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<!DOCTYPE html PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/html4/loose.dtd">
<html>
<head>
<title>Release Notes - AGEIA PhysX SDK 2.6</title>
<link rel="stylesheet" href="stylesheet.css" type="text/css">
</head>
<body>
<!--img alt="" src="docs/images/PhysXlogo.png" align="middle"--> <br>
<hr style="width: 100%; height: 2px;"> <br>
<br>
<h1 style="text-align: center;">Release Notes - AGEIA PhysX SDK 2.6.0</h1>
<h2 style="text-align: center;">28<sup>th</sup> September 2006</h2>
<p style="text-align: center;">&nbsp; </p>
<h2>What's New In AGEIA PhysX 2.6 </h2>
<blockquote>
<h4>Hardware/Software Rigid Bodies </h4>
<ul>
<li>There is a new joint projection mode, NX_JPM_LINEAR_MINDIST, that uses only
linear projection for improved performance. </li>
<li>A new stack overflow protection scheme is in place, where too-large stack allocations are replaced by heap allocations when needed. If heap allocations are suddenly causing a slowdown, the threshold for this fallback can be set using NxFoundationSDK::setAllocaThreshold().</li>
<li>Fixed: Raycasts missing on the exact boundary of a heightfield.</li>
<li> Fixed: Filtering does not work correctly with HSM.</li>
<li>Fixed (SW): DistanceJoint will not work properly when attachment points coincide in worldspace.</li>
<li>Fixed: No contacts generated in Capsule-Capsule collision when capsule segments intersect.</li>
<li>Fixed: No contacts generated in capsule-convex collision when capsule penetrates convex.</li>
<li>Fixed: CCD collision response in FW scenes. </li>
</ul>
<h4>Hardware Fluids</h4>
<ul>
<li>Fluid collision improvements including support for a
collision distance between fluid particles and rigid
body geometry which is maintained during the
simulation
(NxFluidDesc::collisionDistanceMutliplier).</li>
<li>A new method, NxScene::cookFluidMeshHotspot, allows
for preparing static mesh, height field and convex
shapes for fluid collision, preventing on-the-fly
cooking.</li>
<li>More information about particles including particle
flags, IDs and notifications for particle
creations/deletions.</li>
<li>New runtime switches for degrading simulation
fidelity on heavy system load.</li>
<li> Fluids emitters are now attached to shapes not actors. </li>
</ul>
<h4>Hardware/Software Cloth</h4>
<ul>
<li>Cloth metal - a combination of deformable cloth and
nondeformable rigid body, useful for sheet metal and
similar objects. This mode can be activated by
attaching a piece of cloth to a rigid body via the
NxCloth::attachToCore method.</li>
<li>Cloth self collision is now implemented and can be activated by means of
NxClothFlag::NX_CLF_SELFCOLLISION.</li>
</ul>
<h4>Hardware Scene Manager(HSM)</h4>
<ul>
<li>The HSM now uses Compartments, allowing the utilization of multiple PhysX cards
in future versions.</li>
<li>The interface of the HSM has been completely revised.</li>
</ul>
<h4>Performance</h4>
<ul>
<li>The performance of some scenes with many kinematic actors and/or a lot of broadphase activity has been improved.</li>
<li>Fluid collision performance improved, especially for dynamic convex shapes.</li>
</ul>
<h4>Serialization</h4>
<ul>
<li>A new serialization library has been introduced called NxuStream</li>
<li>This is a source code library with an easy to use interface.</li>
<li>SampleAssetExport and SampleSceneExport demonstrate how to use this library.</li>
<li>It is now possible to serialize to and from an XML file format, as a high speed binary file, and in COLLADA 1.4.1 physics.</li>
</ul>
<h4>Documentation</h4>
<ul>
<li>Many small corrections and fixes for the user guide and API
reference.</li>
<li>Information in the User's Guide pertaining to hardware has been concentrated in one place.</li>
<li>User guide documentation for:
<ul>
<li>Compartments</li>
<li>Training programs</li>
<li>Cloth Metal</li>
</ul>
</li>
</ul>
<h4>Installer</h4>
<ul>
<li>The client installers have been replaced by a single client installer. This installer is based on the MSI/WISE installer which was distributed in the past. There is no longer an NSIS based installer.</li>
</ul>
</blockquote>
<h2>Supported Platforms</h2>
<blockquote>
<h4>Runtime</h4>
<ul>
<li>Software Runtime for Microsoft Windows XP (32bit and 64bit
editions; Pentium III / Athlon XP and higher only) </li>
<li>Software Runtime for Microsoft Windows Vista (32bit
edition; Pentium III / Athlon XP and higher only) </li>
<li>AGEIA PhysX Hardware Runtime for Microsoft Windows XP
(32bit and 64bit editions) </li>
<li>AGEIA PhysX Hardware Runtime for Microsoft Windows Vista
(32bit and 64bit editions) </li>
<li>Microsoft XBox360 </li>
<li>Sony Play Station 3 (provided by Sony)</li>
<li>Software Runtime for SuSE Enterprise Linux 10.0 (alpha release; 32bit and 64bit
editions; Pentium III / Athlon XP and higher only)</li>
<li>Software Runtime for Red Hat Enterprise Linux WS 4.0 (alpha release; 32bit and 64bit
editions; Pentium III / Athlon XP and higher only)<br></li>
</ul>
<h4>Development </h4>
<ul>
<li> Microsoft Windows XP </li>
<li> Microsoft Visual Studio .NET 2003 </li>
<li> Microsoft Visual Studio .NET 2005 </li>
<li> Microsoft XBox360 development tools </li>
<li> Sony Playstation 3 development tools</li>
<li> SuSE Enterprise Linux 10.0 (alpha release)</li>
<li> Red Hat Enterprise Linux 4.0 WS (alpha release)<br>
</li>
</ul>
</blockquote>
<h2><br>
Known Issues And Limitations</h2>
<blockquote>
<h4>Hardware/Software Rigid Bodies</h4>
<ul>
<li>Objects may not get woken if they lose contact but their bounds still overlap.</li>
<li> Objects may have difficulty falling asleep if they have alternating bounds overlaps with non sleeping bodies.</li>
<li>Joint projection may cause instability in the D6 joint.</li>
<li> joints may pull off each other when the mass relationship is not properly set up </li>
<li> joints' behavior may differ when actors are in very small size. </li>
</ul>
<h4>Hardware Fluids</h4>
<ul>
<li>Dynamic fluid - mesh shape collision isn't supported anymore.</li>
<li>Dynamic convex shapes are limited to 64 planes for
fluid collision. If a convex consists of more than 64
planes, only the first 64 planes are taken into consideration for
collision. If this is the case it may happen that particles collide
with the axis aligned bounding box of the convex shape.</li>
<li>If fluid particles are located more than
32768*NxFluidDesc::kernelRadiusMultiplier/NxFluidDesc::restParticlesPerMeter
units far from the world origin, collision and SPH computations will fail.
