Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 192 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/LowLevelDynamics/src/DyArticulationHelper.h b/PhysX_3.4/Source/LowLevelDynamics/src/DyArticulationHelper.h
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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) 2008-2016 NVIDIA Corporation. All rights reserved.
+// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
+// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
+
+
+#ifndef DY_ARTICULATION_HELPER_H
+#define DY_ARTICULATION_HELPER_H
+
+
+#include "DyArticulation.h"
+
+namespace physx
+{
+struct PxsBodyCore;
+
+class PxcConstraintBlockStream;
+class PxcRigidBody;
+class PxsConstraintBlockManager;
+struct PxSolverConstraintDesc;
+
+namespace Dy
+{
+	struct FsInertia;
+	struct SolverConstraint1DExt;
+	struct ArticulationJointCore;
+	struct ArticulationSolverDesc;
+
+
+struct ArticulationJointTransforms
+{
+	PxTransform		cA2w;				// joint parent frame in world space 
+	PxTransform		cB2w;				// joint child frame in world space
+	PxTransform		cB2cA;				// joint relative pose in world space
+};
+
+class ArticulationHelper
+{
+public:
+	static PxU32	computeUnconstrainedVelocities(const ArticulationSolverDesc& desc,
+												   PxReal dt,
+												   PxcConstraintBlockStream& stream,
+												   PxSolverConstraintDesc* constraintDesc,
+												   PxU32& acCount,
+												   PxsConstraintBlockManager& constraintBlockManager,
+												   const PxVec3& gravity, PxU64 contextID);
+
+	static void		updateBodies(const ArticulationSolverDesc& desc,
+							 	 PxReal dt);
+
+
+	static void		getImpulseResponse(const FsData& matrix, 
+									   PxU32 linkID, 
+									   const Cm::SpatialVectorV& impulse,
+									   Cm::SpatialVectorV& deltaV);
+
+
+	static PX_FORCE_INLINE 
+			void	getImpulseResponse(const FsData& matrix, 
+									   PxU32 linkID, 
+									   const Cm::SpatialVector& impulse,
+									   Cm::SpatialVector& deltaV)
+	{
+		getImpulseResponse(matrix, linkID, reinterpret_cast<const Cm::SpatialVectorV&>(impulse), reinterpret_cast<Cm::SpatialVectorV&>(deltaV));
+	}
+
+	static void		getImpulseSelfResponse(const FsData& matrix, 
+										   PxU32 linkID0, 
+										   const Cm::SpatialVectorV& impulse0,
+										   Cm::SpatialVectorV& deltaV0,
+										   PxU32 linkID1,
+										   const Cm::SpatialVectorV& impulse1,
+										   Cm::SpatialVectorV& deltaV1);
+
+	static void		flushVelocity(FsData& matrix);
+
+	static void		saveVelocity(const ArticulationSolverDesc& m);
+
+	static void		getDataSizes(PxU32 linkCount, PxU32 &solverDataSize, PxU32& totalSize, PxU32& scratchSize);
+
+	static void		initializeDriveCache(FsData &data,
+										 PxU16 linkCount,
+										 const ArticulationLink* links,
+										 PxReal compliance,
+										 PxU32 iterations,
+										 char* scratchMemory,
+										 PxU32 scratchMemorySize);
+
+	static PxU32	getDriveCacheLinkCount(const FsData& cache);
+
+	static void		applyImpulses(const FsData& matrix,
+								  Cm::SpatialVectorV* Z,
+								  Cm::SpatialVectorV* V);
+
+private:
+	static PxU32	getLtbDataSize(PxU32 linkCount);
+	static PxU32	getFsDataSize(PxU32 linkCount);
+
+	static void		prepareDataBlock(FsData& fsData,
+									 const ArticulationLink* links,
+									 PxU16 linkCount,	
+									 PxTransform* poses,
+								 	 FsInertia *baseInertia,
+									 ArticulationJointTransforms* jointTransforms,
+									 PxU32 expectedSize);
+
+	static void		setInertia(FsInertia& inertia,
+							   const PxsBodyCore& body,
+							   const PxTransform& pose);
+
+	static void		setJointTransforms(ArticulationJointTransforms& transforms,
+									   const PxTransform& parentPose,
+									   const PxTransform& childPose,
+									   const ArticulationJointCore& joint);
+
+	static void		prepareLtbMatrix(FsData& fsData,
+									 const FsInertia* baseInertia,
+									 const PxTransform* poses,
+									 const ArticulationJointTransforms* jointTransforms,
+									 PxReal recipDt);
+
+	static void		prepareFsData(FsData& fsData,
+								  const ArticulationLink* links);
+
+	static PX_FORCE_INLINE PxReal getResistance(PxReal compliance);
+
+
+	static void		createHardLimit(const FsData& fsData,
+									const ArticulationLink* links,
+									PxU32 linkIndex,
+									SolverConstraint1DExt& s, 
+									const PxVec3& axis, 
+									PxReal err,
+									PxReal recipDt);
+
+	static void		createTangentialSpring(const FsData& fsData,
+										   const ArticulationLink* links,
+										   PxU32 linkIndex,
+										   SolverConstraint1DExt& s, 
+										   const PxVec3& axis, 
+										   PxReal stiffness,
+										   PxReal damping,
+										   PxReal dt);
+
+	static PxU32 setupSolverConstraints(FsData& fsData, PxU32 solverDataSize,
+													PxcConstraintBlockStream& stream,
+													PxSolverConstraintDesc* constraintDesc,
+													const ArticulationLink* links,
+													const ArticulationJointTransforms* jointTransforms,
+													PxReal dt,
+													PxU32& acCount,
+													PxsConstraintBlockManager& constraintBlockManager);
+
+	static void		computeJointDrives(FsData& fsData,
+									   Ps::aos::Vec3V* drives, 
+									   const ArticulationLink* links,
+									   const PxTransform* poses, 
+									   const ArticulationJointTransforms* transforms, 
+									   const Ps::aos::Mat33V* loads, 
+									   PxReal dt);
+
+};
+
+}
+
+}
+
+#endif //DY_ARTICULATION_HELPER_H