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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 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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