Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 305 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/PhysXVehicle/src/PxVehicleSuspLimitConstraintShader.h b/PhysX_3.4/Source/PhysXVehicle/src/PxVehicleSuspLimitConstraintShader.h
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+++ b/PhysX_3.4/Source/PhysXVehicle/src/PxVehicleSuspLimitConstraintShader.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 PX_VEHICLE_SUSP_LIMIT_CONSTRAINT_SHADER_H
+#define PX_VEHICLE_SUSP_LIMIT_CONSTRAINT_SHADER_H
+/** \addtogroup vehicle
+  @{
+*/
+
+#include "foundation/PxTransform.h"
+#include "extensions/PxConstraintExt.h"
+#include "PxConstraintDesc.h"
+#include "PxConstraint.h"
+#include "PsAllocator.h"
+
+#if !PX_DOXYGEN
+namespace physx
+{
+#endif
+
+class PxVehicleConstraintShader : public PxConstraintConnector
+{
+//= 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:
+
+	friend class PxVehicleWheels;
+
+	PxVehicleConstraintShader(PxVehicleWheels* vehicle, PxConstraint* constraint = NULL)
+		: mConstraint(constraint),
+		  mVehicle(vehicle)
+	{
+	}
+	PxVehicleConstraintShader(){}
+	~PxVehicleConstraintShader()
+	{
+	}
+
+	static void getBinaryMetaData(PxOutputStream& stream);
+
+	void release()
+	{
+		if(mConstraint)
+		{
+			mConstraint->release();
+		}
+	}
+
+	virtual void			onComShift(PxU32 actor)	{ PX_UNUSED(actor); }
+
+	virtual void			onOriginShift(const PxVec3& shift) { PX_UNUSED(shift); }
+
+	virtual void*			prepareData()	
+	{
+		return &mData;
+	}
+
+	virtual bool			updatePvdProperties(pvdsdk::PvdDataStream& pvdConnection,
+		const PxConstraint* c,
+		PxPvdUpdateType::Enum updateType) const	 { PX_UNUSED(c); PX_UNUSED(updateType); PX_UNUSED(&pvdConnection); return true;}
+
+	virtual void			onConstraintRelease()
+	{
+		mVehicle->mOnConstraintReleaseCounter--;
+		if(0==mVehicle->mOnConstraintReleaseCounter)
+		{
+			PX_FREE(mVehicle);
+		}
+	}
+
+	virtual void*			getExternalReference(PxU32& typeID) { typeID = PxConstraintExtIDs::eVEHICLE_SUSP_LIMIT; return this; }
+	virtual PxBase* getSerializable() { return NULL; }
+
+
+	static PxU32 vehicleSuspLimitConstraintSolverPrep(
+		Px1DConstraint* constraints,
+		PxVec3& body0WorldOffset,
+		PxU32 maxConstraints,
+		PxConstraintInvMassScale&,
+		const void* constantBlock,
+		const PxTransform& bodyAToWorld,
+		const PxTransform& bodyBToWorld
+		)
+	{
+		PX_UNUSED(maxConstraints);
+		PX_UNUSED(body0WorldOffset);
+		PX_UNUSED(bodyBToWorld);
+		PX_ASSERT(bodyAToWorld.isValid()); PX_ASSERT(bodyBToWorld.isValid());
+
+		const VehicleConstraintData* data = static_cast<const VehicleConstraintData*>(constantBlock);
+		PxU32 numActive=0;
+
+		//Susp limit constraints.
+		for(PxU32 i=0;i<4;i++)
+		{
+			if(data->mSuspLimitData.mActiveFlags[i])
+			{
+				Px1DConstraint& p=constraints[numActive];
+				p.linear0=bodyAToWorld.q.rotate(data->mSuspLimitData.mDirs[i]);
+				p.angular0=bodyAToWorld.q.rotate(data->mSuspLimitData.mCMOffsets[i].cross(data->mSuspLimitData.mDirs[i]));
+				p.geometricError=data->mSuspLimitData.mErrors[i];
+				p.linear1=PxVec3(0);
+				p.angular1=PxVec3(0);
+				p.minImpulse=-FLT_MAX;
+				p.maxImpulse=0;
+				p.velocityTarget=0;		
+				numActive++;
+			}
+		}
+
+		//Sticky tire friction constraints.
+		for(PxU32 i=0;i<4;i++)
+		{
+			if(data->mStickyTireForwardData.mActiveFlags[i])
+			{
+				Px1DConstraint& p=constraints[numActive];
+				p.linear0=data->mStickyTireForwardData.mDirs[i];
+				p.angular0=data->mStickyTireForwardData.mCMOffsets[i].cross(data->mStickyTireForwardData.mDirs[i]);
+				p.geometricError=0.0f;
+				p.linear1=PxVec3(0);
+				p.angular1=PxVec3(0);
+				p.minImpulse=-FLT_MAX;
+				p.maxImpulse=FLT_MAX;
+				p.velocityTarget=data->mStickyTireForwardData.mTargetSpeeds[i];	
+				p.mods.spring.damping = 1000.0f;
+				p.flags = Px1DConstraintFlag::eSPRING | Px1DConstraintFlag::eACCELERATION_SPRING;
+				numActive++;
+			}
+		}
+
+		//Sticky tire friction constraints.
