// // 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 PX_PHYSICS_NP_CLOTH #define PX_PHYSICS_NP_CLOTH #include "PxPhysXConfig.h" #if PX_USE_CLOTH_API #include "PxCloth.h" #include "NpActorTemplate.h" #include "ScbCloth.h" namespace physx { class NpClothFabric; typedef NpActorTemplate NpClothT; class NpCloth : public NpClothT { //= 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. //================================================================================================== public: // PX_SERIALIZATION NpCloth(PxBaseFlags baseFlags); virtual void requiresObjects(PxProcessPxBaseCallback& c); virtual void exportExtraData(PxSerializationContext& stream) { mCloth.exportExtraData(stream); } void importExtraData(PxDeserializationContext& context) { mCloth.importExtraData(context); } void resolveReferences(PxDeserializationContext& context); static NpCloth* createObject(PxU8*& address, PxDeserializationContext& context); static void getBinaryMetaData(PxOutputStream& stream); //~PX_SERIALIZATION NpCloth(const PxTransform& globalPose, NpClothFabric& fabric, const PxClothParticle* particles, PxClothFlags flags); virtual ~NpCloth(); NpCloth &operator=(const NpCloth &); //--------------------------------------------------------------------------------- // PxCloth implementation //--------------------------------------------------------------------------------- virtual void release(); virtual PxActorType::Enum getType() const; virtual PxClothFabric* getFabric() const; virtual void setParticles(const PxClothParticle* currentParticles, const PxClothParticle* previousParticles); virtual PxU32 getNbParticles() const; virtual void setMotionConstraints(const PxClothParticleMotionConstraint* motionConstraints); virtual bool getMotionConstraints(PxClothParticleMotionConstraint* motionConstraintsBuffer) const; virtual PxU32 getNbMotionConstraints() const; virtual void setMotionConstraintConfig(const PxClothMotionConstraintConfig& config); virtual PxClothMotionConstraintConfig getMotionConstraintConfig() const; virtual void setSeparationConstraints(const PxClothParticleSeparationConstraint* separationConstraints); virtual bool getSeparationConstraints(PxClothParticleSeparationConstraint* separationConstraintsBuffer) const; virtual PxU32 getNbSeparationConstraints() const; virtual void clearInterpolation(); virtual void setParticleAccelerations(const PxVec4* particleAccelerations); virtual bool getParticleAccelerations(PxVec4* particleAccelerationsBuffer) const; virtual PxU32 getNbParticleAccelerations() const; virtual void addCollisionSphere(const PxClothCollisionSphere& sphere); virtual void removeCollisionSphere(PxU32 index); virtual void setCollisionSpheres(const PxClothCollisionSphere* spheresBuffer, PxU32 count); virtual PxU32 getNbCollisionSpheres() const; virtual void getCollisionData(PxClothCollisionSphere* spheresBuffer, PxU32* capsulesBuffer, PxClothCollisionPlane* planesBuffer, PxU32* convexesBuffer, PxClothCollisionTriangle* trianglesBuffer) const; virtual void addCollisionCapsule(PxU32 first, PxU32 second); virtual void removeCollisionCapsule(PxU32 index); virtual PxU32 getNbCollisionCapsules() const; virtual void addCollisionTriangle(const PxClothCollisionTriangle& triangle); virtual void removeCollisionTriangle(PxU32 index); virtual void setCollisionTriangles(const PxClothCollisionTriangle* trianglesBuffer, PxU32 count); virtual PxU32 getNbCollisionTriangles() const; virtual void addCollisionPlane(const PxClothCollisionPlane& plane); virtual void removeCollisionPlane(PxU32 index); virtual void setCollisionPlanes(const PxClothCollisionPlane* planesBuffer, PxU32 count); virtual PxU32 getNbCollisionPlanes() const; virtual void addCollisionConvex(PxU32 mask); virtual void removeCollisionConvex(PxU32 index); virtual PxU32 getNbCollisionConvexes() const; virtual void setVirtualParticles(PxU32 numParticles, const PxU32* indices, PxU32 numWeights, const PxVec3* weights); virtual PxU32 getNbVirtualParticles() const; virtual void getVirtualParticles(PxU32* indicesBuffer) const; virtual PxU32 getNbVirtualParticleWeights() const; virtual void getVirtualParticleWeights(PxVec3* weightsBuffer) const; virtual void setGlobalPose(const PxTransform& pose); virtual PxTransform getGlobalPose() const; virtual void setTargetPose(const PxTransform& pose); virtual void setExternalAcceleration(PxVec3 acceleration); virtual PxVec3 getExternalAcceleration() const; virtual void setLinearInertiaScale(PxVec3 scale); virtual PxVec3 getLinearInertiaScale() const; virtual void setAngularInertiaScale(PxVec3 scale); virtual PxVec3 