1 files changed, 228 insertions, 0 deletions
diff --git a/PhysX_3.4/Source/PhysXExtensions/src/ExtSphericalJoint.cpp b/PhysX_3.4/Source/PhysXExtensions/src/ExtSphericalJoint.cpp
new file mode 100644
index 00000000..bb7bc10b
--- /dev/null
+++ b/PhysX_3.4/Source/PhysXExtensions/src/ExtSphericalJoint.cpp
@@ -0,0 +1,228 @@
+// 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 "ExtSphericalJoint.h"
+#include "ExtConstraintHelper.h"
+#include "CmConeLimitHelper.h"
+#include "CmRenderOutput.h"
+#include "CmVisualization.h"
+
+#include "common/PxSerialFramework.h"
+
+using namespace physx;
+using namespace Ext;
+
+namespace physx
+{
+	PxSphericalJoint* PxSphericalJointCreate(PxPhysics& physics,
+		PxRigidActor* actor0, const PxTransform& localFrame0,
+		PxRigidActor* actor1, const PxTransform& localFrame1);
+}
+
+PxSphericalJoint* physx::PxSphericalJointCreate(PxPhysics& physics,
+												PxRigidActor* actor0, const PxTransform& localFrame0,
+												PxRigidActor* actor1, const PxTransform& localFrame1)
+{
+	PX_CHECK_AND_RETURN_NULL(localFrame0.isSane(), "PxSphericalJointCreate: local frame 0 is not a valid transform"); 
+	PX_CHECK_AND_RETURN_NULL(localFrame1.isSane(), "PxSphericalJointCreate: local frame 1 is not a valid transform"); 
+	PX_CHECK_AND_RETURN_NULL(actor0 != actor1, "PxSphericalJointCreate: actors must be different");
+	PX_CHECK_AND_RETURN_NULL((actor0 && actor0->is<PxRigidBody>()) || (actor1 && actor1->is<PxRigidBody>()), "PxSphericalJointCreate: at least one actor must be dynamic");
+
+	SphericalJoint* j;
+	PX_NEW_SERIALIZED(j,SphericalJoint)(physics.getTolerancesScale(), actor0, localFrame0, actor1, localFrame1);
+
+	if(j->attach(physics, actor0, actor1))
+		return j;
+
+	PX_DELETE(j);
+	return NULL;
+}
+
+void SphericalJoint::setProjectionLinearTolerance(PxReal tolerance)
+{	
+	PX_CHECK_AND_RETURN(PxIsFinite(tolerance) && tolerance >=0, "PxSphericalJoint::setProjectionLinearTolerance: invalid parameter");
+	data().projectionLinearTolerance = tolerance;
+	markDirty(); 
+}
+
+PxReal SphericalJoint::getProjectionLinearTolerance() const	
+{	
+	return data().projectionLinearTolerance;		
+}
+
+void SphericalJoint::setLimitCone(const PxJointLimitCone &limit)
+{	
+	PX_CHECK_AND_RETURN(limit.isValid(), "PxSphericalJoint::setLimit: invalid parameter");
+	data().limit = limit; 
+	markDirty();
+}
+
+PxJointLimitCone SphericalJoint::getLimitCone() const
+{	
+	return data().limit; 
+}
+
+
+PxSphericalJointFlags SphericalJoint::getSphericalJointFlags(void) const
+{ 
+	return data().jointFlags; 
+}
+
+void SphericalJoint::setSphericalJointFlags(PxSphericalJointFlags flags)
+{ 
+	data().jointFlags = flags; 
+}
+void SphericalJoint::setSphericalJointFlag(PxSphericalJointFlag::Enum flag, bool value)
+{
+	if(value)
+		data().jointFlags |= flag;
+	else
+		data().jointFlags &= ~flag;
+	markDirty();
+}
+
+
+void* Ext::SphericalJoint::prepareData()
+{
+	SphericalJointData& d = data();
+	if(d.jointFlags & PxSphericalJointFlag::eLIMIT_ENABLED)
+	{
+		d.tanQYLimit = PxTan(d.limit.yAngle/4);
+		d.tanQZLimit = PxTan(d.limit.zAngle/4);
+		d.tanQPad	 = PxTan(d.limit.contactDistance/4);
+	}
+	return SphericalJointT::prepareData();
+}
+
+namespace
+{
+
