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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.
#pragma once
#include "foundation/PxTransform.h"
#include "Cloth.h"
#include "Range.h"
#include "MovingAverage.h"
#include "PhaseConfig.h"
#include "IndexPair.h"
#include "Vec4T.h"
#include "Array.h"
namespace physx
{
namespace cloth
{
class SwFabric;
class SwFactory;
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;
// 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;
// wind
PxVec3 mWind;
float mDragLogCoefficient;
float mLiftLogCoefficient;
// 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
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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