Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 157 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/PhysXVehicle/src/PxVehicleNoDrive.cpp b/PhysX_3.4/Source/PhysXVehicle/src/PxVehicleNoDrive.cpp
new file mode 100644
index 00000000..cac7cc77
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+++ b/PhysX_3.4/Source/PhysXVehicle/src/PxVehicleNoDrive.cpp
@@ -0,0 +1,157 @@
+// 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 "foundation/PxMemory.h"
+#include "PxVehicleNoDrive.h"
+#include "PxVehicleWheels.h"
+#include "PxVehicleDefaults.h"
+#include "PxRigidDynamic.h"
+#include "CmPhysXCommon.h"
+#include "CmUtils.h"
+#include "PsFoundation.h"
+
+namespace physx
+{
+
+extern PxF32 gToleranceScaleLength;
+
+bool PxVehicleNoDrive::isValid() const
+{
+	PX_CHECK_AND_RETURN_VAL(PxVehicleWheels::isValid(), "invalid PxVehicleDrive", false);
+	return true;
+}
+
+PxVehicleNoDrive* PxVehicleNoDrive::allocate(const PxU32 numWheels)
+{
+	PX_CHECK_AND_RETURN_NULL(numWheels>0, "Cars with zero wheels are illegal");
+	PX_CHECK_AND_RETURN_NULL(gToleranceScaleLength > 0, "PxVehicleNoDrive::allocate - need to call PxInitVehicleSDK");
+
+	//Compute the bytes needed.
+	const PxU32 numWheels4 = (((numWheels + 3) & ~3) >> 2);
+	const PxU32 inputByteSize16 = sizeof(PxReal)*numWheels4*4;
+	const PxU32 byteSize = sizeof(PxVehicleNoDrive) + 3*inputByteSize16 + PxVehicleWheels::computeByteSize(numWheels);
+
+	//Allocate the memory.
+	PxVehicleNoDrive* veh = static_cast<PxVehicleNoDrive*>(PX_ALLOC(byteSize, "PxVehicleNoDrive"));
+	Cm::markSerializedMem(veh, byteSize);
+	new(veh) PxVehicleNoDrive();
+
+	//Patch up the pointers.
+	PxU8* ptr = reinterpret_cast<PxU8*>(veh) + sizeof(PxVehicleNoDrive);
+	veh->mSteerAngles = reinterpret_cast<PxReal*>(ptr);
+	ptr += inputByteSize16;
+	veh->mDriveTorques = reinterpret_cast<PxReal*>(ptr);
+	ptr += inputByteSize16;
+	veh->mBrakeTorques = reinterpret_cast<PxReal*>(ptr);
+	ptr += inputByteSize16;
+	ptr = PxVehicleWheels::patchupPointers(numWheels, veh, ptr);
+
+	//Initialise.
+	PxMemZero(veh->mSteerAngles, inputByteSize16);
+	PxMemZero(veh->mDriveTorques, inputByteSize16);
+	PxMemZero(veh->mBrakeTorques, inputByteSize16);
+	veh->init(numWheels);
+
+	//Set the vehicle type.
+	veh->mType = PxVehicleTypes::eNODRIVE;
+
+	return veh;
+}
+
+void PxVehicleNoDrive::free()
+{
+	PxVehicleWheels::free();
+}
+
+void PxVehicleNoDrive::setup
+(PxPhysics* physics, PxRigidDynamic* vehActor, const PxVehicleWheelsSimData& wheelsData)
+{
+	//Set up the wheels.
+	PxVehicleWheels::setup(physics,vehActor,wheelsData,0,wheelsData.getNbWheels());
+}
+
+PxVehicleNoDrive* PxVehicleNoDrive::create
+(PxPhysics* physics, PxRigidDynamic* vehActor, 
+ const PxVehicleWheelsSimData& wheelsData)
+{
+	PxVehicleNoDrive* veh=PxVehicleNoDrive::allocate(wheelsData.getNbWheels());
+	veh->setup(physics,vehActor,wheelsData);
+	return veh;
+}
+
+void PxVehicleNoDrive::setToRestState()
+{
+	const PxU32 numWheels4 = (((mWheelsSimData.getNbWheels() + 3) & ~3) >> 2);
+	const PxU32 inputByteSize = sizeof(PxReal)*numWheels4*4;
+	const PxU32 inputByteSize16 = (inputByteSize + 15) & ~15;
+	PxMemZero(mSteerAngles, 3*inputByteSize16);
+
+	//Set core to rest state.
+	PxVehicleWheels::setToRestState();
+}
+
+void PxVehicleNoDrive::setBrakeTorque(const PxU32 id, const PxReal brakeTorque)
+{
+	PX_CHECK_AND_RETURN(id < mWheelsSimData.getNbWheels(), "PxVehicleNoDrive::setBrakeTorque - Illegal wheel");
+	PX_CHECK_AND_RETURN(brakeTorque>=0, "PxVehicleNoDrive::setBrakeTorque - negative brake torques are illegal");
+	mBrakeTorques[id] = brakeTorque;
+}
+
+void PxVehicleNoDrive::setDriveTorque(const PxU32 id, const PxReal driveTorque)
+{
+	PX_CHECK_AND_RETURN(id < mWheelsSimData.getNbWheels(), "PxVehicleNoDrive::setDriveTorque - Illegal wheel");
+	mDriveTorques[id] = driveTorque;
+}
+
+void PxVehicleNoDrive::setSteerAngle(const PxU32 id, const PxReal steerAngle)
+{
+	PX_CHECK_AND_RETURN(id < mWheelsSimData.getNbWheels(), "PxVehicleNoDrive::setSteerAngle - Illegal wheel");
+	mSteerAngles[id] = steerAngle;
+}
+
+PxReal PxVehicleNoDrive::getBrakeTorque(const PxU32 id) const
+{
+	PX_CHECK_AND_RETURN_VAL(id < mWheelsSimData.getNbWheels(), "PxVehicleNoDrive::getBrakeTorque - Illegal wheel", 0);
+	return mBrakeTorques[id];
+}
+
+PxReal PxVehicleNoDrive::getDriveTorque(const PxU32 id) const
+{
+	PX_CHECK_AND_RETURN_VAL(id < mWheelsSimData.getNbWheels(), "PxVehicleNoDrive::getDriveTorque - Illegal wheel",0);
+	return mDriveTorques[id];
+}
+
+PxReal PxVehicleNoDrive::getSteerAngle(const PxU32 id) const
+{
+	PX_CHECK_AND_RETURN_VAL(id < mWheelsSimData.getNbWheels(), "PxVehicleNoDrive::getSteerAngle - Illegal wheel",0);
+	return mSteerAngles[id];
+}
+
+} //namespace physx
+