</li>
<li>If particles get trapped between two dynamic rigid
bodies, they jitter within the penetration depth of
the rigid bodies.</li>
<li> Switching from no-particle-interaction mode to mixed mode or even sph mode can cause instabilities in the simulation. </li>
<li> Fluids have a limit on the packet number. It's 1024. </li>
<li> Max 4096 new Particles per time step can be added by the function of NxFluid::addParticles(). </li>
<li>16 Mbytes are reserved on the PPUs external memory
for cooked static collision geometry for fluids. If
this is exceeded during runtime collision geometry is
dropped and a debug message
&quot;Hardware heap ran out of memory&quot; is generated. The call
NxScene::cookFluidMeshHotspot can't cause this, since
it only cooks data and doesn't transfer the data to
the PPUs external memory yet.</li>
<li>If more than 8192 static triangles are located in the range
of a fluid packet, triangles will be dropped.
A debug message is generated in this case.
</li>
</ul>
<h4>Hardware/Software Cloth</h4>
<ul>
<li>A self-collision enabled cloth can still intersect itself due to high relative
velocities of cloth particles, small cloth thickness, multiple collisions with
other objects or user interaction.</li>
<li>Untangling is not yet supported.</li>
<li>Collision handling between different pieces of cloth is not yet supported.</li>
<li>Supported core bodies for cloth metal are boxes,
spheres, capsules and compounds of spheres.</li>
<li>The metal deformation is penetration based. This
means that if the rigid body solver leaves a big
penetration, the result looks more dramatic. Thus, in
some range, the deformation is not predictable.
However, the cloth is moved towards the colliding
body by the penetrationDepth parameter at an impact
so the penetration just varies around this value.</li>
<li> Attaching a low density actor to cloth in NX_CLOTH_ATTACHMENT_TWOWAY mode can cause unstable simulation. </li>
<li> When the density of object collision with cloth is too high, the objects can easily penetrate cloth, even in very low speed. </li>
<li> In some cases a cloth can slip through a concave corner or a valley edge during mesh or terrain collisions. (Workaround: Increase the cloth's thickness or bending stiffness) </li>
</ul>
<h4>Hardware Scene Manager(HSM) </h4>
<ul>
<li>dynamic triangle meshes are not supported anymore.</li>
<li> Objects in compartments are not visualized.</li>
<li> Hardware objects from different hardware compartments do not interact (i.e., cloth and rigid). </li>
</ul>
<h4>Serialization</h4>
<ul>
<li>COLLADA does not retain all of the physics data in our SDK. It will not retain heightfields, wheel shapes, CCD information, cloth, fluids, or a number of other items that are not in the COLLADA 1.4.1 specification.
</li>
</ul>
<h4>Installers</h4>
<ul>
<li> The AGEIA PhysX SDK must be installed to run samples as they
rely on DLLs contained within the main SDK installer.</li>
</ul>
<h4>Windows Device Driver</h4>
<ul>
<li> No known issues.</li>
</ul>
<h4>Tools</h4>
<ul>
<li> There is currently no support for content creation tools in the Linux SDK release.</li>
</ul>
</blockquote>
<h1 style="TEXT-ALIGN: center">Release Notes - AGEIA PhysX SDK
2.5.1</h1>
<h2 style="TEXT-ALIGN: center">17<sup>th</sup> August 2006</h2>
<p style="TEXT-ALIGN: center">&nbsp;</p>
<h2>What's New In AGEIA PhysX 2.5.1</h2>
<blockquote>
<h4>General</h4>
<ul>
<li>The NxPhysicsSDK object is now reference counted, and
thus all NxCreatePhysicsSDK()/NxCreatePhysicsSDKWithID()
calls should be matched with an NxReleasePhysicsSDK()
call. </li>
</ul>
<h4>Hardware/Software Rigid Bodies</h4>
<ul>
<li>The following HW Rigid Body optimizations have been
introduced. <ul>
<li>Improved mesh cooking </li>
<li>Optimized narrow phase collision detection </li>
<li>Optimized broad phase collision detection </li>
<li>Optimized dynamics solver</li>
</ul>
<p>These optimizations are expected to improve
performance with no significant change to the
behavior of the simulation. </p>
</li>
</ul>
<h4>Windows Device Driver</h4>
<ul>
<li>Microsoft Windows XP 32bit and 64bit now supported.
Allows for 32bit software which use AGEIA PhysX
hardware to run on Microsoft Windows XP 64bit. </li>
</ul>
</blockquote>
<h2>Supported Platforms</h2>
<blockquote>
<h4>Runtime</h4>
<ul>
<li>Software Runtime for Microsoft Windows XP (32bit and 64bit
editions) </li>
<li>Software Runtime for Microsoft Windows Vista (32bit
edition) </li>
<li>AGEIA PhysX Hardware Runtime for Microsoft Windows XP
(32bit and 64bit editions) </li>
<li>AGEIA PhysX Hardware Runtime for Microsoft Windows Vista
(32bit edition) </li>
<li>Microsoft XBox360 </li>
<li>Sony Play Station 3 (provided by Sony)<br>
</li>
</ul>
<h4>Development </h4>
<ul>
<li>Microsoft Windows XP </li>
<li>Microsoft Visual Studio .NET 2003 </li>
<li>Microsoft XBox360 development tools (August 2006 XDK
v3529) </li>
<li>Sony Playstation 3 development tools</li>
</ul>
</blockquote>
<p><a name="knownissues251"></a></p>
<h2><br>
Known Issues And Limitations</h2>
<p><br>
Below is a list of new issues and limitations; this is an
addition to the <a href="#knownissues250">list from 2.5.0</a>. </p>
<blockquote>
<h4>Windows Device Driver</h4>
<ul>
<li>Since the AGEIA PhysX Properties Control Panel Applet
is a 32-bit DLL, it does not appear in the Control
Panel automatically under 64-bit Windows. The user
must enable 32-bit Control Panel icons for it to
appear.</li>
</ul>
<h4>Hardware/Software Rigid Bodies</h4>
<ul>
<li>If shapes are added to an actor containing a single
triangle mesh shape in a HW scene, collisions with
the triangle mesh shape will no longer work. The
problem lies in the transition from single shape
actor to a compound, which means that compound actors
can be created with triangle mesh shapes either by
specifying all shapes directly in the descriptor, or
