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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) 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 TEST_CLOTH
#define TEST_CLOTH
#include "PxShape.h"
#include "cloth/PxCloth.h"
using namespace physx;
namespace Test
{
class ClothCollision
{
public:
virtual PxU32 addSphere(const PxVec3& position, PxReal radius) = 0;
virtual PxU32 addCapsuleIndex(PxU32 i0, PxU32 i1) = 0;
virtual PxU32 addCapsule(const PxVec3& position1, PxReal radius1, const PxVec3& position2, PxReal radius2) = 0;
virtual PxU32 getNbSpheres() const = 0;
virtual const PxClothCollisionSphere* getSpheres() const = 0;
virtual void setClothPose(const PxTransform &pose) = 0;
virtual void setCapsuleMotion(PxU32 id, const PxVec3 &linear, const PxVec3 &angular) = 0;
virtual void setSphereMotion(PxU32 id, const PxVec3 &linear) = 0;
virtual void updateMotion(PxReal time, PxReal timestep) = 0;
virtual bool generateClothCollisionData(PxClothCollisionData &) const = 0;
virtual ~ClothCollision() {};
};
class Cloth
{
public:
// border flags
enum
{
NONE = 0,
BORDER_TOP = (1 << 0),
BORDER_BOTTOM = (1 << 1),
BORDER_LEFT = (1 << 2),
BORDER_RIGHT = (1 << 3)
};
// solver types
enum SolverType
{
eMIXED = 1 << 0, // eSTIFF for vertical fiber, eFAST for everything else
eFAST = 1 << 1, // eFAST for everything
eSTIFF = 1 << 2, // eSTIFF for everything
eZEROSTRETCH = 1 << 3 // eZEROSTRETCH for zero stretch fiber, eFAST for everything else
};
virtual void detachVertex(PxU32 vertexId) = 0;
virtual void attachVertexToWorld(PxU32 vertexId) = 0;
virtual void attachVertexToWorld(PxU32 vertexId, const PxVec3& pos) = 0;
virtual void attachBorderToWorld(PxU32 borderFlags) = 0;
virtual void attachOverlapToShape(PxShape* shape, PxReal radius = 0.1f) = 0;
virtual void createVirtualParticles(int numSamples) = 0;
virtual ClothCollision& getCollision() = 0;
virtual const PxTransform& getClothPose() const = 0;
virtual void release() = 0;
virtual PxCloth& getCloth() = 0;
virtual void setCloth(PxCloth&) = 0;
virtual PxU32 getNbParticles() const = 0;
virtual PxClothParticle* getParticles() = 0;
virtual PxBounds3 getWorldBounds(bool includeColliders = false) = 0;
virtual void setClothPose(const PxTransform &pose, bool keepIntertia = true) = 0;
virtual void setAnimationSpeed(PxReal) = 0;
virtual void setDampingCoefficient(PxReal d) = 0;
virtual void setMassScalingCoefficient(PxReal s) = 0;
virtual void setMotion(const PxVec3 &linear, const PxVec3 &angular) = 0;
virtual void setSolverFrequency(PxReal v) = 0;
virtual void setSolverType(Cloth::SolverType solverType) = 0;
virtual void setStiffness(PxReal v) = 0;
virtual void setSweptContact(bool val) = 0;
virtual void setUseGPU(bool val) = 0;
virtual void updateMotion(PxReal time, PxReal timestep, bool keepInertia = true) = 0;
virtual ~Cloth() {};
};
};
#endif // TEST_CLOTH
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