Update PhysX to 5.1.1

physx/CHANGELOG.md

@@ -1,3 +1,43 @@
+# v5.1.1
+
+## General
+
+### Changed:
+
+* Be aware that due to reorganization of some virtual functions in the public interface the binary data layout has changed from v5.1.0. Linking code that includes the headers of v5.1.1 against binaries that have been built with an older version will likely cause problems.
+
+### Added:
+
+* Support for spatial and fixed tendon serialization.
+
+### Fixed:
+
+* Binary serialization of articulations had a bug, which got fixed.
+* Includes [PR #8: Download bootstrap packages using TLS](https://github.com/NVIDIA-Omniverse/PhysX/pull/8/)
+
+## Rigid Body
+
+### Fixed
+
+* A crash when colliding an SDF mesh against a sphere
+
+## Particle Systems
+
+### Fixed
+
+* Particle systems now support is<> type conversion.
+
+### Removed
+
+* The PxParticlePhase class has been removed. It was unused.
+
+## Vehicles2
+
+### Changed:
+
+* SnippetVehicle2Multithreading is now using custom profiling code to provide timings in release builds too.
+
+
 # v5.1.0
 
 ## Supported Platforms

physx/README.md

@@ -37,7 +37,7 @@ Please see [Release Notes](./CHANGELOG.md) for updates pertaining to the latest
 
 ## User Guide and API Documentation
 
-The user guide and API documentation are available on [GitHub Pages](https://nvidia-omniverse.github.io/PhysX/physx). Please create an [Issue](https://github.com/NVIDIA-Omniverse/PhysX/issues/) if you find a documentation issue.
+The user guide and API documentation are available on [GitHub Pages](https://nvidia-omniverse.github.io/PhysX/physx/index.html). Please create an [Issue](https://github.com/NVIDIA-Omniverse/PhysX/issues/) if you find a documentation issue.
 
 ## Quick Start Instructions
 

physx/buildtools/packman/bootstrap/fetch_file_from_packman_bootstrap.cmd

@@ -20,7 +20,7 @@
 @echo Fetching %PACKAGE_NAME% ...
 
 @powershell -ExecutionPolicy ByPass -NoLogo -NoProfile -File "%~dp0download_file_from_url.ps1" ^
-    -source "http://bootstrap.packman.nvidia.com/%PACKAGE_NAME%" -output %TARGET_PATH%
+    -source "https://bootstrap.packman.nvidia.com/%PACKAGE_NAME%" -output %TARGET_PATH%
 :: A bug in powershell prevents the errorlevel code from being set when using the -File execution option
 :: We must therefore do our own failure analysis, basically make sure the file exists and is larger than 0 bytes:
 @if not exist %TARGET_PATH% goto ERROR_DOWNLOAD_FAILED

physx/buildtools/packman/packman

@@ -62,7 +62,7 @@ fi
 fetch_file_from_s3()
 {
 	SOURCE=$1
-	SOURCE_URL=http://bootstrap.packman.nvidia.com/$SOURCE
+	SOURCE_URL=https://bootstrap.packman.nvidia.com/$SOURCE
 	TARGET=$2
 	echo "Fetching $SOURCE from bootstrap.packman.nvidia.com ..."
 	if command -v wget >/dev/null 2>&1; then

physx/dependencies.xml

@@ -20,7 +20,7 @@
 	</dependency>
 
 	<dependency name="PhysXGpu">
-		<package name="PhysXGpu" version="104.0-5.1.118.32022295-public"  platforms="vc15win64  vc16win64 linux linux-aarch64"/>
+		<package name="PhysXGpu" version="104.1-5.1.1151.32112585-public"  platforms="vc15win64  vc16win64 linux linux-aarch64"/>
 	</dependency>
 
