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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 PXS_BODYATOM_H
#define PXS_BODYATOM_H
#include "PxcRigidBody.h"
#include "PxvDynamics.h"
namespace physx
{
class PxsRigidBody : public PxcRigidBody
{
public:
PX_FORCE_INLINE PxsRigidBody(PxsBodyCore* core) : PxcRigidBody(core) { }
PX_FORCE_INLINE ~PxsRigidBody() {}
PX_FORCE_INLINE const PxTransform& getPose() const { PX_ASSERT(mCore->body2World.isSane()); return mCore->body2World; }
//PX_FORCE_INLINE const Cm::SpatialVector& getAccelerationV() const { return mAcceleration; }
//PX_FORCE_INLINE void setAccelerationV(const Cm::SpatialVector& v) { mAcceleration = v; }
PX_FORCE_INLINE const PxVec3& getLinearVelocity() const { PX_ASSERT(mCore->linearVelocity.isFinite()); return mCore->linearVelocity; }
PX_FORCE_INLINE const PxVec3& getAngularVelocity() const { PX_ASSERT(mCore->angularVelocity.isFinite()); return mCore->angularVelocity; }
PX_FORCE_INLINE void setVelocity(const PxVec3& linear,
const PxVec3& angular) { PX_ASSERT(linear.isFinite()); PX_ASSERT(angular.isFinite());
mCore->linearVelocity = linear;
mCore->angularVelocity = angular; }
PX_FORCE_INLINE void setLinearVelocity(const PxVec3& linear) { PX_ASSERT(linear.isFinite()); mCore->linearVelocity = linear; }
PX_FORCE_INLINE void setAngularVelocity(const PxVec3& angular) { PX_ASSERT(angular.isFinite()); mCore->angularVelocity = angular; }
PX_FORCE_INLINE void constrainLinearVelocity();
PX_FORCE_INLINE void constrainAngularVelocity();
PX_FORCE_INLINE PxU32 getIterationCounts() { return mCore->solverIterationCounts; }
PX_FORCE_INLINE PxReal getReportThreshold() const { return mCore->contactReportThreshold; }
// AP newccd todo: merge into get both velocities, compute inverse transform once, precompute mLastTransform.getInverse()
PX_FORCE_INLINE PxVec3 getLinearMotionVelocity(PxReal invDt) const {
// delta(t0(x))=t1(x)
// delta(t0(t0`(x)))=t1(t0`(x))
// delta(x)=t1(t0`(x))
PxVec3 deltaP = mCore->body2World.p - getLastCCDTransform().p;
return deltaP * invDt;
}
PX_FORCE_INLINE PxVec3 getAngularMotionVelocity(PxReal invDt) const {
PxQuat deltaQ = mCore->body2World.q * getLastCCDTransform().q.getConjugate();
PxVec3 axis;
PxReal angle;
deltaQ.toRadiansAndUnitAxis(angle, axis);
return axis * angle * invDt;
}
PX_FORCE_INLINE PxVec3 getLinearMotionVelocity(PxReal dt, const PxsBodyCore* PX_RESTRICT bodyCore) const {
// delta(t0(x))=t1(x)
// delta(t0(t0`(x)))=t1(t0`(x))
// delta(x)=t1(t0`(x))
PxVec3 deltaP = bodyCore->body2World.p - getLastCCDTransform().p;
return deltaP * 1.0f / dt;
}
PX_FORCE_INLINE PxVec3 getAngularMotionVelocity(PxReal dt, const PxsBodyCore* PX_RESTRICT bodyCore) const {
PxQuat deltaQ = bodyCore->body2World.q * getLastCCDTransform().q.getConjugate();
PxVec3 axis;
PxReal angle;
deltaQ.toRadiansAndUnitAxis(angle, axis);
return axis * angle * 1.0f/dt;
}
PX_FORCE_INLINE const PxTransform& getLastCCDTransform() const { return mLastTransform;}
PX_FORCE_INLINE void saveLastCCDTransform() { mLastTransform = mCore->body2World; }
PX_FORCE_INLINE bool isKinematic() const { return (mCore->inverseMass == 0.0f); }
PX_FORCE_INLINE void setPose(const PxTransform& pose) { mCore->body2World = pose; }
PX_FORCE_INLINE void setPosition(const PxVec3& position) { mCore->body2World.p = position; }
PX_FORCE_INLINE PxReal getInvMass() const { return mCore->inverseMass; }
PX_FORCE_INLINE PxVec3 getInvInertia() const { return mCore->inverseInertia; }
PX_FORCE_INLINE PxReal getMass() const { return 1.0f/mCore->inverseMass; }
PX_FORCE_INLINE PxVec3 getInertia() const { return PxVec3(1.0f/mCore->inverseInertia.x,
1.0f/mCore->inverseInertia.y,
1.0f/mCore->inverseInertia.z); }
PX_FORCE_INLINE PxsBodyCore& getCore() { return *mCore; }
PX_FORCE_INLINE const PxsBodyCore& getCore() const { return *mCore; }
PX_FORCE_INLINE PxU32 isActivateThisFrame() const { return PxU32(mInternalFlags & eACTIVATE_THIS_FRAME); }
PX_FORCE_INLINE PxU32 isDeactivateThisFrame() const { return PxU32(mInternalFlags & eDEACTIVATE_THIS_FRAME); }
PX_FORCE_INLINE PxU32 isFreezeThisFrame() const { return PxU32(mInternalFlags & eFREEZE_THIS_FRAME); }
PX_FORCE_INLINE PxU32 isUnfreezeThisFrame() const { return PxU32(mInternalFlags & eUNFREEZE_THIS_FRAME); }
PX_FORCE_INLINE void clearFreezeFlag() { mInternalFlags &= ~eFREEZE_THIS_FRAME; }
PX_FORCE_INLINE void clearUnfreezeFlag() { mInternalFlags &= ~eUNFREEZE_THIS_FRAME; }
PX_FORCE_INLINE void clearAllFrameFlags() { mInternalFlags &= (eFROZEN | eDISABLE_GRAVITY); }
void advanceToToi(PxReal toi, PxReal dt, bool clip);
void advancePrevPoseToToi(PxReal toi);
PxTransform getAdvancedTransform(PxReal toi) const;
Cm::SpatialVector getPreSolverVelocities() const;
};
void PxsRigidBody::constrainLinearVelocity()
{
const PxU32 lockFlags = mCore->lockFlags;
if (lockFlags)
{
if (lockFlags & PxRigidDynamicLockFlag::eLOCK_LINEAR_X)
mCore->linearVelocity.x = 0.f;
if (lockFlags & PxRigidDynamicLockFlag::eLOCK_LINEAR_Y)
mCore->linearVelocity.y = 0.f;
if (lockFlags & PxRigidDynamicLockFlag::eLOCK_LINEAR_Z)
mCore->linearVelocity.z = 0.f;
}
}
void PxsRigidBody::constrainAngularVelocity()
{
const PxU32 lockFlags = mCore->lockFlags;
if (lockFlags)
{
if (lockFlags & PxRigidDynamicLockFlag::eLOCK_ANGULAR_X)
mCore->angularVelocity.x = 0.f;
if (lockFlags & PxRigidDynamicLockFlag::eLOCK_ANGULAR_Y)
mCore->angularVelocity.y = 0.f;
if (lockFlags & PxRigidDynamicLockFlag::eLOCK_ANGULAR_Z)
mCore->angularVelocity.z = 0.f;
}
}
}
#endif
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