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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 DY_ARTICULATION_HELPER_H
#define DY_ARTICULATION_HELPER_H
#include "DyArticulation.h"
namespace physx
{
struct PxsBodyCore;
class PxcConstraintBlockStream;
class PxcRigidBody;
class PxsConstraintBlockManager;
struct PxSolverConstraintDesc;
namespace Dy
{
struct FsInertia;
struct SolverConstraint1DExt;
struct ArticulationJointCore;
struct ArticulationSolverDesc;
struct ArticulationJointTransforms
{
PxTransform cA2w; // joint parent frame in world space
PxTransform cB2w; // joint child frame in world space
PxTransform cB2cA; // joint relative pose in world space
};
class ArticulationHelper
{
public:
static PxU32 computeUnconstrainedVelocities(const ArticulationSolverDesc& desc,
PxReal dt,
PxcConstraintBlockStream& stream,
PxSolverConstraintDesc* constraintDesc,
PxU32& acCount,
PxsConstraintBlockManager& constraintBlockManager,
const PxVec3& gravity, PxU64 contextID);
static void updateBodies(const ArticulationSolverDesc& desc,
PxReal dt);
static void getImpulseResponse(const FsData& matrix,
PxU32 linkID,
const Cm::SpatialVectorV& impulse,
Cm::SpatialVectorV& deltaV);
static PX_FORCE_INLINE
void getImpulseResponse(const FsData& matrix,
PxU32 linkID,
const Cm::SpatialVector& impulse,
Cm::SpatialVector& deltaV)
{
getImpulseResponse(matrix, linkID, reinterpret_cast<const Cm::SpatialVectorV&>(impulse), reinterpret_cast<Cm::SpatialVectorV&>(deltaV));
}
static void getImpulseSelfResponse(const FsData& matrix,
PxU32 linkID0,
const Cm::SpatialVectorV& impulse0,
Cm::SpatialVectorV& deltaV0,
PxU32 linkID1,
const Cm::SpatialVectorV& impulse1,
Cm::SpatialVectorV& deltaV1);
static void flushVelocity(FsData& matrix);
static void saveVelocity(const ArticulationSolverDesc& m);
static void getDataSizes(PxU32 linkCount, PxU32 &solverDataSize, PxU32& totalSize, PxU32& scratchSize);
static void initializeDriveCache(FsData &data,
PxU16 linkCount,
const ArticulationLink* links,
PxReal compliance,
PxU32 iterations,
char* scratchMemory,
PxU32 scratchMemorySize);
static PxU32 getDriveCacheLinkCount(const FsData& cache);
static void applyImpulses(const FsData& matrix,
Cm::SpatialVectorV* Z,
Cm::SpatialVectorV* V);
private:
static PxU32 getLtbDataSize(PxU32 linkCount);
static PxU32 getFsDataSize(PxU32 linkCount);
static void prepareDataBlock(FsData& fsData,
const ArticulationLink* links,
PxU16 linkCount,
PxTransform* poses,
FsInertia *baseInertia,
ArticulationJointTransforms* jointTransforms,
PxU32 expectedSize);
static void setInertia(FsInertia& inertia,
const PxsBodyCore& body,
const PxTransform& pose);
static void setJointTransforms(ArticulationJointTransforms& transforms,
const PxTransform& parentPose,
const PxTransform& childPose,
const ArticulationJointCore& joint);
static void prepareLtbMatrix(FsData& fsData,
const FsInertia* baseInertia,
const PxTransform* poses,
const ArticulationJointTransforms* jointTransforms,
PxReal recipDt);
static void prepareFsData(FsData& fsData,
const ArticulationLink* links);
static PX_FORCE_INLINE PxReal getResistance(PxReal compliance);
static void createHardLimit(const FsData& fsData,
const ArticulationLink* links,
PxU32 linkIndex,
SolverConstraint1DExt& s,
const PxVec3& axis,
PxReal err,
PxReal recipDt);
static void createTangentialSpring(const FsData& fsData,
const ArticulationLink* links,
PxU32 linkIndex,
SolverConstraint1DExt& s,
const PxVec3& axis,
PxReal stiffness,
PxReal damping,
PxReal dt);
static PxU32 setupSolverConstraints(FsData& fsData, PxU32 solverDataSize,
PxcConstraintBlockStream& stream,
PxSolverConstraintDesc* constraintDesc,
const ArticulationLink* links,
const ArticulationJointTransforms* jointTransforms,
PxReal dt,
PxU32& acCount,
PxsConstraintBlockManager& constraintBlockManager);
static void computeJointDrives(FsData& fsData,
Ps::aos::Vec3V* drives,
const ArticulationLink* links,
const PxTransform* poses,
const ArticulationJointTransforms* transforms,
const Ps::aos::Mat33V* loads,
PxReal dt);
};
}
}
#endif //DY_ARTICULATION_HELPER_H
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