by making sure that the triangle mesh is never the
only shape in the actor. </li>
</ul>
</blockquote>
<h1 style="text-align: center;">Release Notes - AGEIA PhysX SDK 2.5.0</h1>
<h2 style="text-align: center;">30<sup>th</sup> June 2006</h2>
<p style="text-align: center;">&nbsp;</p>
<h2>What's New In AGEIA PhysX 2.5</h2>
<blockquote>
<h4>Hardware/Software Rigid Bodies</h4>
<ul>
<li> Sweep API - Allows swept shape queries against a scene. </li>
<li> Active Transform Notification - Provides a list of actors which
have been updated. </li>
<li> Sleep Events - Provides a notification when an actor wakes up or
goes to sleep. </li>
<li> Kinetic Energy Based Sleeping - An improved criteria for
deciding if an actor should sleep. This is now the default. </li>
<li> Reduced overhead for sleeping actors. </li>
<li> Contact Modification - A callback is provided which allows the
user to modify contacts between the near phase and solver. </li>
<li> Fine grained threading is now enabled on the PC - parallel near
phase and solver. </li>
<li> Version Controlled Cooking - Cooking is now versioned along with
the runtime. </li>
<li> New/Delete has been cleaned up in many places and all calls
should now go through the user supplied memory allocator. </li>
<li> Adaptive force improvements - The adaptive force optimization is
now only applied to groups of objects which are in contact with a
static object, for example a stack resting on the floor. </li>
<li> The ratio property of a pulley joint is a force ratio rather
than a distance ratio. </li>
<li> The gear ratio of joints take into account the inertial
properties of the bodies involved. This affects the way forces are
propagated.</li>
<li> All joint types and collision primitives have software fall
backs in hardware scenes. </li>
<li> Full contact callbacks and modifiable contacts available in HW
scenes, but with substantial performance overhead. </li>
<li> Up to 64K shapes, 64K bodies, and 64K D6 joints may be created
in hardware scenes (but note the limitation below concerning active
object counts.)</li>
</ul>
<h4>Hardware Fluids</h4>
<ul>
<li> Fluid surfaces allow triangle meshes surfaces to be generated
for fluids on the PPU. Basic fluid surface feature set includes:
<ul>
<li> Depth smoothing </li>
<li> Multiple fluid surfaces associated with fluids<br>
</li>
<li> User defined particles supported </li>
</ul>
</li>
<li> Two Way Interaction - Fluids can now exert a force on a rigid
body. </li>
<li> NX_FF_ENABLED flag added - This allows simulation to be enabled
and disabled for fluids. By default the flag is set. When turning the
flag off (on NxFluid), the next fluid step is not carried out.
Particles are not copied to the user buffers </li>
<li> NX_SF_FLUID_DRAIN_INVERTED - Removed for performance reasons.
There are workarounds to get the same effect.</li>
</ul>
<h4>Hardware/Software Cloth</h4>
<ul>
<li> Basic feature set:
<ul>
<li> stretching and bending resistance </li>
<li> two way rigid body interaction </li>
<li> attachments </li>
<li> damping and friction </li>
<li> tearing </li>
<li> pressure</li>
</ul>
</li>
</ul>
<h4>Hardware Scene Manager(HSM)</h4>
<ul>
<li> Two way hardware rigid body and cloth interaction. </li>
<li> Two way fluid and rigid body interaction. </li>
<li> One way managed rigid body versus primary scene rigid body
interaction, including:</li>
<li> Software material table mirrored to the managed scenes. </li>
<li> Software static meshes are paged to managed scenes. </li>
<li> Group based filtering mirrored to the managed scenes. </li>
<li> Ray cast results include query performed against managed scenes. </li>
</ul>
<h4>Performance</h4>
<ul>
<li> Sleeping objects are much faster, not consuming any CPU in 2.5 </li>
<li> New friction model in 2.5 is somewhat faster, showing up in
stacking scenarios </li>
<li> Anisotropic friction, per-triangle materials and terrain height
fields run somewhat slower than in 2.4 </li>
<li> All joint types but the D6 run somewhat slower in 2.5 </li>
<li> Hardware rigid body scenes consume more CPU cycles than in 2.4 </li>
<li> Running a scene on multiple threads now consumes memory
proportional to the number of threads concurrently within the SDK
rather than the number of threads which have entered the SDK since
creation.</li>
<li> Xbox 360 Optimization:
<ul>
<li>VMX128 rigid body constraint
solver.</li>
<li>VMX128 cloth solver.</li>
<li>VMX128 optimizations to box-box,
convex-mesh and convex-convex collision detection.</li>
<li>VMX128 midphase optimization for sphere-mesh, capsule-mesh,
OBB-mesh</li>
<li>VMX128 some small optimization for CCD.<br>
</li>
</ul>
</li>
<li>PlayStation3 PPU only version significantly faster due to changes in Vector library.</li>
</ul>
<h4>Rocket</h4>
<ul>
<li> Updated interface using menu items in addition to onscreen
buttons. </li>
<li> Support for Cloth </li>
<li> Support for Fluids </li>
<li> Support for NxUStream </li>
<li> (For details, see the Rocket documentation included in the Tools
Installer)</li>
</ul>
<h4>Installers</h4>
<ul>
<li> With the high/low level split in the SDK, the source code
installer will not contain sources for low level components </li>
<li> 2.5.0 includes a tools installer. For beta and beyond, it will
include Rocket, a 3DStudio Max plugin and a Maya plugin. </li>
<li> Tool developers can now specify the version of cooking they want
to use. </li>
<li> Applications no longer need to include the PhysXLoader (that is
now in the System32 folder)</li>
</ul>
<h4>Documentation</h4>
<ul>
<li>Many small corrections and fixes for the user guide and API
reference.</li>
<li>User guide and API reference documentation for:
<ul>
<li>Fluid surfaces</li>
<li>Contact modification callback</li>
<li>Sweep tests</li>
<li>Active transform notification</li>
<li>Sleep events</li>
<li>Hardware scene manager<br>
