1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
|
// This code contains NVIDIA Confidential Information and is disclosed to you
// under a form of NVIDIA software license agreement provided separately to you.
//
// Notice
// NVIDIA Corporation and its licensors retain all intellectual property and
// proprietary rights in and to this software and 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.
//
// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
//
// Information and code furnished is believed to be accurate and reliable.
// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
// information or for any infringement of patents or other rights of third parties that may
// result from its use. No license is granted by implication or otherwise under any patent
// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
// This code supersedes and replaces all information previously supplied.
// NVIDIA Corporation products are not authorized for use as critical
// components in life support devices or systems without express written approval of
// NVIDIA Corporation.
//
// Copyright (c) 2008-2016 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 PXV_DYNAMICS_H
#define PXV_DYNAMICS_H
#include "foundation/PxVec3.h"
#include "foundation/PxQuat.h"
#include "foundation/PxTransform.h"
#include "foundation/PxSimpleTypes.h"
#include "PsIntrinsics.h"
#include "PxRigidDynamic.h"
namespace physx
{
/*!
\file
Dynamics interface.
*/
/************************************************************************/
/* Atoms */
/************************************************************************/
class PxsContext;
class PxsRigidBody;
class PxShape;
class PxGeometry;
struct PxsShapeCore;
struct PxsRigidCore
{
//= 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.
//==================================================================================================
PxsRigidCore() : mFlags(0), mIdtBody2Actor(0) {}
PxsRigidCore(const PxEMPTY) : mFlags(PxEmpty) {}
PX_ALIGN_PREFIX(16)
PxTransform body2World PX_ALIGN_SUFFIX(16);
PxRigidBodyFlags mFlags; // API body flags
PxU8 mIdtBody2Actor; // PT: true if PxsBodyCore::body2Actor is identity
PxU16 solverIterationCounts; //vel iters are in low word and pos iters in high word.
PX_FORCE_INLINE PxU32 isKinematic() const
{
return mFlags & PxRigidBodyFlag::eKINEMATIC;
}
PX_FORCE_INLINE PxU32 hasCCD() const
{
return mFlags & PxRigidBodyFlag::eENABLE_CCD;
}
PX_FORCE_INLINE PxU32 hasCCDFriction() const
{
return mFlags & PxRigidBodyFlag::eENABLE_CCD_FRICTION;
}
};
PX_COMPILE_TIME_ASSERT(sizeof(PxsRigidCore) == 32);
struct PxsBodyCore: public PxsRigidCore
{
//= 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.
//==================================================================================================
PxsBodyCore() : PxsRigidCore() {}
PxsBodyCore(const PxEMPTY) : PxsRigidCore(PxEmpty) {}
PX_FORCE_INLINE const PxTransform& getBody2Actor() const { return body2Actor; }
PX_FORCE_INLINE void setBody2Actor(const PxTransform& t)
{
mIdtBody2Actor = PxU8(t.p.isZero() && t.q.isIdentity());
body2Actor = t;
}
protected:
PxTransform body2Actor;
public:
PxReal ccdAdvanceCoefficient; //64
PxVec3 linearVelocity;
PxReal maxPenBias;
PxVec3 angularVelocity;
PxReal contactReportThreshold; //96
PxReal maxAngularVelocitySq;
PxReal maxLinearVelocitySq;
PxReal linearDamping;
PxReal angularDamping; //112
PxVec3 inverseInertia;
PxReal inverseMass; //128
PxReal maxContactImpulse;
PxReal sleepThreshold;
PxReal freezeThreshold;
PxReal wakeCounter; //144 this is authoritative wakeCounter
PxReal solverWakeCounter; //this is calculated by the solver when it performs sleepCheck. It is committed to wakeCounter in ScAfterIntegrationTask if the body is still awake.
PxU32 numCountedInteractions;
PxU32 numBodyInteractions; //Used by adaptive force to keep track of the total number of body interactions
PxU16 isFastMoving; //This could be a single bit but it's a u32 at the moment for simplicity's sake
PxRigidDynamicLockFlags lockFlags; //160 This could be a u8 but it is a u32 for simplicity's sake. All fits into 16 byte alignment
PX_FORCE_INLINE bool shouldCreateContactReports() const
{
const PxU32* binary = reinterpret_cast<const PxU32*>(&contactReportThreshold);
return *binary != 0x7f7fffff; // PX_MAX_REAL
}
};
PX_COMPILE_TIME_ASSERT(sizeof(PxsBodyCore) == 160);
}
#endif
|