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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_SOLVER_CONSTRAINT_1D_H
#define DY_SOLVER_CONSTRAINT_1D_H
#include "foundation/PxVec3.h"
#include "PxvConfig.h"
#include "DyArticulationUtils.h"
#include "DySolverConstraintTypes.h"
#include "DySolverBody.h"
#include "PxConstraintDesc.h"
#include "DySolverConstraintDesc.h"
namespace physx
{
namespace Dy
{
// dsequeira: we should probably fork these structures for constraints and extended constraints,
// since there's a few things that are used for one but not the other
struct SolverConstraint1DHeader
{
PxU8 type; // enum SolverConstraintType - must be first byte
PxU8 count; // count of following 1D constraints
PxU8 dominance;
PxU8 breakable; // indicate whether this constraint is breakable or not
PxReal linBreakImpulse;
PxReal angBreakImpulse;
PxReal invMass0D0;
PxVec3 body0WorldOffset;
PxReal invMass1D1;
PxReal linearInvMassScale0; // only used by articulations
PxReal angularInvMassScale0; // only used by articulations
PxReal linearInvMassScale1; // only used by articulations
PxReal angularInvMassScale1; // only used by articulations
};
PX_COMPILE_TIME_ASSERT(sizeof(SolverConstraint1DHeader) == 48);
PX_ALIGN_PREFIX(16)
struct SolverConstraint1D
{
public:
PxVec3 lin0; //!< linear velocity projection (body 0)
PxReal constant; //!< constraint constant term
PxVec3 lin1; //!< linear velocity projection (body 1)
PxReal unbiasedConstant; //!< constraint constant term without bias
PxVec3 ang0; //!< angular velocity projection (body 0)
PxReal velMultiplier; //!< constraint velocity multiplier
PxVec3 ang1; //!< angular velocity projection (body 1)
PxReal impulseMultiplier; //!< constraint impulse multiplier
PxVec3 ang0Writeback; //!< unscaled angular velocity projection (body 0)
PxU32 pad;
PxReal minImpulse; //!< Lower bound on impulse magnitude
PxReal maxImpulse; //!< Upper bound on impulse magnitude
PxReal appliedForce; //!< applied force to correct velocity+bias
PxU32 flags;
} PX_ALIGN_SUFFIX(16);
PX_COMPILE_TIME_ASSERT(sizeof(SolverConstraint1D) == 96);
struct SolverConstraint1DExt : public SolverConstraint1D
{
public:
Cm::SpatialVectorV deltaVA;
Cm::SpatialVectorV deltaVB;
};
PX_COMPILE_TIME_ASSERT(sizeof(SolverConstraint1DExt) == 160);
PX_FORCE_INLINE void init(SolverConstraint1DHeader& h,
PxU8 count,
bool isExtended,
const PxConstraintInvMassScale& ims)
{
h.type = PxU8(isExtended ? DY_SC_TYPE_EXT_1D : DY_SC_TYPE_RB_1D);
h.count = count;
h.dominance = 0;
h.linearInvMassScale0 = ims.linear0;
h.angularInvMassScale0 = ims.angular0;
h.linearInvMassScale1 = -ims.linear1;
h.angularInvMassScale1 = -ims.angular1;
}
PX_FORCE_INLINE void init(SolverConstraint1D& c,
const PxVec3& _linear0, const PxVec3& _linear1,
const PxVec3& _angular0, const PxVec3& _angular1,
PxReal _minImpulse, PxReal _maxImpulse)
{
PX_ASSERT(_linear0.isFinite());
PX_ASSERT(_linear1.isFinite());
c.lin0 = _linear0;
c.lin1 = _linear1;
c.ang0 = _angular0;
c.ang1 = _angular1;
c.minImpulse = _minImpulse;
c.maxImpulse = _maxImpulse;
c.flags = 0;
c.appliedForce = 0;
}
PX_FORCE_INLINE bool needsNormalVel(const Px1DConstraint &c)
{
return c.flags & Px1DConstraintFlag::eRESTITUTION
|| (c.flags & Px1DConstraintFlag::eSPRING && c.flags & Px1DConstraintFlag::eACCELERATION_SPRING);
}
PX_FORCE_INLINE void setSolverConstants(PxReal& constant,
PxReal& unbiasedConstant,
PxReal& velMultiplier,
PxReal& impulseMultiplier,
const Px1DConstraint& c,
PxReal normalVel,
PxReal unitResponse,
PxReal minRowResponse,
PxReal erp,
PxReal dt,
PxReal recipdt)
{
PX_ASSERT(PxIsFinite(unitResponse));
PxReal recipResponse = unitResponse <= minRowResponse ? 0 : 1.0f/unitResponse;
PxReal geomError = c.geometricError * erp;
if(c.flags & Px1DConstraintFlag::eSPRING)
{
PxReal a = dt * dt * c.mods.spring.stiffness + dt * c.mods.spring.damping;
PxReal b = dt * (c.mods.spring.damping * c.velocityTarget - c.mods.spring.stiffness * geomError);
if(c.flags & Px1DConstraintFlag::eACCELERATION_SPRING)
{
PxReal x = 1.0f/(1.0f+a);
constant = unbiasedConstant = x * recipResponse * b;
velMultiplier = -x * recipResponse * a;
impulseMultiplier = 1.0f-x;
}
else
{
PxReal x = 1.0f/(1.0f+a*unitResponse);
constant = unbiasedConstant = x * b;
velMultiplier = -x*a;
impulseMultiplier = 1.0f-x;
}
}
else
{
velMultiplier = -recipResponse;
impulseMultiplier = 1.0f;
if(c.flags & Px1DConstraintFlag::eRESTITUTION && -normalVel>c.mods.bounce.velocityThreshold)
{
unbiasedConstant = constant = recipResponse * c.mods.bounce.restitution*-normalVel;
}
else
{
// see usage of 'for internal use' in preprocessRows()
constant = recipResponse * (c.velocityTarget - geomError*recipdt);
unbiasedConstant = recipResponse * (c.velocityTarget - c.forInternalUse*recipdt);
}
}
}
}
}
#endif //DY_SOLVER_CONSTRAINT_1D_H
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