 	<dependency name="opengllinux" tags="requiredForDistro">

physx/documentation/platformreadme/linux/README_LINUX.md

@@ -9,10 +9,14 @@
 
 * CMake, minimum version 3.14
 * Python, minimum version 3.5
-* Clang, min version 3.8
-* Gcc for aarch64, min version 5.3
 * curl
 
+Compilers:
+  * For linux x86-64 builds we support Ubuntu LTS releases with their respective default compiler versions:
+    * Ubuntu 20.04 LTS with gcc 9 or clang 10
+    * Ubuntu 22.04 LTS with gcc 11 or clang 14
+  * For linux aarch64 builds we support gcc version 9
+
 
 ## Generating Makefiles:
 

physx/include/PxArticulationTendon.h

@@ -56,7 +56,7 @@ namespace physx
 	/**
 	\brief Defines a spatial tendon attachment point on a link.
 	*/
-	class PxArticulationAttachment
+	class PxArticulationAttachment : public PxBase
 	{
 
 	public:
@@ -180,14 +180,26 @@ namespace physx
 		*/
 		virtual		void							release() = 0;
 
-					void*							userData;	//!< user can assign this to whatever, usually to create a 1:1 relationship with a user object.
+					void*							userData;	//!< user can assign this to whatever, usually to create a 1:1 relationship with a user object.	
+
+		/**
+		\brief Returns the string name of the dynamic type.
+
+		\return The string name.
+		*/
+		virtual	const char*						getConcreteTypeName() const { return "PxArticulationAttachment"; }
+
+	protected:
+
+		PX_INLINE	PxArticulationAttachment(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags) {}
+		PX_INLINE	PxArticulationAttachment(PxBaseFlags baseFlags) : PxBase(baseFlags) {}
 	};
 
 
 	/**
 	\brief Defines a fixed-tendon joint on an articulation joint degree of freedom.
 	*/
-	class PxArticulationTendonJoint
+	class PxArticulationTendonJoint : public PxBase
 	{
 
 	public:
@@ -253,6 +265,18 @@ namespace physx
 		virtual		void							release() = 0;
 
 					void*							userData;	//!< user can assign this to whatever, usually to create a 1:1 relationship with a user object.
+
+		/**
+		\brief Returns the string name of the dynamic type.
+
+		\return The string name.
+		*/
+		virtual	const char*							getConcreteTypeName() const { return "PxArticulationTendonJoint"; }
+
+	protected:
+
+		PX_INLINE	PxArticulationTendonJoint(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags) {}
+		PX_INLINE	PxArticulationTendonJoint(PxBaseFlags baseFlags) : PxBase(baseFlags) {}
 	};
 
 

physx/include/PxFEMClothFlags.h

@@ -0,0 +1,75 @@
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * Redistributions in binary form must reproduce the above copyright
+//    notice, this list of conditions and the following disclaimer in the
+//    documentation and/or other materials provided with the distribution.
+//  * Neither the name of NVIDIA CORPORATION nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
+// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+// PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+// Copyright (c) 2008-2022 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_FEM_CLOTH_FLAGS_H
+#define PX_PHYSICS_FEM_CLOTH_FLAGS_H
+
+#include "foundation/PxFlags.h"
+#include "foundation/PxSimpleTypes.h"
+
+
+#if !PX_DOXYGEN
+namespace physx
+{
+#endif
+
+/**
+\brief Identifies input and output buffers for PxFEMCloth.
+@see PxFEMClothData::readData(), PxFEMClothData::writeData(), PxBuffer.
+*/
+struct PxFEMClothData
+{
+	enum Enum
+	{
+		eNONE = 0,
+		ePOSITION_INVMASS = 1 << 0,
+		eVELOCITY = 1 << 1,
+		eREST_POSITION = 1 << 2,
+		eALL = ePOSITION_INVMASS | eVELOCITY | eREST_POSITION
+	};
+};
+
+typedef PxFlags<PxFEMClothData::Enum, PxU32> PxFEMClothDataFlags;
+
+struct PxFEMClothFlag
+{
+	enum Enum
+	{
+		eDISABLE_SELF_COLLISION = 1 << 0,
+		eUSE_ISOTROPIC_CLOTH = 1 << 1,          // 0: use anistropic model
+		eUSE_REST_POSITION_FOR_BENDING = 1 << 2 // 0: use zero bending angle
+	};
+};
+
+typedef PxFlags<PxFEMClothFlag::Enum, PxU32> PxFEMClothFlags;
+
+#if !PX_DOXYGEN
+} // namespace physx
+#endif
+
+#endif

