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// 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) 2008-2020 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#pragma once
#include "NvCloth/Range.h"
#include "NvCloth/PhaseConfig.h"
#include "MovingAverage.h"
#include "IndexPair.h"
#include "Vec4T.h"
#include <foundation/PxVec4.h>
#include <foundation/PxVec3.h>
#include <foundation/PxTransform.h>
#include "SwFactory.h"
#include "SwFabric.h"
#include "ClothImpl.h"
namespace nv
{
namespace cloth
{
struct SwConstraints
{
void pop()
{
if (!mTarget.empty())
{
mStart.swap(mTarget);
mTarget.resize(0);
}
}
Vector<physx::PxVec4>::Type mStart;
Vector<physx::PxVec4>::Type mTarget;
};
struct SwContextLock
{
SwContextLock(const SwFactory&)
{
}
};
class SwCloth;
template<>
class ClothTraits<SwCloth>
{
public:
typedef SwFactory FactoryType;
typedef SwFabric FabricType;
typedef SwContextLock ContextLockType;
};
class SwCloth : public ClothImpl<SwCloth>
{
SwCloth& operator = (const SwCloth&); // not implemented
public:
typedef SwFactory FactoryType;
typedef SwFabric FabricType;
typedef SwContextLock ContextLockType;
typedef Vector<physx::PxVec3>::Type& MappedVec3fVectorType;
typedef Vector<physx::PxVec4>::Type& MappedVec4fVectorType;
typedef Vector<IndexPair>::Type& MappedIndexVectorType;
typedef Vector<uint32_t>::Type& MappedMaskVectorType;
SwCloth(SwFactory&, SwFabric&, Range<const physx::PxVec4>);
SwCloth(SwFactory&, const SwCloth&);
~SwCloth(); // not virtual on purpose
public:
virtual Cloth* clone(Factory& factory) const;
uint32_t getNumParticles() const;
void lockParticles() const;
void unlockParticles() const;
MappedRange<physx::PxVec4> getCurrentParticles();
MappedRange<const physx::PxVec4> getCurrentParticles() const;
MappedRange<physx::PxVec4> getPreviousParticles();
MappedRange<const physx::PxVec4> getPreviousParticles() const;
GpuParticles getGpuParticles();
void setPhaseConfig(Range<const PhaseConfig> configs);
void setSelfCollisionIndices(Range<const uint32_t> indices);
uint32_t getNumVirtualParticles() const;
Range<physx::PxVec4> getParticleAccelerations();
void clearParticleAccelerations();
void setVirtualParticles(Range<const uint32_t[4]> indices, Range<const physx::PxVec3> weights);
void notifyChanged()
{
}
void setParticleBounds(const float*);
Range<physx::PxVec4> push(SwConstraints&);
static void clear(SwConstraints&);
static Range<const physx::PxVec3> clampTriangleCount(Range<const physx::PxVec3>, uint32_t);
public:
SwFactory& mFactory;
SwFabric& mFabric;
bool mClothCostDirty;
// current and previous-iteration particle positions
Vector<physx::PxVec4>::Type mCurParticles;
Vector<physx::PxVec4>::Type mPrevParticles;
Vector<PhaseConfig>::Type mPhaseConfigs; // transformed!
// tether constraints stuff
float mTetherConstraintLogStiffness;
float mTetherConstraintScale;
// motion constraints stuff
SwConstraints mMotionConstraints;
float mMotionConstraintScale;
float mMotionConstraintBias;
float mMotionConstraintLogStiffness;
// separation constraints stuff
SwConstraints mSeparationConstraints;
// particle acceleration stuff
Vector<physx::PxVec4>::Type mParticleAccelerations;
// collision stuff
Vector<IndexPair>::Type mCapsuleIndices;
Vector<physx::PxVec4>::Type mStartCollisionSpheres;
Vector<physx::PxVec4>::Type mTargetCollisionSpheres;
Vector<uint32_t>::Type mConvexMasks;
Vector<physx::PxVec4>::Type mStartCollisionPlanes;
Vector<physx::PxVec4>::Type mTargetCollisionPlanes;
Vector<physx::PxVec3>::Type mStartCollisionTriangles;
Vector<physx::PxVec3>::Type mTargetCollisionTriangles;
bool mEnableContinuousCollision;
float mCollisionMassScale;
float mFriction;
// virtual particles
Vector<Vec4us>::Type mVirtualParticleIndices;
Vector<physx::PxVec4>::Type mVirtualParticleWeights;
uint32_t mNumVirtualParticles;
// self collision
float mSelfCollisionDistance;
float mSelfCollisionLogStiffness;
Vector<uint32_t>::Type mSelfCollisionIndices;
Vector<physx::PxVec4>::Type mRestPositions;
// unused for CPU simulation
void* mUserData;
};
} // namespace cloth
}
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