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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_REFERENCE_H
#define DY_ARTICULATION_REFERENCE_H
// a per-row struct where we put extra data for debug and setup - ultimately this will move to be just
// debug only
#include "DyArticulationUtils.h"
#include "DyArticulationScalar.h"
#include "DyArticulationFnsScalar.h"
#include "DySpatial.h"
#if DY_ARTICULATION_DEBUG_VERIFY
namespace physx
{
PX_FORCE_INLINE Cm::SpatialVector propagateVelocity(const FsRow& row,
const FsJointVectors& jv,
const PxVec3& SZ,
const Cm::SpatialVector& v,
const FsRowAux& aux)
{
typedef ArticulationFnsScalar Fns;
Cm::SpatialVector w = Fns::translateMotion(-getParentOffset(jv), v);
PxVec3 DSZ = Fns::multiply(row.D, SZ);
PxVec3 n = Fns::axisDot(getDSI(row), w) + DSZ;
Cm::SpatialVector result = w - Cm::SpatialVector(getJointOffset(jv).cross(n),n);
#if DY_ARTICULATION_DEBUG_VERIFY
Cm::SpatialVector check = ArticulationRef::propagateVelocity(row, jv, SZ, v, aux);
PX_ASSERT((result-check).magnitude()<1e-5*PxMax(check.magnitude(), 1.0f));
#endif
return result;
}
PX_FORCE_INLINE Cm::SpatialVector propagateImpulse(const FsRow& row,
const FsJointVectors& jv,
PxVec3& SZ,
const Cm::SpatialVector& Z,
const FsRowAux& aux)
{
typedef ArticulationFnsScalar Fns;
SZ = Z.angular + Z.linear.cross(getJointOffset(jv));
Cm::SpatialVector result = Fns::translateForce(getParentOffset(jv), Z - Fns::axisMultiply(getDSI(row), SZ));
#if DY_ARTICULATION_DEBUG_VERIFY
PxVec3 SZcheck;
Cm::SpatialVector check = ArticulationRef::propagateImpulse(row, jv, SZcheck, Z, aux);
PX_ASSERT((result-check).magnitude()<1e-5*PxMax(check.magnitude(), 1.0f));
PX_ASSERT((SZ-SZcheck).magnitude()<1e-5*PxMax(SZcheck.magnitude(), 1.0f));
#endif
return result;
}
}
#endif
#endif //DY_ARTICULATION_REFERENCE_H
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