diff options
Diffstat (limited to 'PhysX_3.4/Source/SimulationController/src/ScSimStateData.h')
| -rw-r--r-- | PhysX_3.4/Source/SimulationController/src/ScSimStateData.h | 135 |
1 files changed, 135 insertions, 0 deletions
diff --git a/PhysX_3.4/Source/SimulationController/src/ScSimStateData.h b/PhysX_3.4/Source/SimulationController/src/ScSimStateData.h new file mode 100644 index 00000000..331031e8 --- /dev/null +++ b/PhysX_3.4/Source/SimulationController/src/ScSimStateData.h @@ -0,0 +1,135 @@ +// 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 PX_SIMSTATEDATA +#define PX_SIMSTATEDATA + +#include "foundation/PxMemory.h" +#include "ScBodyCore.h" + +namespace physx +{ +namespace Sc +{ + struct Kinematic : public KinematicTransform + { + // The following members buffer the original body data to restore them when switching back to dynamic body + // (for kinematics the corresponding LowLevel properties are set to predefined values) + PxVec3 backupInverseInertia; // The inverse of the body space inertia tensor + PxReal backupInvMass; // The inverse of the body mass + PxReal backupLinearDamping; // The velocity is scaled by (1.0f - this * dt) inside integrateVelocity() every substep. + PxReal backupAngularDamping; + PxReal backupMaxAngVelSq; // The angular velocity's magnitude is clamped to this maximum value. + PxReal backupMaxLinVelSq; // The angular velocity's magnitude is clamped to this maximum value + }; + PX_COMPILE_TIME_ASSERT(0 == (sizeof(Kinematic) & 0x0f)); + + // Important: Struct is reset in setForcesToDefaults. + + enum VelocityModFlags + { + VMF_GRAVITY_DIRTY = (1 << 0), + VMF_ACC_DIRTY = (1 << 1), + VMF_VEL_DIRTY = (1 << 2) + }; + + struct VelocityMod + { + PxVec3 linearPerSec; // A request to change the linear velocity by this much each second. The velocity is changed by this * dt inside integrateVelocity(). + PxU8 flags; + PxU8 pad0[3]; + PxVec3 angularPerSec; + PxU8 pad1[3]; + PxU8 type; + PxVec3 linearPerStep; // A request to change the linear velocity by this much the next step. The velocity is changed inside updateForces(). + PxU32 pad2; + PxVec3 angularPerStep; + PxU32 pad3; + + PX_FORCE_INLINE void clear() { linearPerSec = angularPerSec = linearPerStep = angularPerStep = PxVec3(0.0f); } + + PX_FORCE_INLINE const PxVec3& getLinearVelModPerSec() const { return linearPerSec; } + PX_FORCE_INLINE void accumulateLinearVelModPerSec(const PxVec3& v) { linearPerSec += v; } + PX_FORCE_INLINE void clearLinearVelModPerSec() { linearPerSec = PxVec3(0.0f); } + + PX_FORCE_INLINE const PxVec3& getLinearVelModPerStep() const { return linearPerStep; } + PX_FORCE_INLINE void accumulateLinearVelModPerStep(const PxVec3& v) { linearPerStep += v; } + PX_FORCE_INLINE void clearLinearVelModPerStep() { linearPerStep = PxVec3(0.0f); } + + PX_FORCE_INLINE const PxVec3& getAngularVelModPerSec() const { return angularPerSec; } + PX_FORCE_INLINE void accumulateAngularVelModPerSec(const PxVec3& v) { angularPerSec += v; } + PX_FORCE_INLINE void clearAngularVelModPerSec() { angularPerSec = PxVec3(0.0f); } + + PX_FORCE_INLINE const PxVec3& getAngularVelModPerStep() const { return angularPerStep; } + PX_FORCE_INLINE void accumulateAngularVelModPerStep(const PxVec3& v) { angularPerStep += v; } + PX_FORCE_INLINE void clearAngularVelModPerStep() { angularPerStep = PxVec3(0.0f); } + + PX_FORCE_INLINE void notifyAddAcceleration() { flags |= VMF_ACC_DIRTY; } + PX_FORCE_INLINE void notifyClearAcceleration() { flags |= VMF_ACC_DIRTY; } + PX_FORCE_INLINE void notifyAddVelocity() { flags |= VMF_VEL_DIRTY; } + PX_FORCE_INLINE void notifyClearVelocity() { flags |= VMF_VEL_DIRTY; } + }; + PX_COMPILE_TIME_ASSERT(sizeof(VelocityMod) == sizeof(Kinematic)); + + + // Structure to store data for kinematics (target pose etc.) + // note: we do not delete this object for kinematics even if no target is set. + struct SimStateData : public Ps::UserAllocated // TODO: may want to optimize the allocation of this further. + { + PxU8 data[sizeof(Kinematic)]; + + enum Enum + { + eVelMod=0, + eKine + }; + + SimStateData(){} + SimStateData(const PxU8 type) + { + PxMemZero(data, sizeof(Kinematic)); + Kinematic* kine = reinterpret_cast<Kinematic*>(data); + kine->type = type; + } + + PX_FORCE_INLINE PxU32 getType() const { const Kinematic* kine = reinterpret_cast<const Kinematic*>(data); return kine->type;} + PX_FORCE_INLINE bool isKine() const {return eKine == getType();} + PX_FORCE_INLINE bool isVelMod() const {return eVelMod == getType();} + + Kinematic* getKinematicData() { Kinematic* kine = reinterpret_cast<Kinematic*>(data); PX_ASSERT(eKine == kine->type); return kine;} + VelocityMod* getVelocityModData() { VelocityMod* velmod = reinterpret_cast<VelocityMod*>(data); PX_ASSERT(eVelMod == velmod->type); return velmod;} + const Kinematic* getKinematicData() const { const Kinematic* kine = reinterpret_cast<const Kinematic*>(data); PX_ASSERT(eKine == kine->type); return kine;} + const VelocityMod* getVelocityModData() const { const VelocityMod* velmod = reinterpret_cast<const VelocityMod*>(data); PX_ASSERT(eVelMod == velmod->type); return velmod;} + }; + +} // namespace Sc + +} // namespace physx + +#endif //PX_SIMSTATEDATA |