</li>
<li>Cloth tearing and pressure<br>
</li>
<li>Mesh auto paging<br>
</li>
</ul>
</li>
<li>Updates to the tutorials and samples pages.</li>
</ul>
<h4>Windows Device Driver</h4>
<ul>
<li> Support for PCIExpress Cards </li>
</ul>
</blockquote>
<h2>Supported Platforms</h2>
<blockquote>
<h4>Runtime</h4>
<ul>
<li> Software Runtime for Microsoft Windows XP (32bit editions) </li>
<li> AGEIA PhysX Hardware Runtime for Microsoft Windows XP (32bit
editions) </li>
<li> Microsoft XBox360 </li>
<li> Sony Play Station 3 (provided by Sony)<br>
</li>
</ul>
<h4>Development </h4>
<ul>
<li> Microsoft Windows XP </li>
<li> Microsoft Visual Studio .NET 2003 </li>
<li> Microsoft Visual Studio .NET 2005 (not supported, project files
only)<br>
</li>
<li> Microsoft XBox360 development tools </li>
<li> Sony Playstation 3 development tools<br>
</li>
</ul>
</blockquote>
<h2><br>
Known Issues And Limitations</h2>
<blockquote>
<h4>Hardware/Software Rigid Bodies</h4>
<ul>
<li> Joint types other than D6, spherical and revolute are partially
simulated in software. </li>
<li> For HW D6 joints, Only angular orientation drive &amp; linear
position drive are&nbsp;supported, i.e. slerp drive &amp; velocity
drive are not supported. </li>
<li> Wheel shape and joint parameters may need tweaking due to solver
changes. </li>
<li> Spherical and revolute joint behavior may differ from 2.4. </li>
<li> All joint break limits are specified as a maximum impulse and
might need to be adjusted. </li>
<li> User break notification now reports an impulse which is clamped
to the break impulse. </li>
<li> The friction model has changed. It should now be somewhat
stiffer. In addition friction is applied as soon as a contact is
created. </li>
<li> Mesh-Mesh collision detection is always performed in software(in
particular PMaps). </li>
<li> Mesh based height field collisions and height field collisions
are performed in software. </li>
<li> Wheel shapes are simulated in software. </li>
<li> Mesh and height field collisions are performed in software if
the mesh/height field has multiple materials defined. </li>
<li> Anisotropic friction is partially performed in software. </li>
<li> User contact reports and contact modification have quite a large
performance hit. </li>
<li> The result of sweep tests which are initially penetrating is
currently undefined. </li>
<li> Only boxes and capsules are supported by the sweep API as swept
objects. (spheres are emulated as capsules of zero length). </li>
<li> Sweep tests against planes, wheel shapes, and height fields are
not supported. </li>
<li> All sweep tests are synchronous(NX_SF_ASYNC is not supported). </li>
<li> Trigger shapes do not take part in CCD (Continuous Collision
Detection). </li>
<li> The methods isSleeping() and isGroupSleeping() now return the
same value. </li>
<li> Contact forces are not reported unless NX_NOTIFY_FORCES is set </li>
<li> Scene statistics no longer report the number and maximum number
of contacts, axis constraints or solver bodies </li>
<li> Hardware rigid body scenes support at most 4K active bodies. The
following additional restrictions are expected to be removed or
significantly alleviated during beta: at most 8K active shapes (shapes
whose pose is linked to active bodies), 4K active joints, and 4K
software fall back constraints. Note: these are counts for active
objects, sleeping objects are not included in the limits.<br>
</li>
<li> The hardware broad phase supports at most 4080 actors. Broad
phase runs in hardware only if the NX_SF_RESTRICTED_SCENE flag is set
on the scene. Otherwise broad phase runs in software even in hardware
scenes, and there are no size restrictions.</li>
<li> Joint pose projection is not hardware accelerated </li>
<li> Hardware convexes are limited to 32 vertices and 32 faces. Convexes will fallback
to software above these limits.</li>
</ul>
<h4>Hardware Fluids</h4>
<ul>
<li>Maximum of 32767 particles per fluid.</li>
<li> Only limited fluid surface depth smoothing is supported in
hardware with filter size = 3. </li>
<li> Silhouette smoothing for fluid surfaces is not supported in
hardware. </li>
<li> Fluid surface resolution is limited to no more than 256x256, so
in the initial state, if the resolution is beyond the limitation,
NxImplicitScreenMeshDesc::isValid() will give an assert error. But if
this resolution is changed during application program running, it will
be automatically clamped to the maximum value. </li>
<li> Quadtree hierarchy mesh is not supported in hardware for fluid
surfaces.<br>
</li>
<li> Two way interaction may be unstable with resting
particle-RB-contacts. </li>
<li> If the fluid hits packets which contain a high triangle density,
fluid mesh cooking on the host might become the bottleneck. However
there is logic to prevent detailed cooking when the load is too high.
Also cooking is now taking place in a separate thread, which removes
frame rate hick ups.</li>
</ul>
<h4>Hardware/Software Cloth<br>
</h4>
<ul>
<li> Convexes up to 120 planes </li>
<li> Only cloth particle collision detection (no cloth triangle
collision detection) </li>
<li>&lt; 1024 attached particles per cloth (limit might be removed
before release) </li>
<li>&lt; 1024 colliding shapes (limit might be removed before
release) </li>
<li> Wild movement of the cloth in connection with high bending
stiffness can get the cloth into an entangled state. It looks like the
cloth would locally stick to itself. This is a local self collision
issue. Workaround: reduce bending stiffness. </li>
<li> Squeezing cloth between rigid bodies can cause jittering.
Workaround: reduce cloth thickness. </li>
<li> For small meshes (&lt; 256 vertices) it is more efficient to
merge several of them into one cloth than creating a cloth instance for
each individual mesh. These meshes do not need to be connected (e.g.
