// // Redistribution and use in source and binary forms, with or without // modification, are permitted provided that the following conditions // are met: // * Redistributions of source code must retain the above copyright // notice, this list of conditions and the following disclaimer. // * Redistributions in binary form must reproduce the above copyright // notice, this list of conditions and the following disclaimer in the // documentation and/or other materials provided with the distribution. // * Neither the name of NVIDIA CORPORATION nor the names of its // contributors may be used to endorse or promote products derived // from this software without specific prior written permission. // // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY // EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR // PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR // CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, // EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, // PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY // OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. // // Copyright (c) 2008-2018 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_SOLVERCONTACT_H #define DY_SOLVERCONTACT_H #include "foundation/PxSimpleTypes.h" #include "foundation/PxVec3.h" #include "PxvConfig.h" #include "PsVecMath.h" namespace physx { using namespace Ps::aos; namespace Sc { class ShapeInteraction; } /** \brief A header to represent a friction patch for the solver. */ namespace Dy { struct SolverContactHeader { enum DySolverContactFlags { eHAS_FORCE_THRESHOLDS = 0x1 }; PxU8 type; //Note: mType should be first as the solver expects a type in the first byte. PxU8 flags; PxU8 numNormalConstr; PxU8 numFrictionConstr; //4 PxReal angDom0; //8 PxReal angDom1; //12 PxReal invMass0; //16 Vec4V staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W; //32 Vec3V normal; //48 PxReal invMass1; //52 PxU32 broken; //56 PxU8* frictionBrokenWritebackByte; //60 64 Sc::ShapeInteraction* shapeInteraction; //64 72 #if PX_P64_FAMILY PxU32 pad[2]; //64 80 #endif // PX_X64 PX_FORCE_INLINE void setStaticFriction(const FloatV f) {staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W=V4SetX(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W,f);} PX_FORCE_INLINE void setDynamicFriction(const FloatV f) {staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W=V4SetY(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W,f);} PX_FORCE_INLINE void setDominance0(const FloatV f) {staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W=V4SetZ(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W,f);} PX_FORCE_INLINE void setDominance1(const FloatV f) {staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W=V4SetW(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W,f);} PX_FORCE_INLINE FloatV getStaticFriction() const {return V4GetX(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W);} PX_FORCE_INLINE FloatV getDynamicFriction() const {return V4GetY(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W);} PX_FORCE_INLINE FloatV getDominance0() const {return V4GetZ(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W);} PX_FORCE_INLINE FloatV getDominance1() const {return V4GetW(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W);} PX_FORCE_INLINE void setStaticFriction(PxF32 f) {V4WriteX(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W, f);} PX_FORCE_INLINE void setDynamicFriction(PxF32 f) {V4WriteY(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W, f);} PX_FORCE_INLINE void setDominance0(PxF32 f) {V4WriteZ(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W, f);} PX_FORCE_INLINE void setDominance1(PxF32 f) {V4WriteW(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W, f);} PX_FORCE_INLINE PxF32 getStaticFrictionPxF32() const {return V4ReadX(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W);} PX_FORCE_INLINE PxF32 getDynamicFrictionPxF32() const {return V4ReadY(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W);} PX_FORCE_INLINE PxF32 getDominance0PxF32() const {return V4ReadZ(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W);} PX_FORCE_INLINE PxF32 getDominance1PxF32() const {return V4ReadW(staticFrictionX_dynamicFrictionY_dominance0Z_dominance1W);} }; #if !PX_P64_FAMILY PX_COMPILE_TIME_ASSERT(sizeof(SolverContactHeader) == 64); #else PX_COMPILE_TIME_ASSERT(sizeof(SolverContactHeader) == 80); #endif /** \brief A single rigid body contact point for the solver. */ struct SolverContactPoint { Vec3V raXn; Vec3V rbXn; PxF32 velMultiplier; PxF32 biasedErr; PxF32 unbiasedErr; PxF32 maxImpulse; PX_FORCE_INLINE FloatV getVelMultiplier() const {return FLoad(velMultiplier);} PX_FORCE_INLINE FloatV getBiasedErr() const {return FLoad(biasedErr);} PX_FORCE_INLINE FloatV getMaxImpulse() const {return FLoad(maxImpulse);} PX_FORCE_INLINE Vec3V getRaXn() const {return raXn;} PX_FORCE_INLINE Vec3V getRbXn() const {return rbXn;} PX_FORCE_INLINE void setRaXn(const PxVec3& v) {V3WriteXYZ(raXn, v);} PX_FORCE_INLINE void setRbXn(const PxVec3& v) {V3WriteXYZ(rbXn, v);} PX_FORCE_INLINE void setVelMultiplier(PxF32 f) {velMultiplier = f;} PX_FORCE_INLINE void setBiasedErr(PxF32 f) {biasedErr = f;} PX_FORCE_INLINE void setUnbiasedErr(PxF32 f) {unbiasedErr = f;} PX_FORCE_INLINE PxF32 getVelMultiplierPxF32() const {return velMultiplier;} PX_FORCE_INLINE const PxVec3& getRaXnPxVec3() const {return V3ReadXYZ(raXn);} PX_FORCE_INLINE const PxVec3& getRbXnPxVec3() const {return V3ReadXYZ(rbXn);} PX_FORCE_INLINE PxF32 getBiasedErrPxF32() const {return biasedErr;} }; PX_COMPILE_TIME_ASSERT(sizeof(SolverContactPoint) == 48); /** \brief A single extended articulation contact point for the solver. */ struct SolverContactPointExt : public SolverContactPoint { Vec3V linDeltaVA; Vec3V angDeltaVA; Vec3V linDeltaVB; Vec3V angDeltaVB; }; PX_COMPILE_TIME_ASSERT(sizeof(SolverContactPointExt) == 112); /** \brief A single friction constraint for the solver. */ struct SolverContactFriction { Vec4V normalXYZ_appliedForceW; //16 Vec4V raXnXYZ_velMultiplierW; //32 Vec4V rbXnXYZ_biasW; //48 PxReal targetVel; //52 PxU32 mPad[3]; //64 PX_FORCE_INLINE void setAppliedForce(const FloatV f) {normalXYZ_appliedForceW=V4SetW(normalXYZ_appliedForceW,f);} PX_FORCE_INLINE void setVelMultiplier(const FloatV f) {raXnXYZ_velMultiplierW=V4SetW(raXnXYZ_velMultiplierW,f);} PX_FORCE_INLINE void setBias(const FloatV f) {rbXnXYZ_biasW=V4SetW(rbXnXYZ_biasW,f);} PX_FORCE_INLINE FloatV getAppliedForce() const {return V4GetW(normalXYZ_appliedForceW);} PX_FORCE_INLINE FloatV getVelMultiplier() const {return V4GetW(raXnXYZ_velMultiplierW);} PX_FORCE_INLINE FloatV getBias() const {return V4GetW(rbXnXYZ_biasW);} PX_FORCE_INLINE Vec3V getNormal() const {return Vec3V_From_Vec4V(normalXYZ_appliedForceW);} PX_FORCE_INLINE Vec3V getRaXn() const {return Vec3V_From_Vec4V(raXnXYZ_velMultiplierW);} PX_FORCE_INLINE Vec3V getRbXn() const {return Vec3V_From_Vec4V(rbXnXYZ_biasW);} PX_FORCE_INLINE void setNormal(const PxVec3& v) {V4WriteXYZ(normalXYZ_appliedForceW, v);} PX_FORCE_INLINE void setRaXn(const PxVec3& v) {V4WriteXYZ(raXnXYZ_velMultiplierW, v);} PX_FORCE_INLINE void setRbXn(const PxVec3& v) {V4WriteXYZ(rbXnXYZ_biasW, v);} PX_FORCE_INLINE const PxVec3& getNormalPxVec3() const {return V4ReadXYZ(normalXYZ_appliedForceW);} PX_FORCE_INLINE const PxVec3& getRaXnPxVec3() const {return V4ReadXYZ(raXnXYZ_velMultiplierW);} PX_FORCE_INLINE const PxVec3& getRbXnPxVec3() const {return V4ReadXYZ(rbXnXYZ_biasW);} PX_FORCE_INLINE void setAppliedForce(PxF32 f) {V4WriteW(normalXYZ_appliedForceW, f);} PX_FORCE_INLINE void setVelMultiplier(PxF32 f) {V4WriteW(raXnXYZ_velMultiplierW, f);} PX_FORCE_INLINE void setBias(PxF32 f) {V4WriteW(rbXnXYZ_biasW, f);} PX_FORCE_INLINE PxF32 getAppliedForcePxF32() const {return V4ReadW(normalXYZ_appliedForceW);} PX_FORCE_INLINE PxF32 getVelMultiplierPxF32() const {return V4ReadW(raXnXYZ_velMultiplierW);} PX_FORCE_INLINE PxF32 getBiasPxF32() const {return V4ReadW(rbXnXYZ_biasW);} }; PX_COMPILE_TIME_ASSERT(sizeof(SolverContactFriction) == 64); /** \brief A single extended articulation friction constraint for the solver. */ struct SolverContactFrictionExt : public SolverContactFriction { Vec3V linDeltaVA; Vec3V angDeltaVA; Vec3V linDeltaVB; Vec3V angDeltaVB; }; PX_COMPILE_TIME_ASSERT(sizeof(SolverContactFrictionExt) == 128); } } #endif //DY_SOLVERCONTACT_H