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Diffstat (limited to 'PhysX_3.4/Source/PhysXExtensions/src/ExtRevoluteJointSolverPrep.cpp')
| -rw-r--r-- | PhysX_3.4/Source/PhysXExtensions/src/ExtRevoluteJointSolverPrep.cpp | 117 |
1 files changed, 117 insertions, 0 deletions
diff --git a/PhysX_3.4/Source/PhysXExtensions/src/ExtRevoluteJointSolverPrep.cpp b/PhysX_3.4/Source/PhysXExtensions/src/ExtRevoluteJointSolverPrep.cpp new file mode 100644 index 00000000..f6e524c5 --- /dev/null +++ b/PhysX_3.4/Source/PhysXExtensions/src/ExtRevoluteJointSolverPrep.cpp @@ -0,0 +1,117 @@ +// 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 "ExtRevoluteJoint.h" +#include "PsUtilities.h" +#include "ExtConstraintHelper.h" +#include "CmRenderOutput.h" +#include "PsMathUtils.h" + +namespace physx +{ +namespace Ext +{ + PxU32 RevoluteJointSolverPrep(Px1DConstraint* constraints, + PxVec3& body0WorldOffset, + PxU32 /*maxConstraints*/, + PxConstraintInvMassScale &invMassScale, + const void* constantBlock, + const PxTransform& bA2w, + const PxTransform& bB2w) + { + const RevoluteJointData& data = *reinterpret_cast<const RevoluteJointData*>(constantBlock); + invMassScale = data.invMassScale; + + const PxJointAngularLimitPair& limit = data.limit; + + bool limitEnabled = data.jointFlags & PxRevoluteJointFlag::eLIMIT_ENABLED; + bool limitIsLocked = limitEnabled && limit.lower >= limit.upper; + + PxTransform cA2w = bA2w * data.c2b[0]; + PxTransform cB2w = bB2w * data.c2b[1]; + + if(cB2w.q.dot(cA2w.q)<0.f) + cB2w.q = -cB2w.q; + + body0WorldOffset = cB2w.p-bA2w.p; + Ext::joint::ConstraintHelper ch(constraints, cB2w.p - bA2w.p, cB2w.p - bB2w.p); + + ch.prepareLockedAxes(cA2w.q, cB2w.q, cA2w.transformInv(cB2w.p), 7, PxU32(limitIsLocked ? 7 : 6)); + + if(limitIsLocked) + return ch.getCount(); + + PxVec3 axis = cA2w.rotate(PxVec3(1.f,0,0)); + + if(data.jointFlags & PxRevoluteJointFlag::eDRIVE_ENABLED) + { + Px1DConstraint *c = ch.getConstraintRow(); + + c->solveHint = PxConstraintSolveHint::eNONE; + + c->linear0 = PxVec3(0); + c->angular0 = -axis; + c->linear1 = PxVec3(0); + c->angular1 = -axis * data.driveGearRatio; + + c->velocityTarget = data.driveVelocity; + + c->minImpulse = -data.driveForceLimit; + c->maxImpulse = data.driveForceLimit; + if(data.jointFlags & PxRevoluteJointFlag::eDRIVE_FREESPIN) + { + if(data.driveVelocity > 0) + c->minImpulse = 0; + if(data.driveVelocity < 0) + c->maxImpulse = 0; + } + c->flags |= Px1DConstraintFlag::eHAS_DRIVE_LIMIT; + } + + + if(limitEnabled) + { + PxQuat cB2cAq = cA2w.q.getConjugate() * cB2w.q; + PxQuat twist(cB2cAq.x,0,0,cB2cAq.w); + + PxReal magnitude = twist.normalize(); + PxReal tqPhi = physx::intrinsics::fsel(magnitude - 1e-6f, twist.x / (1.0f + twist.w), 0.f); + + ch.quarterAnglePair(tqPhi, data.tqLow, data.tqHigh, data.tqPad, axis, limit); + } + + return ch.getCount(); + } +}//namespace + +} + +//~PX_SERIALIZATION + |