Initial commit:

PhysX 3.4.0 Update @ 21294896
APEX 1.4.0 Update @ 21275617

[CL 21300167]

1 files changed, 203 insertions, 0 deletions

diff --git a/PhysX_3.4/Source/LowLevelDynamics/src/DySolverConstraint1D.h b/PhysX_3.4/Source/LowLevelDynamics/src/DySolverConstraint1D.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_SOLVER_CONSTRAINT_1D_H
+#define DY_SOLVER_CONSTRAINT_1D_H
+
+#include "foundation/PxVec3.h"
+#include "PxvConfig.h"
+#include "DyArticulationUtils.h"
+#include "DySolverConstraintTypes.h"
+#include "DySolverBody.h"
+#include "PxConstraintDesc.h"
+#include "DySolverConstraintDesc.h"
+
+namespace physx
+{
+
+namespace Dy
+{
+
+// dsequeira: we should probably fork these structures for constraints and extended constraints,
+// since there's a few things that are used for one but not the other
+
+struct SolverConstraint1DHeader
+{
+	PxU8	type;			// enum SolverConstraintType - must be first byte
+	PxU8	count;			// count of following 1D constraints
+	PxU8	dominance;
+	PxU8	breakable;		// indicate whether this constraint is breakable or not						
+
+	PxReal	linBreakImpulse;
+	PxReal	angBreakImpulse;
+	PxReal	invMass0D0;
+	PxVec3	body0WorldOffset;
+	PxReal	invMass1D1;
+	PxReal	linearInvMassScale0;		// only used by articulations
+	PxReal	angularInvMassScale0;		// only used by articulations
+	PxReal	linearInvMassScale1;		// only used by articulations
+	PxReal	angularInvMassScale1;		// only used by articulations
+};
+
+PX_COMPILE_TIME_ASSERT(sizeof(SolverConstraint1DHeader) == 48);
+
+PX_ALIGN_PREFIX(16)
+struct SolverConstraint1D 
+{
+public:
+	PxVec3		lin0;					//!< linear velocity projection (body 0)	
+	PxReal		constant;				//!< constraint constant term
+
+	PxVec3		lin1;					//!< linear velocity projection (body 1)
+	PxReal		unbiasedConstant;		//!< constraint constant term without bias
+
+	PxVec3		ang0;					//!< angular velocity projection (body 0)
+	PxReal		velMultiplier;			//!< constraint velocity multiplier
+
+	PxVec3		ang1;					//!< angular velocity projection (body 1)
+	PxReal		impulseMultiplier;		//!< constraint impulse multiplier
+
+	PxVec3		ang0Writeback;			//!< unscaled angular velocity projection (body 0)
+	PxU32		pad;
+
+	PxReal		minImpulse;				//!< Lower bound on impulse magnitude	 
+	PxReal		maxImpulse;				//!< Upper bound on impulse magnitude
+	PxReal		appliedForce;			//!< applied force to correct velocity+bias
+	PxU32		flags;
+} PX_ALIGN_SUFFIX(16); 	
+
+PX_COMPILE_TIME_ASSERT(sizeof(SolverConstraint1D) == 96);
+
+
+struct SolverConstraint1DExt : public SolverConstraint1D
+{
+public:
+	Cm::SpatialVectorV deltaVA;
+	Cm::SpatialVectorV deltaVB;
+};
+
+PX_COMPILE_TIME_ASSERT(sizeof(SolverConstraint1DExt) == 160);
+
+
+PX_FORCE_INLINE void init(SolverConstraint1DHeader& h, 
+						  PxU8 count, 
+						  bool isExtended,
+						  const PxConstraintInvMassScale& ims)
+{
+	h.type			= PxU8(isExtended ? DY_SC_TYPE_EXT_1D : DY_SC_TYPE_RB_1D);
+	h.count			= count;
+	h.dominance		= 0;
+	h.linearInvMassScale0	= ims.linear0;
+	h.angularInvMassScale0	= ims.angular0;
+	h.linearInvMassScale1	= -ims.linear1;
+	h.angularInvMassScale1	= -ims.angular1;
+}
+
+PX_FORCE_INLINE void init(SolverConstraint1D& c,
+						  const PxVec3& _linear0, const PxVec3& _linear1, 
+						  const PxVec3& _angular0, const PxVec3& _angular1,
+						  PxReal _minImpulse, PxReal _maxImpulse)
+{
+	PX_ASSERT(_linear0.isFinite());
+	PX_ASSERT(_linear1.isFinite());
+	c.lin0					= _linear0;
+	c.lin1					= _linear1;
+	c.ang0					= _angular0;
+	c.ang1					= _angular1;
+	c.minImpulse			= _minImpulse;
+	c.maxImpulse			= _maxImpulse;
+	c.flags					= 0;
+	c.appliedForce			= 0;
+}
+
+PX_FORCE_INLINE bool needsNormalVel(const Px1DConstraint &c)
+{
+	return c.flags & Px1DConstraintFlag::eRESTITUTION
+		|| (c.flags & Px1DConstraintFlag::eSPRING && c.flags & Px1DConstraintFlag::eACCELERATION_SPRING);
+}
+
+PX_FORCE_INLINE void setSolverConstants(PxReal& constant,
+										PxReal& unbiasedConstant,
+										PxReal& velMultiplier,
+										PxReal& impulseMultiplier,
+										const Px1DConstraint& c,
+										PxReal normalVel,
+										PxReal unitResponse,
+										PxReal minRowResponse,
+										PxReal erp,
+										PxReal dt,
+										PxReal recipdt)
+{
+	PX_ASSERT(PxIsFinite(unitResponse));
+	PxReal recipResponse = unitResponse <= minRowResponse ? 0 : 1.0f/unitResponse;
+	PxReal geomError = c.geometricError * erp;
+
+	if(c.flags & Px1DConstraintFlag::eSPRING)
+	{
+		PxReal a = dt * dt * c.mods.spring.stiffness + dt * c.mods.spring.damping;
+		PxReal b = dt * (c.mods.spring.damping * c.velocityTarget - c.mods.spring.stiffness * geomError);
+
+		if(c.flags & Px1DConstraintFlag::eACCELERATION_SPRING)
+		{	
+			PxReal x = 1.0f/(1.0f+a);
+			constant = unbiasedConstant = x * recipResponse * b;
+			velMultiplier = -x * recipResponse * a;
+			impulseMultiplier = 1.0f-x;
+		}
+		else
+		{
+			PxReal x = 1.0f/(1.0f+a*unitResponse);
+			constant = unbiasedConstant = x * b;
+			velMultiplier = -x*a;
+			impulseMultiplier = 1.0f-x;
+		}
+	}
+	else
+	{
+		velMultiplier = -recipResponse;
+		impulseMultiplier = 1.0f;
+
+		if(c.flags & Px1DConstraintFlag::eRESTITUTION && -normalVel>c.mods.bounce.velocityThreshold)
+		{
+			unbiasedConstant = constant = recipResponse * c.mods.bounce.restitution*-normalVel;
+		}
+		else
+		{
+			// see usage of 'for internal use' in preprocessRows()
+			constant = recipResponse * (c.velocityTarget - geomError*recipdt);
+			unbiasedConstant = recipResponse * (c.velocityTarget - c.forInternalUse*recipdt);
+		}
+	}
+}
+
+}
+}
+
+#endif //DY_SOLVER_CONSTRAINT_1D_H