getAngularInertiaScale() const; virtual void setCentrifugalInertiaScale(PxVec3 scale); virtual PxVec3 getCentrifugalInertiaScale() const; virtual void setInertiaScale(float); virtual void setDampingCoefficient(PxVec3 dampingCoefficient); virtual PxVec3 getDampingCoefficient() const; virtual void setFrictionCoefficient(PxReal frictionCoefficient); virtual PxReal getFrictionCoefficient() const; virtual void setLinearDragCoefficient(PxVec3 dampingCoefficient); virtual PxVec3 getLinearDragCoefficient() const; virtual void setAngularDragCoefficient(PxVec3 dampingCoefficient); virtual PxVec3 getAngularDragCoefficient() const; virtual void setDragCoefficient(float); virtual void setCollisionMassScale(PxReal scalingCoefficient); virtual PxReal getCollisionMassScale() const; virtual void setSelfCollisionDistance(PxReal distance); virtual PxReal getSelfCollisionDistance() const; virtual void setSelfCollisionStiffness(PxReal stiffness); virtual PxReal getSelfCollisionStiffness() const; virtual void setSelfCollisionIndices(const PxU32* indices, PxU32 nbIndices); virtual bool getSelfCollisionIndices(PxU32* indices) const; virtual PxU32 getNbSelfCollisionIndices() const; virtual void setRestPositions(const PxVec4* restPositions); virtual bool getRestPositions(PxVec4* restPositions) const; virtual PxU32 getNbRestPositions() const; virtual void setSolverFrequency(PxReal); virtual PxReal getSolverFrequency() const; virtual void setStiffnessFrequency(PxReal); virtual PxReal getStiffnessFrequency() const; virtual void setStretchConfig(PxClothFabricPhaseType::Enum type, const PxClothStretchConfig& config); virtual PxClothStretchConfig getStretchConfig(PxClothFabricPhaseType::Enum type) const; virtual void setTetherConfig(const PxClothTetherConfig& config); virtual PxClothTetherConfig getTetherConfig() const; virtual void setClothFlags(PxClothFlags flags); virtual void setClothFlag(PxClothFlag::Enum flag, bool val); virtual PxClothFlags getClothFlags() const; virtual PxVec3 getWindVelocity() const; virtual void setWindVelocity(PxVec3); virtual PxReal getWindDrag() const; virtual void setWindDrag(PxReal); virtual PxReal getWindLift() const; virtual void setWindLift(PxReal); virtual bool isSleeping() const; virtual PxReal getSleepLinearVelocity() const; virtual void setSleepLinearVelocity(PxReal threshold); virtual void setWakeCounter(PxReal wakeCounterValue); virtual PxReal getWakeCounter() const; virtual void wakeUp(); virtual void putToSleep(); virtual PxClothParticleData* lockParticleData(PxDataAccessFlags); virtual PxClothParticleData* lockParticleData() const; virtual PxReal getPreviousTimeStep() const; virtual PxBounds3 getWorldBounds(float inflation=1.01f) const; virtual void setSimulationFilterData(const PxFilterData& data); virtual PxFilterData getSimulationFilterData() const; virtual void setContactOffset(PxReal); virtual PxReal getContactOffset() const; virtual void setRestOffset(PxReal); virtual PxReal getRestOffset() const; //--------------------------------------------------------------------------------- // Miscellaneous //--------------------------------------------------------------------------------- public: PX_FORCE_INLINE Scb::Cloth& getScbCloth() { return mCloth; } PX_FORCE_INLINE const Scb::Cloth& getScbCloth() const { return mCloth; } #if PX_CHECKED static bool checkParticles(PxU32 numParticles, const PxClothParticle* particles); static bool checkMotionConstraints(PxU32 numConstraints, const PxClothParticleMotionConstraint* constraints); static bool checkSeparationConstraints(PxU32 numConstraints, const PxClothParticleSeparationConstraint* constraints); static bool checkParticleAccelerations(PxU32 numParticles, const PxVec4* accelerations); static bool checkCollisionSpheres(PxU32 numSpheres, const PxClothCollisionSphere* spheres); static bool checkCollisionSpherePairs(PxU32 numSpheres, PxU32 numPairs, const PxU32* pairIndices); static bool checkVirtualParticles(PxU32 numParticles, PxU32 numVParticles, const PxU32* indices, PxU32 numWeights, const PxVec3* weights); #endif #if PX_ENABLE_DEBUG_VISUALIZATION virtual void visualize(Cm::RenderOutput& out, NpScene* scene); #endif void unlockParticleData(); private: void sendPvdSimpleProperties(); void sendPvdMotionConstraints(); void sendPvdSeparationConstraints(); void sendPvdCollisionSpheres(); void sendPvdCollisionCapsules(); void sendPvdCollisionTriangles(); void sendPvdVirtualParticles(); void sendPvdSelfCollisionIndices(); void sendPvdRestPositions(); Scb::Cloth mCloth; NpClothFabric* mClothFabric; NpClothParticleData mParticleData; }; } #endif // PX_USE_CLOTH_API #endif