+void SphericalJointVisualize(PxConstraintVisualizer& viz,
+							 const void* constantBlock,
+							 const PxTransform& body0Transform,
+							 const PxTransform& body1Transform,
+							 PxU32 /*flags*/)
+{
+	using namespace joint;
+	const SphericalJointData& data = *reinterpret_cast<const SphericalJointData*>(constantBlock);
+
+	PxTransform cA2w = body0Transform * data.c2b[0];
+	PxTransform cB2w = body1Transform * data.c2b[1];
+
+	viz.visualizeJointFrames(cA2w, cB2w);
+
+
+	if(data.jointFlags & PxSphericalJointFlag::eLIMIT_ENABLED)
+	{
+		if(cA2w.q.dot(cB2w.q)<0)
+			cB2w.q = -cB2w.q;
+
+		PxTransform cB2cA = cA2w.transformInv(cB2w);	
+		PxQuat swing, twist;
+		Ps::separateSwingTwist(cB2cA.q,swing,twist);
+
+		PxVec3 tanQSwing = PxVec3(0, Ps::tanHalf(swing.z,swing.w), -Ps::tanHalf(swing.y,swing.w));
+		Cm::ConeLimitHelper coneHelper(data.tanQZLimit, data.tanQYLimit, data.tanQPad);
+		viz.visualizeLimitCone(cA2w, data.tanQZLimit, data.tanQYLimit, 
+			!coneHelper.contains(tanQSwing));
+	}
+}
+
+
+
+void SphericalJointProject(const void* constantBlock,
+						   PxTransform& bodyAToWorld,
+						   PxTransform& bodyBToWorld,
+						   bool projectToA)
+{
+	using namespace joint;
+
+	const SphericalJointData& data = *reinterpret_cast<const SphericalJointData*>(constantBlock);
+
+	PxTransform cA2w, cB2w, cB2cA, projected;
+	joint::computeDerived(data, bodyAToWorld, bodyBToWorld, cA2w, cB2w, cB2cA);
+
+	bool linearTrunc;
+	projected.p = truncateLinear(cB2cA.p, data.projectionLinearTolerance, linearTrunc);
+
+	if(linearTrunc)
+	{
+		projected.q = cB2cA.q;
+		projectTransforms(bodyAToWorld, bodyBToWorld, cA2w, cB2w, projected, data, projectToA);
+	}
+}
+}
+
+
+bool Ext::SphericalJoint::attach(PxPhysics &physics, PxRigidActor* actor0, PxRigidActor* actor1)
+{
+	mPxConstraint = physics.createConstraint(actor0, actor1, *this, sShaders, sizeof(SphericalJointData));
+	return mPxConstraint!=NULL;
+}
+
+void SphericalJoint::exportExtraData(PxSerializationContext& stream)
+{
+	if(mData)
+	{
+		stream.alignData(PX_SERIAL_ALIGN);
+		stream.writeData(mData, sizeof(SphericalJointData));
+	}
+	stream.writeName(mName);
+}
+
+void SphericalJoint::importExtraData(PxDeserializationContext& context)
+{
+	if(mData)
+		mData = context.readExtraData<SphericalJointData, PX_SERIAL_ALIGN>();
+	context.readName(mName);
+}
+
+void SphericalJoint::resolveReferences(PxDeserializationContext& context)
+{
+	setPxConstraint(resolveConstraintPtr(context, getPxConstraint(), getConnector(), sShaders));	
+}
+
+SphericalJoint* SphericalJoint::createObject(PxU8*& address, PxDeserializationContext& context)
+{
+	SphericalJoint* obj = new (address) SphericalJoint(PxBaseFlag::eIS_RELEASABLE);
+	address += sizeof(SphericalJoint);	
+	obj->importExtraData(context);
+	obj->resolveReferences(context);
+	return obj;
+}
+
+// global function to share the joint shaders with API capture	
+const PxConstraintShaderTable* Ext::GetSphericalJointShaderTable() 
+{ 
+	return &SphericalJoint::getConstraintShaderTable();
+}
+
+//~PX_SERIALIZATION
+PxConstraintShaderTable Ext::SphericalJoint::sShaders = { Ext::SphericalJointSolverPrep, SphericalJointProject, SphericalJointVisualize, PxConstraintFlag::Enum(0) };