physx/include/PxPBDMaterial.h

@@ -70,7 +70,7 @@ namespace physx
 		/**
 		\brief Sets material vorticity confinement coefficient
 
-		\param[in] vorticityConfinement Material vorticity confinement coefficient.
+		\param[in] vorticityConfinement Material vorticity confinement coefficient. <b>Range:</b> [0, PX_MAX_F32)
 
 		@see #getVorticityConfinement()
 		*/
@@ -87,7 +87,7 @@ namespace physx
 		/**
 		\brief Sets material surface tension coefficient
 
-		\param[in] surfaceTension Material surface tension coefficient.
+		\param[in] surfaceTension Material surface tension coefficient. <b>Range:</b> [0, PX_MAX_F32)
 
 		@see #getSurfaceTension()
 		*/
@@ -104,7 +104,7 @@ namespace physx
 		/**
 		\brief Sets material cohesion coefficient
 
-		\param[in] cohesion Material cohesion coefficient.
+		\param[in] cohesion Material cohesion coefficient. <b>Range:</b> [0, PX_MAX_F32)
 
 		@see #getCohesion()
 		*/
@@ -121,7 +121,7 @@ namespace physx
 		/**
 		\brief Sets material lift coefficient
 
-		\param[in] lift Material lift coefficient.
+		\param[in] lift Material lift coefficient. <b>Range:</b> [0, PX_MAX_F32)
 
 		@see #getLift()
 		*/
@@ -138,7 +138,7 @@ namespace physx
 		/**
 		\brief Sets material drag coefficient
 
-		\param[in] drag Material drag coefficient.
+		\param[in] drag Material drag coefficient. <b>Range:</b> [0, PX_MAX_F32)
 
 		@see #getDrag()
 		*/
@@ -171,7 +171,7 @@ namespace physx
 		\brief Sets material particle friction scale. This allows the application to scale up/down the frictional effect between particles independent of the friction 
 		coefficient, which also defines frictional behavior between the particle and rigid bodies/soft bodies/cloth etc.
 
-		\param[in] scale particle friction scale
+		\param[in] scale particle friction scale. <b>Range:</b> [0, PX_MAX_F32)
 
 		@see #getParticleFrictionScale()
 		*/
@@ -188,7 +188,7 @@ namespace physx
 		/**
 		\brief Sets material particle adhesion scale value. This is the adhesive value between particles defined as a scaled multiple of the adhesion parameter.
 
-		\param[in] adhesion particle adhesion scale value
+		\param[in] adhesion particle adhesion scale value. <b>Range:</b> [0, PX_MAX_F32)
 
 		@see #getParticleAdhesionScale()
 		*/

physx/include/PxPBDParticleSystem.h

@@ -35,7 +35,6 @@
 #include "foundation/PxVec3.h"
 
 #include "PxParticleSystem.h"
-#include "PxParticlePhase.h"
 
 #if !PX_DOXYGEN
 namespace physx
@@ -58,21 +57,21 @@ class PxPBDParticleSystem : public PxParticleSystem
 {
 public:
 
-	virtual								~PxPBDParticleSystem() {}
+	virtual                             ~PxPBDParticleSystem() {}
 
 	/**
 	\brief Set wind direction and intensity
 
 	\param[in] wind The wind direction and intensity
 	*/
-	virtual		void					setWind(const PxVec3& wind) = 0;
+	virtual     void                    setWind(const PxVec3& wind) = 0;
 
 	/**
 	\brief Retrieves the wind direction and intensity.
 