+		for(PxU32 i=0;i<4;i++)
+		{
+			if(data->mStickyTireSideData.mActiveFlags[i])
+			{
+				Px1DConstraint& p=constraints[numActive];
+				p.linear0=data->mStickyTireSideData.mDirs[i];
+				p.angular0=data->mStickyTireSideData.mCMOffsets[i].cross(data->mStickyTireSideData.mDirs[i]);
+				p.geometricError=0.0f;
+				p.linear1=PxVec3(0);
+				p.angular1=PxVec3(0);
+				p.minImpulse=-FLT_MAX;
+				p.maxImpulse=FLT_MAX;
+				p.velocityTarget=data->mStickyTireSideData.mTargetSpeeds[i];	
+				p.mods.spring.damping = 1000.0f;
+				p.flags = Px1DConstraintFlag::eSPRING | Px1DConstraintFlag::eACCELERATION_SPRING;
+				numActive++;
+			}
+		}
+
+
+		return numActive;
+	}
+
+	static void visualiseConstraint(PxConstraintVisualizer &viz,
+		const void* constantBlock,
+		const PxTransform& body0Transform,
+		const PxTransform& body1Transform,
+		PxU32 flags){ PX_UNUSED(&viz); PX_UNUSED(constantBlock); PX_UNUSED(body0Transform); 
+					  PX_UNUSED(body1Transform); PX_UNUSED(flags); 
+					  PX_ASSERT(body0Transform.isValid()); PX_ASSERT(body1Transform.isValid()); }
+
+public:
+
+	struct SuspLimitConstraintData
+	{
+		PxVec3 mCMOffsets[4];
+		PxVec3 mDirs[4];
+		PxReal mErrors[4];
+		bool mActiveFlags[4];
+	};
+	struct StickyTireConstraintData
+	{
+		PxVec3 mCMOffsets[4];
+		PxVec3 mDirs[4];
+		PxReal mTargetSpeeds[4];
+		bool mActiveFlags[4];
+	};
+
+	struct VehicleConstraintData
+	{
+		SuspLimitConstraintData mSuspLimitData;
+		StickyTireConstraintData mStickyTireForwardData;
+		StickyTireConstraintData mStickyTireSideData;
+	};
+	VehicleConstraintData mData;
+
+	PxConstraint* mConstraint;
+	
+	PX_INLINE void setPxConstraint(PxConstraint* pxConstraint)
+	{
+		mConstraint = pxConstraint;
+	}
+
+	PX_INLINE PxConstraint* getPxConstraint()
+	{
+		return mConstraint;
+	}
+
+	PxConstraintConnector* getConnector()
+	{
+		return this;
+	}
+
+	virtual PxConstraintSolverPrep getPrep()const { return NULL; /*KS - TODO. Figure out what to return here. Probably nothing is OK*/ }
+	virtual const void* getConstantBlock()const { return NULL; /*KS - TODO. Figure out what to return here. Probably nothing is OK*/ }
+
+private:
+
+	PxVehicleWheels* mVehicle;
+
+#if !PX_P64_FAMILY
+	PxU32 mPad[2];
+#else
+	PxU32 mPad[1];
+#endif
+};
+PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleConstraintShader)& 0x0f));
+
+
+/**
+\brief Default implementation of PxVehicleComputeTireForce
+@see PxVehicleComputeTireForce, PxVehicleTireForceCalculator
+*/
+void PxVehicleComputeTireForceDefault
+ (const void* shaderData, 
+ const PxF32 tireFriction,
+ const PxF32 longSlip, const PxF32 latSlip, const PxF32 camber,
+ const PxF32 wheelOmega, const PxF32 wheelRadius, const PxF32 recipWheelRadius,
+ const PxF32 restTireLoad, const PxF32 normalisedTireLoad, const PxF32 tireLoad,
+ const PxF32 gravity, const PxF32 recipGravity,
+ PxF32& wheelTorque, PxF32& tireLongForceMag, PxF32& tireLatForceMag, PxF32& tireAlignMoment);
+
+
+/**
+\brief Structure containing shader data for each tire of a vehicle and a shader function that computes individual tire forces 
+*/
+class PxVehicleTireForceCalculator
+{
+public:
+
+	PxVehicleTireForceCalculator()
+		: mShader(PxVehicleComputeTireForceDefault)
+	{
+	}
+
+	/**
+	\brief Array of shader data - one data entry per tire.
+	Default values are pointers to PxVehicleTireData (stored in PxVehicleWheelsSimData) and are set in PxVehicleDriveTank::setup or PxVehicleDrive4W::setup
+	@see PxVehicleComputeTireForce, PxVehicleComputeTireForceDefault, PxVehicleWheelsSimData, PxVehicleDriveTank::setup, PxVehicleDrive4W::setup
+	*/
+	const void** mShaderData;
+
+	/**
+	\brief Shader function.
+	Default value is PxVehicleComputeTireForceDefault and is set in  PxVehicleDriveTank::setup or PxVehicleDrive4W::setup
+	@see PxVehicleComputeTireForce, PxVehicleComputeTireForceDefault, PxVehicleWheelsSimData, PxVehicleDriveTank::setup, PxVehicleDrive4W::setup
+	*/
+	PxVehicleComputeTireForce mShader;
+
+#if !PX_P64_FAMILY
+	PxU32 mPad[2];
+#endif
+};
+
+PX_COMPILE_TIME_ASSERT(0==(sizeof(PxVehicleTireForceCalculator) & 15));
+
+
+#if !PX_DOXYGEN
+} // namespace physx
+#endif
+
+
+/** @} */
+#endif //PX_VEHICLE_SUSP_LIMIT_CONSTRAINT_SHADER_H