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Diffstat (limited to 'PhysX_3.4/Source/PhysXExtensions/src/ExtPrismaticJointSolverPrep.cpp')
| -rw-r--r-- | PhysX_3.4/Source/PhysXExtensions/src/ExtPrismaticJointSolverPrep.cpp | 81 |
1 files changed, 81 insertions, 0 deletions
diff --git a/PhysX_3.4/Source/PhysXExtensions/src/ExtPrismaticJointSolverPrep.cpp b/PhysX_3.4/Source/PhysXExtensions/src/ExtPrismaticJointSolverPrep.cpp new file mode 100644 index 00000000..64249545 --- /dev/null +++ b/PhysX_3.4/Source/PhysXExtensions/src/ExtPrismaticJointSolverPrep.cpp @@ -0,0 +1,81 @@ +// 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. + + +#include "ExtPrismaticJoint.h" +#include "ExtConstraintHelper.h" +#include "CmRenderOutput.h" + +namespace physx +{ +namespace Ext +{ + PxU32 PrismaticJointSolverPrep(Px1DConstraint* constraints, + PxVec3& body0WorldOffset, + PxU32 maxConstraints, + PxConstraintInvMassScale &invMassScale, + const void* constantBlock, + const PxTransform& bA2w, + const PxTransform& bB2w) + { + PX_UNUSED(maxConstraints); + + const PrismaticJointData& data = *reinterpret_cast<const PrismaticJointData*>(constantBlock); + invMassScale = data.invMassScale; + + PxTransform cA2w = bA2w.transform(data.c2b[0]); + PxTransform cB2w = bB2w.transform(data.c2b[1]); + + bool limitEnabled = data.jointFlags & PxPrismaticJointFlag::eLIMIT_ENABLED; + const PxJointLinearLimitPair &limit = data.limit; + bool limitIsLocked = limitEnabled && limit.lower >= limit.upper; + + PxVec3 bOriginInA = cA2w.transformInv(cB2w.p); + + body0WorldOffset = cB2w.p-bA2w.p; + joint::ConstraintHelper ch(constraints,cB2w.p-bA2w.p, cB2w.p-bB2w.p); + ch.prepareLockedAxes(cA2w.q, cB2w.q, bOriginInA, limitIsLocked ? 7ul : 6ul, 7ul); + + if(limitEnabled && !limitIsLocked) + { + PxVec3 axis = cA2w.rotate(PxVec3(1.f,0,0)); + PxReal ordinate = bOriginInA.x; + + ch.linearLimit(axis, ordinate, limit.upper, limit); + ch.linearLimit(-axis, -ordinate, -limit.lower, limit); + } + + return ch.getCount(); + } +}//namespace + +} + +//~PX_SERIALIZATION + |