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/*
* Copyright (c) 2008-2017, NVIDIA CORPORATION. All rights reserved.
*
* NVIDIA CORPORATION and its licensors retain all intellectual property
* and proprietary rights in and to this software, 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.
*/
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#pragma once
#include "PsMathUtils.h"
namespace nvidia
{
namespace cloth
{
/* helper functions shared between SwCloth and CuCloth */
template <typename Cloth>
void initialize(Cloth& cloth, const PxVec4* pIt, const PxVec4* pEnd)
{
// initialize particles bounding box
PxVec4 lower(FLT_MAX), upper = -lower;
for(; pIt != pEnd; ++pIt)
{
lower = lower.minimum(*pIt);
upper = upper.maximum(*pIt);
}
PxVec4 center = (upper + lower) * 0.5f;
PxVec4 extent = (upper - lower) * 0.5f;
cloth.mParticleBoundsCenter = reinterpret_cast<const PxVec3&>(center);
cloth.mParticleBoundsHalfExtent = reinterpret_cast<const PxVec3&>(extent);
cloth.mGravity = PxVec3(0.0f);
cloth.mLogDamping = PxVec3(0.0f);
cloth.mLinearLogDrag = PxVec3(0.0f);
cloth.mAngularLogDrag = PxVec3(0.0f);
cloth.mLinearInertia = PxVec3(1.0f);
cloth.mAngularInertia = PxVec3(1.0f);
cloth.mCentrifugalInertia = PxVec3(1.0f);
cloth.mSolverFrequency = 60.0f;
cloth.mStiffnessFrequency = 10.0f;
cloth.mTargetMotion = PxTransform(PxIdentity);
cloth.mCurrentMotion = PxTransform(PxIdentity);
cloth.mLinearVelocity = PxVec3(0.0f);
cloth.mAngularVelocity = PxVec3(0.0f);
cloth.mPrevIterDt = 0.0f;
cloth.mIterDtAvg = MovingAverage(30);
cloth.mTetherConstraintLogStiffness = float(-FLT_MAX_EXP);
cloth.mTetherConstraintScale = 1.0f;
cloth.mMotionConstraintScale = 1.0f;
cloth.mMotionConstraintBias = 0.0f;
cloth.mMotionConstraintLogStiffness = float(-FLT_MAX_EXP);
cloth.mEnableContinuousCollision = false;
cloth.mCollisionMassScale = 0.0f;
cloth.mFriction = 0.0f;
cloth.mSelfCollisionDistance = 0.0f;
cloth.mSelfCollisionLogStiffness = float(-FLT_MAX_EXP);
cloth.mSleepTestInterval = uint32_t(-1);
cloth.mSleepAfterCount = uint32_t(-1);
cloth.mSleepThreshold = 0.0f;
cloth.mSleepPassCounter = 0;
cloth.mSleepTestCounter = 0;
}
template <typename DstCloth, typename SrcCloth>
void copy(DstCloth& dstCloth, const SrcCloth& srcCloth)
{
dstCloth.mParticleBoundsCenter = srcCloth.mParticleBoundsCenter;
dstCloth.mParticleBoundsHalfExtent = srcCloth.mParticleBoundsHalfExtent;
dstCloth.mGravity = srcCloth.mGravity;
dstCloth.mLogDamping = srcCloth.mLogDamping;
dstCloth.mLinearLogDrag = srcCloth.mLinearLogDrag;
dstCloth.mAngularLogDrag = srcCloth.mAngularLogDrag;
dstCloth.mLinearInertia = srcCloth.mLinearInertia;
dstCloth.mAngularInertia = srcCloth.mAngularInertia;
dstCloth.mCentrifugalInertia = srcCloth.mCentrifugalInertia;
dstCloth.mSolverFrequency = srcCloth.mSolverFrequency;
dstCloth.mStiffnessFrequency = srcCloth.mStiffnessFrequency;
dstCloth.mTargetMotion = srcCloth.mTargetMotion;
dstCloth.mCurrentMotion = srcCloth.mCurrentMotion;
dstCloth.mLinearVelocity = srcCloth.mLinearVelocity;
dstCloth.mAngularVelocity = srcCloth.mAngularVelocity;
dstCloth.mPrevIterDt = srcCloth.mPrevIterDt;
dstCloth.mIterDtAvg = srcCloth.mIterDtAvg;
dstCloth.mTetherConstraintLogStiffness = srcCloth.mTetherConstraintLogStiffness;
dstCloth.mTetherConstraintScale = srcCloth.mTetherConstraintScale;
dstCloth.mMotionConstraintScale = srcCloth.mMotionConstraintScale;
dstCloth.mMotionConstraintBias = srcCloth.mMotionConstraintBias;
dstCloth.mMotionConstraintLogStiffness = srcCloth.mMotionConstraintLogStiffness;
dstCloth.mEnableContinuousCollision = srcCloth.mEnableContinuousCollision;
dstCloth.mCollisionMassScale = srcCloth.mCollisionMassScale;
dstCloth.mFriction = srcCloth.mFriction;
dstCloth.mSelfCollisionDistance = srcCloth.mSelfCollisionDistance;
dstCloth.mSelfCollisionLogStiffness = srcCloth.mSelfCollisionLogStiffness;
dstCloth.mSleepTestInterval = srcCloth.mSleepTestInterval;
dstCloth.mSleepAfterCount = srcCloth.mSleepAfterCount;
dstCloth.mSleepThreshold = srcCloth.mSleepThreshold;
dstCloth.mSleepPassCounter = srcCloth.mSleepPassCounter;
dstCloth.mSleepTestCounter = srcCloth.mSleepTestCounter;
dstCloth.mIsAllowedHalfPrecisionSolver = srcCloth.mIsAllowedHalfPrecisionSolver;
dstCloth.mUserData = srcCloth.mUserData;
}
} // namespace cloth
} // namespace nvidia
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