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//
// 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) 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.
#pragma once
#include "Cloth.h"
#include "Range.h"
#include "MovingAverage.h"
#include "PhaseConfig.h"
#include "IndexPair.h"
#include "Vec4T.h"
#include "Array.h"
#include "PxTransform.h"
namespace nvidia
{
namespace cloth
{
class SwFabric;
class SwFactory;
#if APEX_UE4
class SwCloth;
#endif
typedef AlignedVector<PxVec4, 16>::Type Vec4fAlignedVector;
struct SwConstraints
{
void pop()
{
if(!mTarget.empty())
{
mStart.swap(mTarget);
mTarget.resize(0);
}
}
Vec4fAlignedVector mStart;
Vec4fAlignedVector mTarget;
};
class SwCloth
{
SwCloth& operator=(const SwCloth&); // not implemented
struct SwContextLock
{
SwContextLock(const SwFactory&)
{
}
};
public:
typedef SwFactory FactoryType;
typedef SwFabric FabricType;
typedef SwContextLock ContextLockType;
typedef Vec4fAlignedVector& MappedVec4fVectorType;
typedef Vector<IndexPair>::Type& MappedIndexVectorType;
SwCloth(SwFactory&, SwFabric&, Range<const PxVec4>);
SwCloth(SwFactory&, const SwCloth&);
~SwCloth(); // not virtual on purpose
public:
bool isSleeping() const
{
return mSleepPassCounter >= mSleepAfterCount;
}
void wakeUp()
{
mSleepPassCounter = 0;
}
void notifyChanged()
{
}
void setParticleBounds(const float*);
Range<PxVec4> push(SwConstraints&);
static void clear(SwConstraints&);
static Range<const PxVec3> clampTriangleCount(Range<const PxVec3>, uint32_t);
public:
SwFactory& mFactory;
SwFabric& mFabric;
bool mClothCostDirty;
// current and previous-iteration particle positions
Vec4fAlignedVector mCurParticles;
Vec4fAlignedVector mPrevParticles;
PxVec3 mParticleBoundsCenter;
PxVec3 mParticleBoundsHalfExtent;
PxVec3 mGravity;
PxVec3 mLogDamping;
PxVec3 mLinearLogDrag;
PxVec3 mAngularLogDrag;
PxVec3 mLinearInertia;
PxVec3 mAngularInertia;
PxVec3 mCentrifugalInertia;
float mSolverFrequency;
float mStiffnessFrequency;
PxTransform mTargetMotion;
PxTransform mCurrentMotion;
PxVec3 mLinearVelocity;
PxVec3 mAngularVelocity;
float mPrevIterDt;
MovingAverage mIterDtAvg;
Vector<PhaseConfig>::Type mPhaseConfigs; // transformed!
// tether constraints stuff
float mTetherConstraintLogStiffness;
float mTetherConstraintScale;
// motion constraints stuff
SwConstraints mMotionConstraints;
float mMotionConstraintScale;
float mMotionConstraintBias;
float mMotionConstraintLogStiffness;
// separation constraints stuff
SwConstraints mSeparationConstraints;
// particle acceleration stuff
Vec4fAlignedVector mParticleAccelerations;
// collision stuff
Vector<IndexPair>::Type mCapsuleIndices;
Vec4fAlignedVector mStartCollisionSpheres;
Vec4fAlignedVector mTargetCollisionSpheres;
Vector<uint32_t>::Type mConvexMasks;
Vec4fAlignedVector mStartCollisionPlanes;
Vec4fAlignedVector mTargetCollisionPlanes;
Vector<PxVec3>::Type mStartCollisionTriangles;
Vector<PxVec3>::Type mTargetCollisionTriangles;
bool mEnableContinuousCollision;
float mCollisionMassScale;
float mFriction;
// virtual particles
Vector<Vec4us>::Type mVirtualParticleIndices;
Vec4fAlignedVector mVirtualParticleWeights;
uint32_t mNumVirtualParticles;
// self collision
float mSelfCollisionDistance;
float mSelfCollisionLogStiffness;
Vector<uint32_t>::Type mSelfCollisionIndices;
Vec4fAlignedVector mRestPositions;
// sleeping
uint32_t mSleepTestInterval; // how often to test for movement
uint32_t mSleepAfterCount; // number of tests to pass before sleep
float mSleepThreshold; // max movement delta to pass test
uint32_t mSleepPassCounter; // how many tests passed
uint32_t mSleepTestCounter; // how many iterations since tested
// unused for CPU simulation
bool mIsAllowedHalfPrecisionSolver;
#if APEX_UE4
void* mSimulationTask;
static void(*const sSimulationFunction)(void*, float);
#endif
void* mUserData;
} PX_ALIGN_SUFFIX(16);
} // namespace cloth
// bounds = lower[3], upper[3]
inline void cloth::SwCloth::setParticleBounds(const float* bounds)
{
for(uint32_t i = 0; i < 3; ++i)
{
mParticleBoundsCenter[i] = (bounds[3 + i] + bounds[i]) * 0.5f;
mParticleBoundsHalfExtent[i] = (bounds[3 + i] - bounds[i]) * 0.5f;
}
}
}
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