Update PhysX to 82786122

Author: ayoub-belarbi

physx/.gitignore

@@ -1,4 +1,3 @@
-bin/
 compiler/linux-*
 compiler/vc*
 include/PxConfig.h

physx/CHANGELOG.md

@@ -1,11 +1,47 @@
+# v5.4.1-106.0
+
+## General
+
+### Added
+
+* Debug visualization of contact friction was added, controlled by the following visualization parameter flags: PxVisualizationParameter::eFRICTION_POINT, PxVisualizationParameter::eFRICTION_NORMAL, and PxVisualizationParameter::eFRICTION_IMPULSE.
+* PxVisualizationParameter::eCONTACT_IMPULSE flag was added to replace PxVisualizationParameter::eCONTACT_FORCE.
+
+### Deprecated
+
+* PxVisualizationParameter::eCONTACT_FORCE was deprecated. Use PxVisualizationParameter::eCONTACT_IMPULSE instead.
+
+### Fixed
+
+* A bug in Debug Visualization where collision contact points are misaligned with collision geometry.
+* A bug in the GPU broadphase that resulted in a crash when overflowing the preallocated number of lost and found pairs.
+
+## Articulations
+
+### Added
+
+* Possibility to apply a force or a torque to an articulation link through articulation cache with the flags PxArticulationCacheFlag::eLINK_FORCE and PxArticulationCacheFlag::eLINK_TORQUE.
+
+### Fixed
+
+* Runtime changes to PxArticulationJointReducedCoordinate::setMaxJointVelocity() were not working for the GPU pipeline.
+* Runtime changes to PxArticulationJointReducedCoordinate::setFrictionCoefficient() were not working for the GPU pipeline.
+* A bug when adding articulations to a scene that already contained other articulations.
+* Corrected the calculation of the first tangent vector used in the friction patch model of articulations. This may have increased the probability of artifacts in the friction calculation.
+
+## PVD
+
+### Fixed
+
+* Missing OVD object creation calls in deserializations of PxCollection and PxAggregate with regards to articulations.
+
 # v5.4.0-106.0
 
 ## Supported Platforms
 
 ### Runtime
 
 * Linux (tested on Ubuntu 20.04 and 22.04)
-* Linux glibc version 2.31 or higher
 * Microsoft Windows 10 or later (64 bit) 
 * GPU acceleration: display driver supporting CUDA toolkit 11.8 and Pascal GPU or above
 

physx/dependencies.xml

@@ -16,9 +16,9 @@
 	</dependency>
 
 	<dependency name="PhysXGpu">
-		<package name="PhysXGpu" version="912d9405-windows-public"  platforms="vc15win64 vc16win64 vc17win64"/>
-		<package name="PhysXGpu" version="912d9405-linux-x86_64-public"  platforms="linux"/>
-		<package name="PhysXGpu" version="912d9405-linux-aarch64-public"  platforms="linux-aarch64"/>
+		<package name="PhysXGpu" version="5.4.1.86cd1749-release-106.0-windows-public"  platforms="vc15win64 vc16win64 vc17win64"/>
+		<package name="PhysXGpu" version="5.4.1.86cd1749-release-106.0-linux-x86_64-public"  platforms="linux"/>
+		<package name="PhysXGpu" version="5.4.1.86cd1749-release-106.0-linux-aarch64-public"  platforms="linux-aarch64"/>
 	</dependency>
 
 	<dependency name="opengllinux" tags="requiredForDistro">

physx/documentation/platformreadme/linux/README_LINUX.md

@@ -18,7 +18,7 @@ Compilers and C++ Standard:
     * Ubuntu 22.04 LTS with gcc 11 or clang 14 
     * Note: PhysX may fail to compile with clang versions higher than 14 as they have not been tested
   * For linux aarch64 builds we support gcc version 9
-  * C++17 compatible
+  * Tested with C++11 standard
 
 
 ## Generating Makefiles:

physx/documentation/platformreadme/windows/README_WINDOWS.md

@@ -7,13 +7,13 @@
 
 ## Required packages to generate projects:
 
-* Microsoft Windows 10 (or later) + headers for at least Win7 (`_WIN32_WINNT = 0x0601`)
+* Microsoft Windows 10 (or later)
 * CMake, minimum version 3.21
 * Python, minimum version 3.5
 
 Compilers and C++ Standard:
   * Microsoft Visual Studio 2017, 2019, 2022 (64 bit)
-  * C++17 compatible
+  * Tested with C++14 standard
 
 ## PhysX GPU Acceleration:
 

physx/generate_projects.bat

@@ -24,11 +24,19 @@ for /f "usebackq tokens=*" %%i in (`"%PM_vswhere_PATH%\VsWhere.exe  -version [15
 for /f "usebackq tokens=*" %%i in (`"%PM_vswhere_PATH%\VsWhere.exe  -version [16.0,17.0) -latest -property installationPath"`) do (
   set Install2019Dir=%%i
 	set VS160PATH="%%i"
+  @REM Setting VS160COMNTOOLS: This is mainly needed for building for Switch
+  @REM Reason: When both MS build tools and Visual Studio are installed together in the same system
+  @REM Cmake will use msbuild to generate the project instead of Visual Studio. Which make Cmake fail
+  @REM When generating the project for Switch. However, if an environment variable of the form VS##0COMNTOOLS,
+  @REM where ## the Visual Studio major version number, is set and points to the Common7/Tools directory within
+  @REM one of the VS instances, that instance will be used. see: https://cmake.org/cmake/help/latest/variable/CMAKE_GENERATOR_INSTANCE.html
+  set "VS160COMNTOOLS=%%i\Common7\Tools\"
 )
 
