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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) 2008-2017 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 DY_ARTICULATION_DEBUG_FNS_H
#define DY_ARTICULATION_DEBUG_FNS_H
#include "DyArticulationFnsScalar.h"
#include "DyArticulationFnsSimd.h"
namespace physx
{
namespace Dy
{
#if 0
void printMomentum(const char* id, PxTransform* pose, Cm::SpatialVector* velocity, FsInertia* inertia, PxU32 linkCount)
{
typedef ArticulationFnsScalar Fns;
Cm::SpatialVector m = Cm::SpatialVector::zero();
for(PxU32 i=0;i<linkCount;i++)
m += Fns::translateForce(pose[i].p - pose[0].p, Fns::multiply(inertia[i], velocity[i]));
printf("momentum (%20s): (%f, %f, %f), (%f, %f, %f)\n", id, m.linear.x, m.linear.y, m.linear.z, m.angular.x, m.angular.y, m.angular.z);
}
#endif
class ArticulationFnsDebug
{
typedef ArticulationFnsSimdBase SimdBase;
typedef ArticulationFnsSimd<ArticulationFnsDebug> Simd;
typedef ArticulationFnsScalar Scalar;
public:
static PX_FORCE_INLINE FsInertia addInertia(const FsInertia& in1, const FsInertia& in2)
{
return FsInertia(M33Add(in1.ll, in2.ll),
M33Add(in1.la, in2.la),
M33Add(in1.aa, in2.aa));
}
static PX_FORCE_INLINE FsInertia subtractInertia(const FsInertia& in1, const FsInertia& in2)
{
return FsInertia(M33Sub(in1.ll, in2.ll),
M33Sub(in1.la, in2.la),
M33Sub(in1.aa, in2.aa));
}
static Mat33V invertSym33(const Mat33V &m)
{
PxMat33 n_ = Scalar::invertSym33(unsimdify(m));
Mat33V n = SimdBase::invertSym33(m);
compare33(n_, unsimdify(n));
return n;
}
static Mat33V invSqrt(const Mat33V &m)
{
PxMat33 n_ = Scalar::invSqrt(unsimdify(m));
Mat33V n = SimdBase::invSqrt(m);
compare33(n_, unsimdify(n));
return n;
}
static FsInertia invertInertia(const FsInertia &I)
{
SpInertia J_ = Scalar::invertInertia(unsimdify(I));
FsInertia J = SimdBase::invertInertia(I);
compareInertias(J_,unsimdify(J));
return J;
}
static Mat33V computeSIS(const FsInertia &I, const Cm::SpatialVectorV S[3], Cm::SpatialVectorV*PX_RESTRICT IS)
{
Cm::SpatialVector IS_[3];
Scalar::multiply(IS_, unsimdify(I), unsimdify(&S[0]));
PxMat33 D_ = Scalar::multiplySym(IS_, unsimdify(&S[0]));
Mat33V D = SimdBase::computeSIS(I, S, IS);
compare33(unsimdify(D), D_);
return D;
}
static FsInertia multiplySubtract(const FsInertia &I, const Mat33V &D, const Cm::SpatialVectorV IS[3], Cm::SpatialVectorV*PX_RESTRICT DSI)
{
Cm::SpatialVector DSI_[3];
Scalar::multiply(DSI_, unsimdify(IS), unsimdify(D));
SpInertia J_ = Scalar::multiplySubtract(unsimdify(I), DSI_, unsimdify(IS));
FsInertia J = SimdBase::multiplySubtract(I, D, IS, DSI);
compareInertias(unsimdify(J), J_);
return J;
}
static FsInertia multiplySubtract(const FsInertia &I, const Cm::SpatialVectorV S[3])
{
SpInertia J_ = Scalar::multiplySubtract(unsimdify(I), unsimdify(S), unsimdify(S));
FsInertia J = SimdBase::multiplySubtract(I, S);
compareInertias(unsimdify(J), J_);
return J;
}
static FsInertia translateInertia(Vec3V offset, const FsInertia &I)
{
PxVec3 offset_;
V3StoreU(offset, offset_);
SpInertia J_ = Scalar::translate(offset_, unsimdify(I));
FsInertia J = SimdBase::translateInertia(offset, I);
compareInertias(J_, unsimdify(J));
return J;
}
static PX_FORCE_INLINE FsInertia propagate(const FsInertia &I,
const Cm::SpatialVectorV S[3],
const Mat33V &load,
const FloatV isf)
{
SpInertia J_ = Scalar::propagate(unsimdify(I), unsimdify(&S[0]), unsimdify(load), unsimdify(isf));
FsInertia J = Simd::propagate(I, S, load, isf);
compareInertias(J_, unsimdify(J));
return J;
}
static PX_FORCE_INLINE Mat33V computeDriveInertia(const FsInertia &I0,
const FsInertia &I1,
const Cm::SpatialVectorV S[3])
{
PxMat33 m_ = Scalar::computeDriveInertia(unsimdify(I0), unsimdify(I1), unsimdify(&S[0]));
Mat33V m = Simd::computeDriveInertia(I0, I1, S);
compare33(m_, unsimdify(m));
return m;
}
static const PxMat33 unsimdify(const Mat33V &m)
{
PX_ALIGN(16, PxMat33) m_;
PxMat33_From_Mat33V(m, m_);
return m_;
}
static PxReal unsimdify(const FloatV &m)
{
PxF32 f;
FStore(m, &f);
return f;
}
static SpInertia unsimdify(const FsInertia &I)
{
return SpInertia (unsimdify(I.ll),
unsimdify(I.la),
unsimdify(I.aa));
}
static const Cm::SpatialVector* unsimdify(const Cm::SpatialVectorV *S)
{
return reinterpret_cast<const Cm::SpatialVector*>(S);
}
private:
static PxReal absmax(const PxVec3& n)
{
return PxMax(PxAbs(n.x), PxMax(PxAbs(n.y),PxAbs(n.z)));
}
static PxReal norm(const PxMat33& n)
{
return PxMax(absmax(n.column0), PxMax(absmax(n.column1), absmax(n.column2)));
}
static void compare33(const PxMat33& ref, const PxMat33& n)
{
PxReal errNorm = norm(ref-n);
PX_UNUSED(errNorm);
PX_ASSERT(errNorm <= PxMax(norm(ref)*1e-3f, 1e-4f));
}
static void compareInertias(const SpInertia& a, const SpInertia& b)
{
compare33(a.mLL, b.mLL);
compare33(a.mLA, b.mLA);
compare33(a.mAA, b.mAA);
}
};
#if DY_ARTICULATION_DEBUG_VERIFY
static bool isPositiveDefinite(const Mat33V& m)
{
PX_ALIGN_PREFIX(16) PxMat33 m1 PX_ALIGN_SUFFIX(16);
PxMat33_From_Mat33V(m, m1);
return isPositiveDefinite(m1);
}
static bool isPositiveDefinite(const FsInertia& s)
{
return isPositiveDefinite(ArticulationFnsDebug::unsimdify(s));
}
static PxReal magnitude(const Cm::SpatialVectorV &v)
{
return PxSqrt(FStore(V3Dot(v.linear, v.linear)) + FStore(V3Dot(v.angular, v.angular)));
}
static bool almostEqual(const Cm::SpatialVectorV &ref, const Cm::SpatialVectorV& test, PxReal tolerance)
{
return magnitude(ref-test)<=tolerance*magnitude(ref);
}
#endif
}
}
#endif //DY_ARTICULATION_DEBUG_FNS_H
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