multiple leaves of a plant).</li>
</ul>
<h4>Hardware Scene Manager(HSM)</h4>
<ul>
<li> Only group based collision reports are supported by the HSM. </li>
<li> Only a single managed hardware scene is supported by the HSM. </li>
<li> Effectors between hardware actors are not supported. </li>
<li> Actor and Shape pair flags not supported by the HSM. </li>
<li> Scene stats for hardware objects controlled by the HSM are not
supported. </li>
<li> Hardware rigid bodies do not exhibit two way interaction with
software objects under the HSM. </li>
<li> Hardware objects from separate scenes do not interact(e.g. rigid
body, cloth, fluids) under the HSM. </li>
<li> Dynamic height fields mirrored into the cloth and fluid scenes
will only supply 64 triangles, the rest will be silently dropped. </li>
<li> Shapes mirrored into the slave scene(cloth, rigid body, fluids)
will not be updated until they are mirrored/un-mirrored. This means if
you change a shape property(e.g. sphere radius) the hardware objects
will not be updated. </li>
<li> In the hardware rigid body scene only dynamic objects are
mirrored to the software scene.</li>
</ul>
<h4>Rocket</h4>
<ul>
<li> No known issues.</li>
</ul>
<h4>Installers</h4>
<ul>
<li> The AGEIA PhysX SDK must be installed to run samples as they
rely on DLLs contained within the main SDK installer.</li>
</ul>
<h4>Windows Device Driver</h4>
<ul>
<li> No known issues.</li>
</ul>
</blockquote>
<br>
<br>
<ol>
</ol>
<hr>
<h1 style="text-align: center;">Release Notes - AGEIA PhysX SDK 2.4.0</h1>
<h2 style="text-align: center;">23<sup>rd</sup> February 2006</h2>
<h2>AGEIA PhysX SDK Build Component</h2>
<h3>What's New?</h3>
<ol>
<li> Documentation and Samples for new features. </li>
<li> A number of smaller documentation corrections and
clarifications. </li>
</ol>
<h3>Platforms Supported</h3>
Development:
<ul>
<li> Microsoft Windows XP (32bit editions) </li>
<li> Microsoft Visual Studio .NET 2003 </li>
<li> Microsoft Visual Studio .NET 2003 with the XBox360 development
kit. </li>
</ul>
Not Supported for Development:
<ul>
<li> Microsoft Windows XP x64 Edition (and all other 64bit editions) </li>
<li> Microsoft Visual Studio .NET 2005 (project files not provided /
not tested) </li>
<li> Microsoft Visual C++ 6 (project files not provided / not tested)
</li>
</ul>
<h3>Known Issues and Limitations</h3>
<ul>
<li> The AGEIA PhysX SDK Build Component and AGEIA PhysX Software
Runtime Component must be installed to run samples and training
programs, since they rely on DLLs contained within the runtime
component. </li>
</ul>
<h3>Version</h3>
2.4.0
<h2>AGEIA PhysX Software Runtime Component</h2>
<h3>What's New?</h3>
<ol>
<li> Dynamic vs Dynamic CCD support </li>
<li> Support for heightfield shapes </li>
<li> User thread control. </li>
<li> Fine grained threading of the simulation(available only on
XBox360) </li>
<li> Additional overlap tests for shapes </li>
<li> Hardware scene manager, allows fluids to interact with rigid
bodies. </li>
</ol>
<h3>Platforms Supported (Runtime)</h3>
<ul>
<li> Microsoft Windows XP (32bit editions) </li>
<li> Microsoft XBox 360 </li>
<li> Sony PlayStation3 (provided by Sony)</li>
</ul>
<h3>Known Issues and Limitations</h3>
<ol>
<li> The AGEIA PhysX SDK must be installed to run samples as they
rely on DLLs contained within the main SDK installer. </li>
</ol>
<h3>Version</h3>
2.4.0
<h2>Hardware Rigid Bodies (AGEIA PhysX Driver)</h2>
<h3>What's New?</h3>
<ol>
<li> Many optimizations and Bug fixes. </li>
<li> D6 joint support. The D6 supports the following features:
breaking and signaling, angular orientation drive and gears, </li>
<li> The simulation no longer locks up on firmware crashes. Instead a
flag passed to fetchResults () which is set on an error. </li>
<li> A new error reporting tool allows the driver to record the
simulation state leading up to a crash to allow analysis and bug
fixing. </li>
</ol>
<h3>Platforms Supported (Runtime)</h3>
<ul>
<li> Microsoft Windows XP (32bit editions) with an AGEIA PhysX Card </li>
</ul>
<h3>Known Issues and Limitations</h3>
<ol>
<li> There is a limit of 2048 D6 joints per scene. </li>
<li> Only angular D6 drives are supported. All other types of drive
are not supported. </li>
<li> D6 joint pose projection is disabled. </li>
</ol>
<h3>Version</h3>
2.4.0
<h2>Hardware Fluids (AGEIA PhysX Driver)</h2>
<h3>What's New?</h3>
<ol>
<li> The AGEIA PhysX SDK now has a hardware scene manager, which
allows fluids to be created in a software scene. The hardware scene
manager takes care of mesh cooking and mirroring actors into the
hardware scene. </li>
<li> Support for more dynamic shapes in a fluid scene: convex mesh,
box, capsule, sphere </li>
<li> The following unimplemented API calls have been removed:
<ul>
<li> NX_FF_MESH_INCLUDE_SEPARATED </li>
<li> void NxFluid::setCollisionGroup(NxCollisionGroup group); </li>
<li> NxU32 NxFluid::getCollisionGroup(); </li>
<li> NxImplicitMesh* NxFluid::createSurfaceMesh(const
NxImplicitMeshDesc&amp; mesh); </li>
<li> void NxFluid::releaseSurfaceMesh(); </li>
<li> NxImplicitMesh* NxFluid::getSurfaceMesh(); </li>
<li> NxFluid::getDynamicActorReactionSmoothing () </li>
<li> NxFluid::setDynamicActorReactionSmoothing(NxReal smooth) </li>
<li> NxFluid::getDynamicActorReactionScaling() </li>
<li> NxFluid::setDynamicActorReactionScaling(NxReal scale) </li>
<li> NxFluid::setOnSeparationAction (NxFluidParticleAction
action, bool val) </li>
<li> NxFluid::getOnSeparationAction(NxFluidParticleAction action)
</li>
<li> NxFluid::setOnCollision(NxFluidParticleAction action, bool
val) </li>
<li> NxFluid::getOnCollision(NxFluidParticleAction action) </li>
<li> NxFluid::setOnLifetimeExpired(NxFluidParticleAction action,
bool val) </li>
<li> NxFluid::getOnLifetimeExpired(NxFluidParticleAction action) </li>
<li> typedef NxU16 NxFluidGroup; </li>
<li> void NxFluid::setFluidGroup(NxFluidGroup group) </li>
<li> NxU32 NxFluid::getFluidGroup() </li>
<li> NxU32 NxFluidDesc::onSeparation; </li>
<li> NxU32 NxFluidDesc::onCollision; </li>
<li> NxU32 NxFluidDesc::onLifetimeExpired; </li>
<li> NxReal NxFluidDesc::dynamicActorReactionSmoothing ; </li>
<li> NxReal NxFluidDesc::dynamicActorReactionScaling; </li>
<li> NxReal NxFluidDesc::collisionGroup; </li>
<li> class NxImplicitMesh </li>
<li> void NxPhysicsSDK::setFluidGroupPairFlags() </li>
<li> NxPhysicsSDK::getFluidGroupPairFlags() </li>
<li> NxScene::setUserFluidContactReport() </li>
<li> NxScene:: getUserFluidContactReport() </li>
<li> NxImplicitMesh * NxScene::createImplicitMesh(); </li>
<li> Void NxScene::releaseImplicitMesh(); </li>
<li> NxScene::getNbImplicitMeshes </li>
<li> NxImplicitMesh** NxScene::getImplicitMeshes() </li>
<li> class NxUserFluidContactReport </li>
<li> NxFluidCollisionMethod::NX_F_DYNAMIC_ACTOR_REACTION </li>
</ul>
</li>
</ol>
<h3>Platforms Supported (Runtime)</h3>
<ul>
<li> Microsoft Windows XP (32bit editions) with an AGEIA PhysX Card </li>
</ul>
<h3>Known Issues and Limitations</h3>
<ol>
<li> The maximum number of capsules are limited to 1024 in a scene. </li>
<li> The maximum number of boxes in a scene is limited to 1024. </li>
<li> Spheres are emulated as capsule of zero height, so they share
the same limitation as capsules. </li>
</ol>
<h3>Version</h3>
2.4.0
<h2>Cloth </h2>
<h3>What's New?</h3>
<ol>
<li> Software only cloth support (see the user guide for further
details) </li>
<li> Collision filtering. </li>
<li> Support for tearing and pressure. </li>
</ol>
<h3>Platforms Supported (Runtime)</h3>
<ul>
<li> Microsoft Windows XP (32bit editions) </li>
<li> Microsoft XBox 360 </li>
</ul>
<h3>Known Issues and Limitations</h3>
<ol>
<li> A cloth can bend too much and get stuck in itself. Workaround:
use less bending stiffness or variate the bending stiffness over time. </li>
</ol>
<h3>Version</h3>
2.4.0
<h2>Tools</h2>
<h3>What's New?</h3>
<ol>
<li> NxuStream- Support for serialization of the physical scene.
