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// 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) 2008-2018 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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