Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 156 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/SimulationController/src/ScConstraintSim.h b/PhysX_3.4/Source/SimulationController/src/ScConstraintSim.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_CONSTRAINT_SIM
+#define PX_PHYSICS_CONSTRAINT_SIM
+
+#include "PxSimulationEventCallback.h"
+#include "DyConstraint.h"
+
+namespace physx
+{
+namespace Sc
+{
+
+	class Scene;
+	class ConstraintInteraction;
+	class ConstraintCore;
+	class RigidCore;
+	class BodySim;
+	class RigidSim;
+
+	class ConstraintSim : public Ps::UserAllocated 
+	{
+	public:
+		enum Enum
+		{
+			ePENDING_GROUP_UPDATE		=	(1<<0),	// For constraint projection an island of the bodies connected by constraints is generated.
+													// Schedule generation/update of the island this constraint is a part of.
+			eBREAKABLE					=	(1<<1),	// The constraint can break
+			eCHECK_MAX_FORCE_EXCEEDED	=	(1<<2),	// This constraint will get tested for breakage at the end of the sim step
+			eBROKEN						=	(1<<3)
+		};
+
+												ConstraintSim(ConstraintCore& core, 
+													RigidCore* r0,
+													RigidCore* r1,
+													Scene& scene);
+
+												~ConstraintSim();
+
+						void					preBodiesChange();
+						void					postBodiesChange(RigidCore* r0, RigidCore* r1);
+
+						void					checkMaxForceExceeded();
+						void					updateRelatedSIPs();
+
+						void					setBreakForceLL(PxReal linear, PxReal angular);
+		PX_INLINE		void					setMinResponseThresholdLL(PxReal threshold);
+						void					setConstantsLL(void* addr);
+		PX_INLINE		const void*				getConstantsLL() const;
+
+						void					postFlagChange(PxConstraintFlags oldFlags, PxConstraintFlags newFlags);
+
+		PX_FORCE_INLINE	const Dy::Constraint&	getLowLevelConstraint()	const	{ return mLowLevelConstraint;	}
+		PX_FORCE_INLINE	Dy::Constraint&			getLowLevelConstraint()			{ return mLowLevelConstraint;	}
+		PX_FORCE_INLINE	ConstraintCore&			getCore()				const	{ return mCore;					}
+		PX_FORCE_INLINE	BodySim*				getBody(PxU32 i) const  // for static actors or world attached constraints NULL is returned
+												{
+													return mBodies[i];
+												}
+
+						RigidSim&				getRigid(PxU32 i);
+
+						void					getForce(PxVec3& force, PxVec3& torque);
+						bool					isBroken() const;
+
+		PX_FORCE_INLINE	PxU8					readFlag(PxU8 flag) const { return PxU8(mFlags & flag); }
+		PX_FORCE_INLINE	void					setFlag(PxU8 flag) { mFlags |= flag; }
+		PX_FORCE_INLINE	void					clearFlag(PxU8 flag) { mFlags &= ~flag; }
+
+
+		//------------------------------------ Projection trees -----------------------------------------
+	private:
+		PX_INLINE		BodySim*				getConstraintGroupBody();
+
+	public:
+						bool					hasDynamicBody();
+
+						void					projectPose(BodySim* childBody, Ps::Array<BodySim*>& projectedBodies);
+		PX_INLINE		BodySim*				getOtherBody(BodySim*);
+		PX_INLINE		BodySim*				getAnyBody();
+
+						bool					needsProjection();
+		//-----------------------------------------------------------------------------------------------
+
+						void					visualize(PxRenderBuffer &out);
+	private:
+						ConstraintSim&			operator=(const ConstraintSim&);
+						bool					createLLConstraint();
+						void					destroyLLConstraint();
+	private:
+						Dy::Constraint			mLowLevelConstraint;
+						Scene&					mScene;
+						ConstraintCore&			mCore;
+						ConstraintInteraction*	mInteraction;
+						BodySim*				mBodies[2];
+						PxU8					mFlags;
+	};
+} // namespace Sc
+
+
+PX_INLINE void Sc::ConstraintSim::setMinResponseThresholdLL(PxReal threshold)
+{
+	mLowLevelConstraint.minResponseThreshold = threshold;
+}
+
+PX_INLINE const void* Sc::ConstraintSim::getConstantsLL()	const
+{
+	return mLowLevelConstraint.constantBlock;
+}
+
+
+PX_INLINE Sc::BodySim* Sc::ConstraintSim::getOtherBody(BodySim* b)
+{
+	return (b == mBodies[0]) ? mBodies[1] : mBodies[0];
+}
+
+
+PX_INLINE Sc::BodySim* Sc::ConstraintSim::getAnyBody()
+{
+	if (mBodies[0]) 
+		return mBodies[0];
+	else 
+		return mBodies[1];
+}
+
+}
+
+#endif