
+	PX_CHECK_AND_RETURN(ackermannData.mFrontWidth > 0, "Illegal ackermannData.mFrontWidth - must be greater than zero");
+	PX_CHECK_AND_RETURN(ackermannData.mRearWidth > 0, "Illegal ackermannData.mRearWidth - must be greater than zero");
+	PX_CHECK_AND_RETURN(ackermannData.mAxleSeparation > 0, "Illegal ackermannData.mAxleSeparation - must be greater than zero");
+
+	mAckermannGeometry = ackermannData;
+}
+
+///////////////////////////////////
+
+bool PxVehicleDrive4W::isValid() const
+{
+	PX_CHECK_AND_RETURN_VAL(PxVehicleDrive::isValid(), "invalid PxVehicleDrive", false);
+	PX_CHECK_AND_RETURN_VAL(mDriveSimData.isValid(), "Invalid PxVehicleNW.mCoreSimData", false);
+	return true;
+}
+
+PxVehicleDrive4W* PxVehicleDrive4W::allocate(const PxU32 numWheels)
+{
+	PX_CHECK_AND_RETURN_NULL(numWheels>=4, "PxVehicleDrive4W::allocate - needs to have at least 4 wheels");
+	PX_CHECK_AND_RETURN_NULL(gToleranceScaleLength > 0, "PxVehicleDrive4W::allocate - need to call PxInitVehicleSDK");
+
+	//Compute the bytes needed.
+	const PxU32 byteSize = sizeof(PxVehicleDrive4W) + PxVehicleDrive::computeByteSize(numWheels);
+
+	//Allocate the memory.
+	PxVehicleDrive4W* veh = static_cast<PxVehicleDrive4W*>(PX_ALLOC(byteSize, "PxVehicleDrive4W"));
+	Cm::markSerializedMem(veh, byteSize);
+	new(veh) PxVehicleDrive4W();
+
+	//Patch up the pointers.
+	PxU8* ptr = reinterpret_cast<PxU8*>(veh) + sizeof(PxVehicleDrive4W);
+	ptr=PxVehicleDrive::patchupPointers(numWheels, veh, ptr);
+
+	//Initialise wheels.
+	veh->init(numWheels);
+
+	//Set the vehicle type.
+	veh->mType = PxVehicleTypes::eDRIVE4W;
+
+	return veh;
+}
+
+void PxVehicleDrive4W::free()
+{
+	PxVehicleDrive::free();
+}
+
+void PxVehicleDrive4W::setup
+(PxPhysics* physics, PxRigidDynamic* vehActor,
+ const PxVehicleWheelsSimData& wheelsData, const PxVehicleDriveSimData4W& driveData,
+ const PxU32 numNonDrivenWheels)
+{
+	PX_CHECK_AND_RETURN(driveData.isValid(), "PxVehicleDrive4W::setup - invalid driveData");
+	PX_CHECK_AND_RETURN(wheelsData.getNbWheels() >= 4, "PxVehicleDrive4W::setup - needs to have at least 4 wheels");
+
+	//Set up the wheels.
+	PxVehicleDrive::setup(physics,vehActor,wheelsData,4,numNonDrivenWheels);
+
+	//Start setting up the drive.
+	PX_CHECK_MSG(driveData.isValid(), "PxVehicle4WDrive - invalid driveData");
+
+	//Copy the simulation data.
+	mDriveSimData = driveData;
+}
+
+PxVehicleDrive4W* PxVehicleDrive4W::create
+(PxPhysics* physics, PxRigidDynamic* vehActor,
+ const PxVehicleWheelsSimData& wheelsData, const PxVehicleDriveSimData4W& driveData,
+ const PxU32 numNonDrivenWheels)
+{
+	PxVehicleDrive4W* veh4W=PxVehicleDrive4W::allocate(4+numNonDrivenWheels);
+	veh4W->setup(physics,vehActor,wheelsData,driveData,numNonDrivenWheels);
+	return veh4W;
+}
+
+
+void PxVehicleDrive4W::setToRestState()
+{
+	//Set core to rest state.
+	PxVehicleDrive::setToRestState();
+}
+} //namespace physx
+