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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.
#include "CmUtils.h"
#include "DySolverBody.h"
#include "PxsRigidBody.h"
#include "PxvDynamics.h"
namespace physx
{
namespace Dy
{
//This method returns values of 0 when the inertia is 0. This is a bit of a hack but allows us to
//represent kinematic objects' velocities in our new format
PX_FORCE_INLINE PxVec3 computeSafeSqrtInertia(const PxVec3& v)
{
return PxVec3(v.x == 0.f ? 0.f : PxSqrt(v.x), v.y == 0.f ? 0.f : PxSqrt(v.y), v.z == 0.f ? 0.f : PxSqrt(v.z));
}
void copyToSolverBodyData(const PxVec3& linearVelocity, const PxVec3& angularVelocity, const PxReal invMass, const PxVec3& invInertia, const PxTransform& globalPose,
const PxReal maxDepenetrationVelocity, const PxReal maxContactImpulse, const PxU32 nodeIndex, const PxReal reportThreshold, PxSolverBodyData& data, PxU32 lockFlags)
{
data.nodeIndex = nodeIndex;
PxVec3 safeSqrtInvInertia = computeSafeSqrtInertia(invInertia);
PxMat33 rotation(globalPose.q);
Cm::transformInertiaTensor(safeSqrtInvInertia, rotation, data.sqrtInvInertia);
// Copy simple properties
data.linearVelocity = linearVelocity;
data.angularVelocity = angularVelocity;
if (lockFlags)
{
if (lockFlags & PxRigidDynamicLockFlag::eLOCK_LINEAR_X)
data.linearVelocity.x = 0.f;
if (lockFlags & PxRigidDynamicLockFlag::eLOCK_LINEAR_Y)
data.linearVelocity.y = 0.f;
if (lockFlags & PxRigidDynamicLockFlag::eLOCK_LINEAR_Z)
data.linearVelocity.z = 0.f;
//KS - technically, we can zero the inertia columns and produce stiffer constraints. However, this can cause numerical issues with the
//joint solver, which is fixed by disabling joint preprocessing and setting minResponseThreshold to some reasonable value > 0. However, until
//this is handled automatically, it's probably better not to zero these inertia rows
if (lockFlags & PxRigidDynamicLockFlag::eLOCK_ANGULAR_X)
{
data.angularVelocity.x = 0.f;
//data.sqrtInvInertia.column0 = PxVec3(0.f);
}
if (lockFlags & PxRigidDynamicLockFlag::eLOCK_ANGULAR_Y)
{
data.angularVelocity.y = 0.f;
//data.sqrtInvInertia.column1 = PxVec3(0.f);
}
if (lockFlags & PxRigidDynamicLockFlag::eLOCK_ANGULAR_Z)
{
data.angularVelocity.z = 0.f;
//data.sqrtInvInertia.column2 = PxVec3(0.f);
}
}
PX_ASSERT(linearVelocity.isFinite());
PX_ASSERT(angularVelocity.isFinite());
data.invMass = invMass;
data.penBiasClamp = maxDepenetrationVelocity;
data.maxContactImpulse = maxContactImpulse;
data.body2World = globalPose;
data.lockFlags = lockFlags;
data.reportThreshold = reportThreshold;
}
}
}
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