Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 181 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/SimulationController/src/ScArticulationSim.h b/PhysX_3.4/Source/SimulationController/src/ScArticulationSim.h
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+++ b/PhysX_3.4/Source/SimulationController/src/ScArticulationSim.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_PHYSICS_ARTICULATION_SIM
+#define PX_PHYSICS_ARTICULATION_SIM
+
+
+#include "PsUserAllocated.h"
+#include "CmPhysXCommon.h"
+#include "DyArticulation.h"
+#include "ScArticulationCore.h" 
+#include "PxsSimpleIslandManager.h"
+
+namespace physx
+{
+
+namespace Dy
+{
+	class Articulation;
+}
+
+class PxsTransformCache;
+class PxsSimulationController;
+
+namespace Cm
+{
+	class SpatialVector;
+	template <class Allocator> class BitMapBase;
+	typedef BitMapBase<Ps::NonTrackingAllocator> BitMap;
+}
+
+namespace Bp
+{
+	class BoundsArray;
+}
+
+namespace Sc
+{
+
+	class BodySim;
+	class ArticulationJointSim;
+	class ArticulationCore;
+	class Scene;
+
+	class ArticulationSim : public Ps::UserAllocated 
+	{
+	public:
+											ArticulationSim(ArticulationCore& core, 
+												Scene& scene,
+												BodyCore& root);
+
+											~ArticulationSim();
+
+		PX_INLINE	Dy::Articulation*		getLowLevelArticulation() const { return mLLArticulation; }
+		PX_INLINE	ArticulationCore&		getCore() const { return mCore; }
+
+								void		addBody(BodySim& body, 
+													BodySim* parent, 
+													ArticulationJointSim* joint);
+								void		removeBody(BodySim &sim);
+								
+								Dy::ArticulationLinkHandle	getLinkHandle(BodySim& body) const;
+								
+								void		checkResize() const;						// resize LL memory if necessary
+								
+								void		debugCheckWakeCounterOfLinks(PxReal wakeCounter) const;
+								void		debugCheckSleepStateOfLinks(bool isSleeping) const;
+
+								bool		isSleeping() const;
+								void		internalWakeUp(PxReal wakeCounter);	// called when sim sets sleep timer
+								void		sleepCheck(PxReal dt);
+								PxU32		getCCDLinks(BodySim** sims);
+								void		updateCached(Cm::BitMapPinned* shapehapeChangedMap);
+								void		updateContactDistance(PxReal* contactDistance, const PxReal dt, Bp::BoundsArray& boundsArray);
+
+
+	// temporary, to make sure link handles are set in island detection. This should be done on insertion,
+	// but when links are inserted into the scene they don't know about the articulation so for the
+	// moment we fix it up at sim start
+
+								void		fixupHandles();
+
+								void		setActive(const bool b, const PxU32 infoFlag=0);
+
+								void		updateForces(PxReal dt, bool simUsesAdaptiveForce);
+								void		saveLastCCDTransform();
+
+	// drive cache implementation
+	//
+						ArticulationDriveCache*		
+											createDriveCache(PxReal compliance,
+															 PxU32 driveIterations) const;
+
+						void				updateDriveCache(ArticulationDriveCache& cache,
+															 PxReal compliance,
+															 PxU32 driveIterations) const;
+
+						void				releaseDriveCache(ArticulationDriveCache& cache) const;
+						
+						void				applyImpulse(BodyCore& link,
+														 const ArticulationDriveCache& driveCache,
+														 const PxVec3& force,
+														 const PxVec3& torque);
+
+						void				computeImpulseResponse(BodyCore& link,
+																   PxVec3& linearResponse,
+																   PxVec3& angularResponse,
+																   const ArticulationDriveCache& driveCache,
+																   const PxVec3& force,
+																   const PxVec3& torque) const;
+
+					PX_FORCE_INLINE IG::NodeIndex		getIslandNodeIndex() const { return mIslandNodeIndex; }
+
+
+	private:
+					ArticulationSim&		operator=(const ArticulationSim&);
+								PxU32		findBodyIndex(BodySim &body) const;
+
+
+					Dy::Articulation*					mLLArticulation;
+					Scene&								mScene;
+					ArticulationCore&					mCore;
+					Ps::Array<Dy::ArticulationLink>		mLinks;
+					Ps::Array<BodySim*>					mBodies;
+					Ps::Array<ArticulationJointSim*>	mJoints;
+					IG::NodeIndex						mIslandNodeIndex;
+					
+
+					// DS: looks slightly fishy, but reallocating/relocating the LL memory for the articulation
+					// really is supposed to leave it behaviorally equivalent, and so we can reasonably make
+					// all this stuff mutable and checkResize const
+
+					mutable Dy::ArticulationSolverDesc	mSolverData;
+
+					// persistent state of the articulation for warm-starting joint load computation
+					mutable Ps::Array<Ps::aos::Mat33V>	mInternalLoads;
+					mutable Ps::Array<Ps::aos::Mat33V>	mExternalLoads;
+
+					// persistent data used during the solve that can be released at frame end
+
+					mutable Ps::Array<PxTransform>		mPose;
+					mutable Ps::Array<Cm::SpatialVectorV>	mMotionVelocity;		// saved here in solver
+					mutable Ps::Array<char>				mFsDataBytes;			// drive cache creation (which is const) can force a resize
+					mutable Ps::Array<char>				mScratchMemory;			// drive cache creation (which is const) can force a resize
+					mutable Ps::Array<Cm::SpatialVector>		mAcceleration;
+
+					mutable bool						mUpdateSolverData;
+	};
+
+} // namespace Sc
+
+}
+
+#endif