Supported formats include binary, Ascii(write only) and Collada </li>
<li> Visual Remote Debugger - View the physical representation used
by a game in real time and gather statistics and profiling information.
</li>
</ol>
<h3>Platforms Supported (Runtime)</h3>
<ul>
<li> Microsoft Windows XP (32bit editions) </li>
<li> Microsoft XBox 360 </li>
<li> Sony PlayStation3 (provided by Sony) </li>
</ul>
<h3>Known Issues and Limitations</h3>
<ol>
<li> NxuStreamdoes not import Collada files created with other
libraries correctly. </li>
<li> Visual Remote Debugger connections must be enabled immediately
after initializing the SDK, otherwise the connection is likely to fail
(because object creation data, etc, is lost). For example:
<pre>// Create Physics SDK ...<br><br>gPhysicsSDK-&gt;getFoundationSDK().getRemoteDebugger()-&gt;connect ("localhost", 5425); <br></pre>
</li>
<li> Reading profiler data at the same time the Visual Remote
Debugger is connected is not supported. Profiler data will not be
returned to the user when they call NxScene::readProfileData() if the
debugger is connected. </li>
</ol>
<h3>Version</h3>
2.4.0
<hr>
<h1 style="text-align: center;">Release Notes - AGEIA PhysX SDK 2.3.2</h1>
<h2 style="text-align: center;">6<sup>th</sup> January 2006</h2>
<h2>AGEIA PhysX SDK Build Component</h2>
<h3>What's New?</h3>
<ol>
<li> It is no longer possible for end users to load PhysXCore.dll
from the application directory. The correct version is now loaded by
PhysXLoader from "Program Files\Ageia Technologies" </li>
<li> Installer improvements. </li>
<li> Fixes to sample project files. </li>
<li> Foundation.lib included with the XBox 360 installer. </li>
<li> Lots of documentation improvements. </li>
</ol>
<h3>Platforms Supported</h3>
Development:
<ul>
<li> Microsoft Windows XP (32bit editions) </li>
<li> Microsoft Visual Studio .NET 2003 </li>
<li> Microsoft Visual Studio .NET 2003 with the XBox360 development
kit. Not Supported for Development: </li>
<li> Microsoft Windows XP x64 Edition (and all other 64bit editions) </li>
<li> Microsoft Visual Studio .NET 2005 (project files not provided /
not tested) </li>
<li> Microsoft Visual C++ 6 (project files not provided / not tested)
</li>
</ul>
<h3>Known Issues and Limitations</h3>
<ul>
<li> The AGEIA PhysX SDK Build Component and AGEIA PhysX Software
Runtime Component must be installed to run samples and training
programs, since they rely on DLLs contained within these components. </li>
</ul>
<h3>Version</h3>
2.3.2
<h2>AGEIA PhysX Software Runtime Component</h2>
<h3>What's New?</h3>
<ol>
<li> Improved convex hull generation algorithm(the old method is
still available using a flag) </li>
<li> Character controller fixes. </li>
<li> Fix for distance joints not being breakable. </li>
<li> Additional overlap/intersection queries. </li>
<li> Fix for performance issues related to SSE denormal handling on
some machines. </li>
</ol>
<h3>Platforms Supported (Runtime)</h3>
<ul>
<li> Microsoft Windows XP (32bit editions) </li>
<li> Microsoft XBox 360 </li>
<li> Sony PlayStation3 (provided by Sony) </li>
</ul>
<h3>Known Issues and Limitations</h3>
<ol>
<li> When statically linked(for example on XBox360) calling
NxInitCooking() overwrites parameters set when calling
NxCreatePhysicsSDK(). For example the error stream is reset. This
occurs because the variables are shared when statically linked.<br>
Workaround: Supply the same parameters to NxInitCooking() and
NxCreatePhysicsSDK() </li>
<li> In some cases convex hull generation can fail for degenerate
input.<br>
Workaround: Supply geometry without degenerate sets of points (edges
and planes). Use the legacy convex hull generation(see
NX_CF_USE_LEGACY_COOKER). </li>
</ol>
<h3>Version</h3>
2.3.2
<h2>Hardware Rigid Bodies (AGEIA PhysX Driver)</h2>
<h3>What's New?</h3>
<ol>
<li> Many bug fixes and optimizations. </li>
<li> Fix getWorldBounds () for triangle mesh shapes. </li>
<li> Driver error reporting in fetchResults() </li>
</ol>
<h3>Platforms Supported (Runtime)</h3>
<ul>
<li> Microsoft Windows XP (32bit editions) with an AGEIA PhysX Card </li>
</ul>
<h3>Known Issues and Limitations</h3>
<ol>
<li> See the API references for details concerning which API
functions are supported. </li>
<li> At most 2000 shapes can be present in a scene at once (this
includes both static and dynamic shapes). </li>
<li> Precision limitations suggest that physics behavior may not be
stable or correct more than 1000 units from the origin. </li>
<li> Rigid body scenes occupy 32MB of memory on the card, so that
absolutely no more than three scenes may be present on the card at
once. </li>
<li> The following is an important but non-exhaustive list of SDK
features which are not supported: joints, continuous collision, contact
notification, many debugging visualization, contact notifications,
triggers, per shape skin width. </li>
<li> Convex hulls are limited in this release to have at most 32
vertices and 32 faces. </li>
<li> Using terrain meshes on hardware requires making use of the new
mesh paging API. When a mesh is cooked, it is divided into a number of
hardware pages, and these pages must be manually moved to the card by
the application for any collision to take place.<br>
The number of pages into which a mesh will be cooked is variable, and
will depend on the degree of local convexity in the mesh. However, at
least 500 triangles should fit into a mesh page, and the allocation of
16MB of mesh data supports 256 pages, which allows for the presence of
more than 100,000 triangles on the card. Note that when a page is
removed from the card, the space occupied by that mesh page is not
freed until after the physics has been stepped. No data yet exists for
the performance of paging meshes on and off the card; however as a
baseline the raw transmission of a mesh page by DMA requires half a
millisecond.<br>
As in the software SDK, in the absence of ATT it is easy for thin
objects to tunnel through the mesh; in particular collisions will not
be detected with objects whose center lies beneath the mesh. </li>
<li> Due to limitations of the friction model, objects sliding on a
