From 3dfe2108cfab31ba3ee5527e217d0d8e99a51162 Mon Sep 17 00:00:00 2001
From: git perforce import user <a@b>
Date: Tue, 25 Oct 2016 12:29:14 -0600
Subject: Initial commit: PhysX 3.4.0 Update @ 21294896 APEX 1.4.0 Update @
 21275617

[CL 21300167]
---
 .../src/ExtDistanceJointSolverPrep.cpp             | 111 +++++++++++++++++++++
 1 file changed, 111 insertions(+)
 create mode 100644 PhysX_3.4/Source/PhysXExtensions/src/ExtDistanceJointSolverPrep.cpp

(limited to 'PhysX_3.4/Source/PhysXExtensions/src/ExtDistanceJointSolverPrep.cpp')

diff --git a/PhysX_3.4/Source/PhysXExtensions/src/ExtDistanceJointSolverPrep.cpp b/PhysX_3.4/Source/PhysXExtensions/src/ExtDistanceJointSolverPrep.cpp
new file mode 100644
index 00000000..c0b8797d
--- /dev/null
+++ b/PhysX_3.4/Source/PhysXExtensions/src/ExtDistanceJointSolverPrep.cpp
@@ -0,0 +1,111 @@
+// 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 "foundation/PxSimpleTypes.h"
+#include "ExtDistanceJoint.h"
+
+namespace physx
+{
+namespace Ext
+{
+	PxU32 DistanceJointSolverPrep(Px1DConstraint* constraints,
+		PxVec3& body0WorldOffset,
+		PxU32 maxConstraints,
+		PxConstraintInvMassScale &invMassScale,
+		const void* constantBlock,
+		const PxTransform& bA2w,
+		const PxTransform& bB2w)
+	{
+		PX_UNUSED(maxConstraints);
+
+		const DistanceJointData& data = *reinterpret_cast<const DistanceJointData*>(constantBlock);
+		invMassScale = data.invMassScale;
+
+		PxTransform cA2w = bA2w.transform(data.c2b[0]);
+		PxTransform cB2w = bB2w.transform(data.c2b[1]);
+
+		body0WorldOffset = cB2w.p - bA2w.p;
+
+		PxVec3 direction = cA2w.p - cB2w.p;
+		PxReal distance = direction.normalize();
+
+		bool enforceMax = (data.jointFlags & PxDistanceJointFlag::eMAX_DISTANCE_ENABLED);
+		bool enforceMin = (data.jointFlags & PxDistanceJointFlag::eMIN_DISTANCE_ENABLED);
+
+		if((!enforceMax || distance<=data.maxDistance) && (!enforceMin || distance>=data.minDistance))
+			return 0;
+
+#define EPS_REAL 1.192092896e-07F
+
+		if (distance < EPS_REAL)
+			direction = PxVec3(1.f,0,0);
+
+		Px1DConstraint *c = constraints;
+
+		// constraint is breakable, so we need to output forces
+
+		c->flags = Px1DConstraintFlag::eOUTPUT_FORCE;
+
+		c->linear0 = direction;		c->angular0 = (cA2w.p - bA2w.p).cross(c->linear0);		
+		c->linear1 = direction;		c->angular1 = (cB2w.p - bB2w.p).cross(c->linear1);		
+
+		if (data.jointFlags & PxDistanceJointFlag::eSPRING_ENABLED)
+		{
+			c->flags |= Px1DConstraintFlag::eSPRING;
+			c->mods.spring.stiffness= data.stiffness;
+			c->mods.spring.damping	= data.damping;
+		}
+
+		//add tolerance so we don't have contact-style jitter problem.
+
+		if (data.minDistance == data.maxDistance && enforceMin && enforceMax)
+		{
+			PxReal error = distance - data.maxDistance;
+			c->geometricError = error >  data.tolerance ? error - data.tolerance :
+				error < -data.tolerance ? error + data.tolerance : 0;
+		}
+		else if (enforceMax && distance > data.maxDistance)
+		{
+			c->geometricError = distance - data.maxDistance - data.tolerance;
+			c->maxImpulse = 0;
+		}
+		else if (enforceMin && distance < data.minDistance)
+		{
+			c->geometricError = distance - data.minDistance + data.tolerance;	
+			c->minImpulse = 0;
+		}
+
+		return 1;
+	}
+}//namespace
+
+}
+
+//~PX_SERIALIZATION
-- 
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