 	\return The wind direction and intensity
 	*/
-	virtual		PxVec3					getWind() const = 0;
+	virtual     PxVec3                  getWind() const = 0;
 
 	/**
 	\brief Set the fluid boundary density scale
@@ -81,15 +80,15 @@ class PxPBDParticleSystem : public PxParticleSystem
 
 	\param[in] fluidBoundaryDensityScale  <b>Range:</b> (0.0, 1.0)
 	*/
-	virtual		void					setFluidBoundaryDensityScale(PxReal fluidBoundaryDensityScale) = 0;
+	virtual     void                    setFluidBoundaryDensityScale(PxReal fluidBoundaryDensityScale) = 0;
 
 	/**
 	\brief Return the fluid boundary density scale
 	\return the fluid boundary density scale
 
 	See #setFluidBoundaryDensityScale()
 	*/
-	virtual		PxReal					getFluidBoundaryDensityScale() const = 0;
+	virtual     PxReal                  getFluidBoundaryDensityScale() const = 0;
 
 	/**
 	\brief Set the fluid rest offset
@@ -98,39 +97,43 @@ class PxPBDParticleSystem : public PxParticleSystem
 
 	\param[in] fluidRestOffset  <b>Range:</b> (0, particleContactOffset)
 	*/
-	virtual		void				    setFluidRestOffset(PxReal fluidRestOffset) = 0;
+	virtual     void                    setFluidRestOffset(PxReal fluidRestOffset) = 0;
 
 	/**
 	\brief Return the fluid rest offset
 	\return the fluid rest offset
 
 	See #setFluidRestOffset()
 	*/
-	virtual		PxReal				    getFluidRestOffset() const = 0;
+	virtual     PxReal                  getFluidRestOffset() const = 0;
 
 	/**
 	\brief Set the particle system grid size x dimension
 
 	\param[in] gridSizeX x dimension in the particle grid
 	*/
-	virtual		void					setGridSizeX(PxU32 gridSizeX) = 0;
+	virtual     void                    setGridSizeX(PxU32 gridSizeX) = 0;
 
 	/**
 	\brief Set the particle system grid size y dimension
 
 	\param[in] gridSizeY y dimension in the particle grid
 	*/
-	virtual		void					setGridSizeY(PxU32 gridSizeY) = 0;
+	virtual     void                    setGridSizeY(PxU32 gridSizeY) = 0;
 
 	/**
 	\brief Set the particle system grid size z dimension
 
 	\param[in] gridSizeZ z dimension in the particle grid
 	*/
-	virtual		void					setGridSizeZ(PxU32 gridSizeZ) = 0;
+	virtual     void                    setGridSizeZ(PxU32 gridSizeZ) = 0;
 
-	PX_INLINE							PxPBDParticleSystem(PxType concreteType, PxBaseFlags baseFlags) : PxParticleSystem(concreteType, baseFlags) {}
-	PX_INLINE							PxPBDParticleSystem(PxBaseFlags baseFlags) : PxParticleSystem(baseFlags) {}
+	virtual     const char*             getConcreteTypeName() const PX_OVERRIDE { return "PxPBDParticleSystem"; }
+
+protected:
+	PX_INLINE                           PxPBDParticleSystem(PxType concreteType, PxBaseFlags baseFlags) : PxParticleSystem(concreteType, baseFlags) {}
+	PX_INLINE                           PxPBDParticleSystem(PxBaseFlags baseFlags) : PxParticleSystem(baseFlags) {}
+	virtual     bool                    isKindOf(const char* name) const PX_OVERRIDE { return !::strcmp("PxPBDParticleSystem", name) || PxParticleSystem::isKindOf(name); }
 };
 
 #if PX_VC