 for /f "usebackq tokens=*" %%i in (`"%PM_vswhere_PATH%\VsWhere.exe  -version [17.0,18.0) -latest -property installationPath"`) do (
 	set Install2022Dir=%%i
 	set VS170PATH="%%i"
+  set "VS170COMNTOOLS=%%i\Common7\Tools\"
 )
 
 if exist "%Install2017Dir%\VC\Auxiliary\Build\Microsoft.VCToolsVersion.default.txt" (

physx/include/PxArticulationFlag.h

@@ -92,11 +92,13 @@ namespace physx
 			eFORCE = (1 << 3),							//!< The joint forces, see PxArticulationCache::jointForce.
 			eLINK_VELOCITY = (1 << 4),					//!< The link velocities, see PxArticulationCache::linkVelocity. Link velocities cannot be set except for the root link velocity via  PxArticulationCache::rootLinkData.
 			eLINK_ACCELERATION = (1 << 5),				//!< The link accelerations, see PxArticulationCache::linkAcceleration.
-			eROOT_TRANSFORM = (1 << 6),					//!< Root link transform, see PxArticulationCache::rootLinkData.
-			eROOT_VELOCITIES = (1 << 7),				//!< Root link velocities (read/write) and accelerations (read), see PxArticulationCache::rootLinkData.
-			eLINK_INCOMING_JOINT_FORCE = (1 << 10),		//!< Link incoming joint forces, see PxArticulationCache::linkIncomingJointForce.
+			eROOT_TRANSFORM = (1 << 6),					//!< The root link transform, see PxArticulationCache::rootLinkData.
+			eROOT_VELOCITIES = (1 << 7),				//!< The root link velocities (read/write) and accelerations (read), see PxArticulationCache::rootLinkData.
+			eLINK_INCOMING_JOINT_FORCE = (1 << 10),		//!< The link incoming joint forces, see PxArticulationCache::linkIncomingJointForce.
 			eJOINT_TARGET_POSITIONS = (1 << 11),		//!< The joint target positions, see PxArticulationCache::jointTargetPositions.
 			eJOINT_TARGET_VELOCITIES = (1 << 12),		//!< The joint target velocities, see PxArticulationCache::jointTargetVelocities.
+			eLINK_FORCE = (1 << 13),					//!< The link forces, see PxArticulationCache::linkForce.
+			eLINK_TORQUE = (1 << 14),					//!< The link torques, see PxArticulationCache::linkTorque.
 			eALL = (eVELOCITY | eACCELERATION | ePOSITION | eLINK_VELOCITY | eLINK_ACCELERATION | eROOT_TRANSFORM | eROOT_VELOCITIES)
 		};
 	};

physx/include/PxArticulationReducedCoordinate.h

@@ -111,6 +111,8 @@ namespace physx
 			linkVelocity			(NULL),
 			linkAcceleration		(NULL),
 			linkIncomingJointForce	(NULL),
+			linkForce				(NULL),
+			linkTorque				(NULL),
 			rootLinkData			(NULL),
 			coefficientMatrix		(NULL),
 			lambda					(NULL),
@@ -261,7 +263,27 @@ namespace physx
 		\note The root link reports a zero spatial force.
 		*/
 		PxSpatialForce*			linkIncomingJointForce;
-		
+
+		/**
+		\brief Link force, i.e. an external force applied to the link's center of mass.
+
+		- N = getNbLinks().
+		- Write using PxArticulationCacheFlag::eLINK_FORCE.
+		- The indexing follows the internal link indexing, see PxArticulationLink::getLinkIndex.
+		- The force is given in world space.
+        */
+        PxVec3*					linkForce;
+
+		/**
+		\brief Link torque, i.e. an external torque applied to the link.
+
+		- N = getNbLinks().
+		- Write using PxArticulationCacheFlag::eLINK_TORQUE.
+		- The indexing follows the internal link indexing, see PxArticulationLink::getLinkIndex.
+		- The torque is given in world space.
+		*/
+		PxVec3*                 linkTorque;
+
 		/**
 		\brief Root link transform, velocities, and accelerations.
 

physx/include/PxContact.h

@@ -733,6 +733,16 @@ class PxFrictionAnchorStreamIterator
 		return mFrictionPatches[mPatchIndex].anchorImpulses[mFrictionAnchorIndex];
 	}
 
+	/**
+	\brief Get the friction anchor's normal.
+	\return The friction anchor's normal.
+	*/
+	PX_CUDA_CALLABLE PX_FORCE_INLINE const PxVec3& getNormal() const
+	{
+		PX_ASSERT(patchIsValid());
+		return mContactPatches[mPatchIndex].normal;
+	}
+
 	/**
 	\brief Get current patch's static friction coefficient.
 	\return The patch's static friction coefficient.

physx/include/PxSimulationEventCallback.h

@@ -708,8 +708,6 @@ PX_INLINE PxU32 PxContactPair::extractFrictionAnchors(PxContactPairFrictionAncho
 	{
 		PxFrictionAnchorStreamIterator iter(contactPatches, frictionPatches, patchCount);
 
-		const PxU32 hasImpulses = (flags & PxContactPairFlag::eINTERNAL_HAS_IMPULSES);
-
 		while(iter.hasNextPatch())
 		{
 			iter.nextPatch();
@@ -719,10 +717,7 @@ PX_INLINE PxU32 PxContactPair::extractFrictionAnchors(PxContactPairFrictionAncho
 				PxContactPairFrictionAnchor& dst = userBuffer[nbAnchors];
 
 				dst.position = iter.getPosition();
-
-				dst.impulse = hasImpulses
-								? iter.getImpulse()
-								: PxVec3(0.0f);
+				dst.impulse = iter.getImpulse();
 
 				++nbAnchors;
 				if(nbAnchors == bufferSize)