Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 138 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/SimulationController/src/ScConstraintGroupNode.cpp b/PhysX_3.4/Source/SimulationController/src/ScConstraintGroupNode.cpp
new file mode 100644
index 00000000..5c61c239
--- /dev/null
+++ b/PhysX_3.4/Source/SimulationController/src/ScConstraintGroupNode.cpp
@@ -0,0 +1,138 @@
+// 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 "ScConstraintGroupNode.h"
+#include "ScConstraintProjectionManager.h"
+#include "PsFoundation.h"
+#include "ScBodySim.h"
+#include "ScConstraintSim.h"
+#include "ScConstraintInteraction.h"
+
+using namespace physx;
+
+Sc::ConstraintGroupNode::ConstraintGroupNode(BodySim& b) : 
+	body(&b),
+	parent(this),
+	tail(this),
+	rank(0),
+	next(NULL),
+
+	projectionFirstRoot(NULL),
+	projectionNextRoot(NULL),
+	projectionParent(NULL),
+	projectionFirstChild(NULL),
+	projectionNextSibling(NULL),
+	projectionConstraint(NULL),
+
+	flags(0)
+{
+}
+
+
+//
+// Implementation of FIND of 
+// UNION-FIND algo.
+//
+Sc::ConstraintGroupNode& Sc::ConstraintGroupNode::getRoot()
+{
+	PX_ASSERT(parent);
+
+	ConstraintGroupNode* root = parent;
+
+	if (root->parent == root)
+		return *root;
+	else
+	{
+		PxU32 nbHops = 1;
+		root = root->parent;
+
+		while(root != root->parent)
+		{
+			root = root->parent;
+			nbHops++;
+		}
+
+		// Write root to all nodes on the path
+		ConstraintGroupNode* curr = this;
+		while(nbHops)
+		{
+			ConstraintGroupNode* n = curr->parent;
+			curr->parent = root;
+			curr = n;
+			nbHops--;
+		}
+
+		return *root;
+	}
+}
+
+
+void Sc::ConstraintGroupNode::markForProjectionTreeRebuild(ConstraintProjectionManager& cpManager)
+{
+	ConstraintGroupNode& root = getRoot();
+	if (!root.readFlag(ConstraintGroupNode::ePENDING_TREE_UPDATE))
+	{
+		cpManager.addToPendingTreeUpdates(root);
+	}
+}
+
+
+void Sc::ConstraintGroupNode::initProjectionData(ConstraintGroupNode* parent_, ConstraintSim* c)
+{
+	projectionConstraint = c;
+
+	//add us to parent's child list:
+	if (parent_)
+	{
+		projectionNextSibling = parent_->projectionFirstChild;
+		parent_->projectionFirstChild = this;
+
+		projectionParent = parent_;
+	}
+}
+
+
+void Sc::ConstraintGroupNode::clearProjectionData()
+{
+	projectionFirstRoot = NULL;
+	projectionNextRoot = NULL;
+	projectionParent = NULL;
+	projectionFirstChild = NULL;
+	projectionNextSibling = NULL;
+	projectionConstraint = NULL;
+}
+
+
+void Sc::ConstraintGroupNode::projectPose(ConstraintGroupNode& node, Ps::Array<BodySim*>& projectedBodies)
+{
+	PX_ASSERT(node.hasProjectionTreeRoot());
+
+	Sc::ConstraintProjectionTree::projectPose(node, projectedBodies);
+}