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Diffstat (limited to 'PhysX_3.4/Source/PhysXExtensions/src/ExtD6Joint.h')
| -rw-r--r-- | PhysX_3.4/Source/PhysXExtensions/src/ExtD6Joint.h | 207 |
1 files changed, 207 insertions, 0 deletions
diff --git a/PhysX_3.4/Source/PhysXExtensions/src/ExtD6Joint.h b/PhysX_3.4/Source/PhysXExtensions/src/ExtD6Joint.h new file mode 100644 index 00000000..b789c688 --- /dev/null +++ b/PhysX_3.4/Source/PhysXExtensions/src/ExtD6Joint.h @@ -0,0 +1,207 @@ +// 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 NP_D6JOINTCONSTRAINT_H +#define NP_D6JOINTCONSTRAINT_H + +#include "ExtJoint.h" +#include "PxD6Joint.h" + +namespace physx +{ +struct PxD6JointGeneratedValues; +namespace Ext +{ + struct D6JointData : public JointData + { + //= ATTENTION! ===================================================================================== + // Changing the data layout of this class breaks the binary serialization format. See comments for + // PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData + // function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION + // accordingly. + //================================================================================================== + + PxD6Motion::Enum motion[6]; + PxJointLinearLimit linearLimit; + PxJointAngularLimitPair twistLimit; + PxJointLimitCone swingLimit; + + PxD6JointDrive drive[PxD6Drive::eCOUNT]; + + PxTransform drivePosition; + PxVec3 driveLinearVelocity; + PxVec3 driveAngularVelocity; + + // derived quantities + + PxU32 locked; // bitmap of locked DOFs + PxU32 limited; // bitmap of limited DOFs + PxU32 driving; // bitmap of active drives (implies driven DOFs not locked) + + // tan-half and tan-quarter angles + + PxReal thSwingY; + PxReal thSwingZ; + PxReal thSwingPad; + + PxReal tqSwingY; + PxReal tqSwingZ; + PxReal tqSwingPad; + + PxReal tqTwistLow; + PxReal tqTwistHigh; + PxReal tqTwistPad; + + PxReal linearMinDist; // linear limit minimum distance to get a good direction + + // projection quantities + PxReal projectionLinearTolerance; + PxReal projectionAngularTolerance; + + // forestall compiler complaints about not being able to generate a constructor + private: + D6JointData(const PxJointLinearLimit& linear, const PxJointAngularLimitPair& twist, const PxJointLimitCone& swing): + linearLimit(linear), twistLimit(twist), swingLimit(swing) {} + }; + + typedef Joint<PxD6Joint, PxD6JointGeneratedValues> D6JointT; + + class D6Joint : public Joint<PxD6Joint, PxD6JointGeneratedValues> + { + public: +// PX_SERIALIZATION + D6Joint(PxBaseFlags baseFlags) : D6JointT(baseFlags) {} + virtual void exportExtraData(PxSerializationContext& context); + void importExtraData(PxDeserializationContext& context); + void resolveReferences(PxDeserializationContext& context); + static D6Joint* createObject(PxU8*& address, PxDeserializationContext& context); + static void getBinaryMetaData(PxOutputStream& stream); +//~PX_SERIALIZATION + virtual ~D6Joint() + { + if(getBaseFlags()&PxBaseFlag::eOWNS_MEMORY) + PX_FREE(mData); + } + + D6Joint(const PxTolerancesScale& scale, + PxRigidActor* actor0, const PxTransform& localFrame0, + PxRigidActor* actor1, const PxTransform& localFrame1); + + + PxReal getTwist() const; + PxReal getSwingYAngle() const; + PxReal getSwingZAngle() const; + + + PxD6Motion::Enum getMotion(PxD6Axis::Enum index) const; + void setMotion(PxD6Axis::Enum index, PxD6Motion::Enum t); + + PxD6JointDrive getDrive(PxD6Drive::Enum index) const; + void setDrive(PxD6Drive::Enum index, const PxD6JointDrive& d); + + PxJointLinearLimit getLinearLimit() const; + void setLinearLimit(const PxJointLinearLimit& l); + + PxJointAngularLimitPair getTwistLimit() const; + void setTwistLimit(const PxJointAngularLimitPair& l); + + PxJointLimitCone getSwingLimit() const; + void setSwingLimit(const PxJointLimitCone& l); + + PxTransform getDrivePosition() const; + void setDrivePosition(const PxTransform& pose); + + void getDriveVelocity(PxVec3& linear, + PxVec3& angular) const; + + void setDriveVelocity(const PxVec3& linear, + const PxVec3& angular); + + void setProjectionAngularTolerance(PxReal tolerance); + PxReal getProjectionAngularTolerance() const; + + void setProjectionLinearTolerance(PxReal tolerance); + PxReal getProjectionLinearTolerance() const; + + void visualize(PxRenderBuffer& out, + const void* constantBlock, + const PxTransform& body0Transform, + const PxTransform& body1Transform, + PxReal frameScale, + PxReal limitScale, + PxU32 flags) const; + + bool attach(PxPhysics &physics, PxRigidActor* actor0, PxRigidActor* actor1); + + static const PxConstraintShaderTable& getConstraintShaderTable() { return sShaders; } + + virtual PxConstraintSolverPrep getPrep() const { return sShaders.solverPrep; } + + private: + + static PxConstraintShaderTable sShaders; + + D6JointData& data() const + { + return *static_cast<D6JointData*>(mData); + } + + bool active(const PxD6Drive::Enum index) const + { + PxD6JointDrive& d = data().drive[index]; + return d.stiffness!=0 || d.damping != 0; + } + + void* prepareData(); + + bool mRecomputeMotion; + bool mRecomputeLimits; + bool mPadding[2]; // PT: padding from prev bools + }; + +} // namespace Ext + +namespace Ext +{ + extern "C" PxU32 D6JointSolverPrep(Px1DConstraint* constraints, + PxVec3& body0WorldOffset, + PxU32 maxConstraints, + PxConstraintInvMassScale& invMassScale, + const void* constantBlock, + const PxTransform& bA2w, + const PxTransform& bB2w); + + // global function to share the joint shaders with API capture + extern "C" const PxConstraintShaderTable* GetD6JointShaderTable(); +} + +} + +#endif |