triangle mesh may not have correct frictional behavior. Per-triangle
materials are not supported. </li>
</ol>
<h3>Version</h3>
2.3.2
<h2>Hardware Fluids (AGEIA PhysX Driver)</h2>
<h3>What's New?</h3>
<ol>
<li> Many bug fixes and optimizations. </li>
<li> Fluid scenes are created in a special hardware scene. </li>
<li> Fix to intermittent crash bug when adding a mesh to a fluid
scene. </li>
<li> Better input validation for the fluid mesh cooker. </li>
<li> Driver error reporting in fetchResults() </li>
<li> The Fluid can be configured with the new parameter
"motionLimitMultiplier". The user can define how far a particle can
travel during one timestep. This is important for tuning the memory
size consumed by the static mesh cooked for fluid collision. The
parameter effectively limits the maximal velocity of a particle. See
the user guide for more details. </li>
<li> If the user is interested in a more coarse simulation of fluids
which supports sprays and puddles, but works less well on deep pools,
he can choose this new simulation mode which alternates the simulation
between simple particles (without inter particle forces) and SPH
simulation. See NxFluidSimulationMethod::NX_F_MIXED_MODE and
NxFluidDesc::simulationMethod in the documentation. </li>
</ol>
<h3>Platforms Supported (Runtime)</h3>
<ul>
<li> Microsoft Windows XP (32bit editions) with an AGEIA PhysX Card </li>
</ul>
<h3>Known Issues and Limitations</h3>
<ol>
<li> See the API references for details concerning which API
functions are supported </li>
<li> Collision detection only supported with static triangle meshes
and convex meshes. </li>
<li> The number of convex shapes interacting at the same time with
one fluid is restricted to 1024 convexes. The user may add more dynamic
convex actors to the fluid hardware scene, though. If more than 1024
convexes are moving within the AABB of the fluid, some will be ignored
for collision. </li>
<li> One dynamic convex is restricted to 64 triangles. If a convex
with more than 64 triangles is added to the fluid hardware scene, some
triangles are ignored for collision. </li>
<li> The user can only provide one pre-cooked static mesh per fluid
scene. All fluids added to the scene have to be compatible to the
static mesh structure, i.e. have the same restParticlesPerMeter,
kernelRadiusMultiplier, packetSizeMultiplier. </li>
<li> Issue: Max PPU Connections (15): If multiple fluids are created,
the maximal possible number of PPU connections can be reached. One
connection is used for the static mesh interface (per scene), and one
for each fluid created. If the maximum of connections is reached, the
fluid creation returns NULL.<br>
Workaround: Don't create too many scenes and fluids. A fluid hardware
scene uses one connection and every fluid uses another one. </li>
<li> Crashing call to createFluidHardwareTriangleMesh (): This call
may crash if running out of PPU connections or PPU memory. <br>
Workaround: Try to save on hardware rigid body scenes and hardware
fluid scenes, as well as fluids. Try to reduce the maximal number of
particles for the fluids. A main issue might be the cooked fluid static
triangle mesh size. </li>
<li> Fluid memory consumption can be approximated as:<br>
NxFluid: constant(~2.5Mb) + 11 * maxParticles * 64 Bytes<br>
Triangle Mesh: Depends upon:-
<ul>
<li> Cooked Geometry </li>
<li> restParticlesPerMeter </li>
<li> kernelRadiusMultiplier </li>
<li> motionLimitMultiplier </li>
<li> packetSizeMultiplier </li>
</ul>
Fluids can be allocated from all of the cards onboard memory. However
when hardware rigid bodies are used they compete for memory. </li>
<li> Issue: Slowdown on creating and releasing fluids in a row: The
reason for this issue has not been determined. This doesn't happen when
releasing the scene too.<br>
Workaround: Create fluids once and reuse them. Recreation may lead to
fragmentation on the PPU memory, which is bad anyway. </li>
</ol>
<h3>Version</h3>
2.3.2
<hr>
<pre>Old Release Notes / Changelog<br><br>2.3 - 2005.08.15<br>==================<br>- XBOX 360, PS3 support. (may require files separate from windows installer package)<br>- improved API reference documentation, doc comments.<br>- new static vs. dynamic continuous collision detection based on CCD Skeletons<br>- NxConvexShape introduced as independent class of NxTriangleMeshShape<br>- NxWheelShape introduced for better raycast car support<br>- added API to support selection between hardware and software implementation.<br>- NxMaterial::programData API replaced with strongly typed spring member. Behavior is unchanged.<br>- debug rendering API simplified. NxUserDebugRenderable removed, NxDebugRenderable interface class replaced by a simple struct.<br>- more strict parameter checking in several places<br>- removed raycast based CCD<br>- removed FPU manipulation API functions.<br>- intel assembly implementation of NxMath::sincos().<br>- changed implementation of NxMath::rand()<br>- replaced buggy TransformPlane() with correct NxPlane::transform() and NxPlane::inverseTransform().<br>- added NxQUat::fromAxisAngleFast() and NxQuat::invert().<br>- modified implementations for NxQUat::rot, invRot (), and ::transform().<br>- removed NX_MF_CONVEX and NX_COMPUTE_CONVEX from NxMeshFlags of NxSimpleTriangleMesh<br>- removed NX_NUM_SLEEP_FRAMES macro<br><br>2.2, 2.1.3 - 2005.03.21<br><br>==================<br><br>- new abstract core implementation for hardware compatibility<br>- lots of new features for the D6Joint.<br>- materials API completely rewritten<br>- new mesh cooking library. Raw meshes must be preprocessed by the cooking library before being handed to the SDK. This makes creation of meshes at runtime much faster.<br>- new character motion controller library<br>- new extensions library<br>- new external utils library<br>- Foundation SDK has been merged into the Physics SDK. Specifically:<br> - there is no more foundation.dll<br> - the user must no longer link to foundation.lib<br> - API documentation for the foundation SDK is now part of the Physics SDK API documentation.