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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 "gpu/PtRigidBodyAccessGpu.h"
#if PX_USE_PARTICLE_SYSTEM_API
#if PX_SUPPORT_GPU_PHYSX
#include "PxvGeometry.h"
#include "PxvDynamics.h"
#include "PtBodyTransformVault.h"
using namespace physx;
using namespace Pt;
void RigidBodyAccessGpu::copyShapeProperties(ShapeProperties& shapeProperties, const size_t shape, const size_t body) const
{
const PxsShapeCore* shapeCore = reinterpret_cast<const PxsShapeCore*>(shape);
*shapeProperties.geometry = shapeCore->geometry;
const PxsRigidCore* rigidCore = reinterpret_cast<const PxsRigidCore*>(body);
*shapeProperties.ownerToWorld = rigidCore->body2World;
*shapeProperties.shapeToOwner = shapeCore->transform;
}
void RigidBodyAccessGpu::copyBodyProperties(BodyProperties& bodyProperties, const size_t* bodies, PxU32 numBodies) const
{
const PxsBodyCore* const* bodyIt = reinterpret_cast<const PxsBodyCore* const*>(bodies);
PxStrideIterator<PxTransform> currentTransformIt(bodyProperties.currentTransforms);
PxStrideIterator<PxTransform> previousTransformIt(bodyProperties.previousTransforms);
PxStrideIterator<PxVec3> linearVelocityIt(bodyProperties.linearVelocities);
PxStrideIterator<PxVec3> angularVelocityIt(bodyProperties.angularVelocities);
PxStrideIterator<PxTransform> body2ActorTransformIt(bodyProperties.body2ActorTransforms);
PxStrideIterator<size_t> bodyHandleIt(bodyProperties.cpuBodyHandle);
for(PxU32 i = 0; i < numBodies; ++i)
{
const PxsBodyCore& body = **bodyIt;
*currentTransformIt = body.body2World;
const PxTransform* preTransform = mTransformVault.getTransform(body);
if(preTransform)
{
*previousTransformIt = *preTransform;
*linearVelocityIt = body.linearVelocity;
*angularVelocityIt = body.angularVelocity;
*body2ActorTransformIt = body.getBody2Actor();
*bodyHandleIt = (size_t) * bodyIt;
}
else
{
PX_ASSERT(0);
*previousTransformIt = PxTransform(PxIdentity);
*linearVelocityIt = PxVec3(0.f);
*angularVelocityIt = PxVec3(0.f);
*body2ActorTransformIt = PxTransform(PxIdentity);
*bodyHandleIt = 0;
}
++bodyIt;
++currentTransformIt;
++previousTransformIt;
++linearVelocityIt;
++angularVelocityIt;
++body2ActorTransformIt;
++bodyHandleIt;
}
}
#endif // PX_SUPPORT_GPU_PHYSX
#endif // PX_USE_PARTICLE_SYSTEM_API
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