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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_SPATIAL_H
#define DY_SPATIAL_H
#include "foundation/PxVec3.h"
#include "foundation/PxTransform.h"
#include "PsMathUtils.h"
#include "CmSpatialVector.h"
namespace physx
{
namespace Dy
{
// translate a motion resolved at position p to the origin
// should have a 'from' frame and a 'to' frame
class SpInertia
{
public:
SpInertia() {}
SpInertia(const PxMat33& ll, const PxMat33& la, const PxMat33& aa): mLL(ll), mLA(la), mAA(aa)
{
}
static SpInertia getZero()
{
return SpInertia(PxMat33(PxZero), PxMat33(PxZero),
PxMat33(PxZero));
}
static SpInertia dyad(const Cm::SpatialVector& column, const Cm::SpatialVector& row)
{
return SpInertia(dyad(column.linear, row.linear),
dyad(column.linear, row.angular),
dyad(column.angular, row.angular));
}
static SpInertia inertia(PxReal mass, const PxVec3& inertia)
{
return SpInertia(PxMat33::createDiagonal(PxVec3(mass,mass,mass)), PxMat33(PxZero),
PxMat33::createDiagonal(inertia));
}
SpInertia operator+(const SpInertia& m) const
{
return SpInertia(mLL+m.mLL, mLA+m.mLA, mAA+m.mAA);
}
SpInertia operator-(const SpInertia& m) const
{
return SpInertia(mLL-m.mLL, mLA-m.mLA, mAA-m.mAA);
}
SpInertia operator*(PxReal r) const
{
return SpInertia(mLL*r, mLA*r, mAA*r);
}
void operator+=(const SpInertia& m)
{
mLL+=m.mLL;
mLA+=m.mLA;
mAA+=m.mAA;
}
void operator-=(const SpInertia& m)
{
mLL-=m.mLL;
mLA-=m.mLA;
mAA-=m.mAA;
}
PX_FORCE_INLINE Cm::SpatialVector operator *(const Cm::SpatialVector& v) const
{
return Cm::SpatialVector(mLL*v.linear +mLA*v.angular,
mLA.transformTranspose(v.linear)+mAA*v.angular);
}
SpInertia operator *(const SpInertia& v) const
{
return SpInertia(mLL*v.mLL + mLA * v.mLA.getTranspose(),
mLL*v.mLA + mLA * v.mAA,
mLA.getTranspose()*v.mLA + mAA * v.mAA);
}
bool isFinite() const
{
return true;
// return mLL.isFinite() && mLA.isFinite() && mAA.isFinite();
}
PxMat33 mLL, mLA; // linear force from angular motion, linear force from linear motion
PxMat33 mAA; // angular force from angular motion, mAL = mLA.transpose()
private:
static PxMat33 dyad(PxVec3 col, PxVec3 row)
{
return PxMat33(col*row.x, col*row.y, col*row.z);
}
};
}
}
#endif //DY_SPATIAL_H
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