<br> - the function exports of the foundation.dll are now exported from physics.dll<br> - the member functions from foundation shape API classes (NxSphere, NxBox, etc.) that were calling foundation exports have been removed. Here is a list with the corresponding replacement export that must be called by the user instead:<br> <br> Old Member Function Replacement Function<br><br> NxSphere::NxSphere(unsigned nb_verts, const NxVec3* verts) NxComputeSphere(sphere, nb_verts, verts);<br> NxSphere::NxSphere(const NxSphere&amp; sphere0, const NxSphere&amp; sphere1) NxMergeSpheres(sphere, sphere0, sphere1);<br> NxSphere::compute(unsigned nb_verts, const NxVec3* verts) NxComputeSphere(sphere, nb_verts, verts);<br> NxSphere::fastCompute(unsigned nb_verts, const NxVec3* verts) NxFastComputeSphere(sphere, nb_verts, verts);<br> NxBox::containsPoint(const NxVec3&amp; p) NxBoxContainsPoint(box, p);<br> NxBox::create(const NxBounds3&amp; aabb, const NxMat34&amp; mat) NxCreateBox(box, aabb, mat);<br> NxBox::computePlanes(NxPlane* planes) NxComputeBoxPlanes(box, planes);<br> NxBox::computePoints(NxVec3* pts) const NxComputeBoxPoints(box, pts);<br> NxBox::computeVertexNormals(NxVec3* pts) const NxComputeBoxVertexNormals(box, pts);<br> NxBox::getEdges() NxGetBoxEdges();<br> NxBox::getEdgesAxes() NxGetBoxEdgesAxes();<br> NxBox::getTriangles() NxGetBoxTriangles();<br> NxBox::getLocalEdgeNormals() NxGetBoxLocalEdgeNormals();<br> NxBox::computeWorldEdgeNormal(NxU32 edge_index, NxVec3&amp; world_normal) NxComputeBoxWorldEdgeNormal(box, edge_index, world_normal);<br> NxBox::computeCapsule(NxCapsule&amp; capsule) NxComputeCapsuleAroundBox(box, capsule);<br> NxBox::isInside(const NxBox&amp; box) NxIsBoxAInsideBoxB(box, box);<br> NxRay::distanceSquared(const NxVec3&amp; point, NxF32* t = NULL) NxComputeDistanceSquared(ray, point, t);<br> NxRay::di
*="">(s) instead of s-&gt;isBox())<br>- added NxPlane NxPlaneShape::getPlane() const;<br>- removed methods deprecated in 2.1.2<br>- added NxScene &amp;NxActor::getScene() const;<br>- added NxPhysicsSDK&amp; NxScene::getPhysicsSDK() const; <br>- added NxJoint&amp; NxActor::getScene() const; <br>- removed NX_INLINE void NxFPU::NxSinCos(NxF32&amp; c, NxF32&amp; s, NxF32 f); <br>- added NX_INLINE static void NxMath::sinCos(NxF32 &amp; c, NxF32 &amp; s, NxF32 f); <br>- new NX_ACCELERATION force mode. <br>- new getScene() method for objects contained in scene. <br>- moved public enums from various classes to Nxp.h <br>- new shape flag NX_SF_POINT_CONTACT_FORCE and NxContactStreamIterator::getPointNormalForce() for returning per-point contact forces. <br>- improved validation in NxJointLimitSoftDesc::isValid() <br>- added function NxGetValue(NxCookingValue). <br>- motor for pulley joint <br>- added NxU32 NxScene::setThreadAffinityMask(NxU32 mask) <br>- replaced MIN_SEPARATION_FOR_PENALTY with NxShape::get/setSkinWidth(), and a global skin width parameter. <br>- new 128 bit mask based collision filtering (NxShape::getGroupsMask(), NxGroupsMask) <br>- new NxRaycastBit NX_RAYCAST_FACE_NORMAL for retrieving non-smoothed normals. <br>- new method NxCapsuleShape::getWorldCapsule() <br>- new method NxSphereShape::getWorldSphere() - new NxScene::getNbStaticShapes(), getNbDynamicShapes(). <br>- new triangleIDs for raycasting. <br>- removed support for pmap-less nonconvex nonheightfield mesh-mesh collision detection which was working poorly. <br>- removed obsolete parameter NX_MESH_MESH_LEVEL <br>- removed obsolete parameter NX_MESH_HINT_SPEED - removed NxActor::setDynamic(). Workaround: Create the initially static actor as a kinematic. Later turn off the kinematic state.<br><br>2.1.2 - 2004.11.08<br><br>==================<br><br>- more strict error checking<br>- multithreaded implementation - shape descriptors in NxActorDesc can now be allocated using a custom allocator.<br>- fluid API - NX_MESH_SMOOTH_SPHERE_COLLISIONS now disabled by default<br>- made mesh instances default to flat and not smooth sphere mode <br>- removed neccesarily reentrant method NxContactPair::setPairNotify(NxU32). Workaround: use any of the<br>several different ways to set actor flags. <br>- actor group and actor group pair flags <br>- raycast car support, including: - New + improved 'multipatch' friction implementation. Fringe benefits are that rare contact situations with multiple contact normals or materials-per-triangle are now handled correctly. <br>- Capsule shapes now have a 'swept shape' mode that can be used to get raycast wheel behavior. This is enabled with the new NX_SWEPT_SHAPE flag in NxCapsuleShapeDesc.<br>- programData member in NxMaterial <br>- NX_MF_SPRING_CONTACT flag of NxMaterial, and the appropriate code to emit suspension-spring-like contacts when this is enabled. <br>- SampleRaycast car <br>- Reworked applyForce code: <br>- removed these methods of NxActor because they were causing user confusion (they were hoping that it did more than just read back what they have previously set...) setForce (), setTorque(), getForce(), getTorque()<br> The replacement for setForce/setTorque is calling addForce/addTorque just once (per frame).<br> The replacement of getForce ()/getTorque() is to keep track of the forces you add.<br>- removed the variables: NxBodyDesc::initialForce, NxBodyDesc::initialTorque. The replacement for initialForce, initialTorque is addForce/addTorque after creating the object.<br>- forces act over the entire time step, including all substeps<br>- NxMaterial's vectors are now in shape space not in actor space.<br>- added 3 new joint types: - Distance - Pulley - Fixed<br>- kinematics perform move over a whole step, not a substep<br>- added methods to add impulses and velocity changes <br>- exception handling in SDK off, was enabled by mistake in 2.1.1<br>- implemented more material combine modes<br>- fixed a debug rendering crash bug<br>- fixed debug rendering extra lines and zero length lines bugs<br>- NX_VISUALIZE_COLLIS
<hr style="width: 100%; height: 2px;"> <a> <br>
</a>Copyright &copy 2006 AGEIA Technologies Inc, Suite 118, 82 Pioneer Way,
Mountain View, CA 94041 U.S.A. All rights reserved. www.ageia.com
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