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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 PX_PHYSICS_NP_ARTICULATION
#define PX_PHYSICS_NP_ARTICULATION
#include "PxArticulation.h"
#include "CmPhysXCommon.h"
#if PX_ENABLE_DEBUG_VISUALIZATION
#include "CmRenderOutput.h"
#endif
#include "ScbArticulation.h"
#include "NpArticulationLink.h"
namespace physx
{
class NpArticulationLink;
class NpScene;
class NpAggregate;
class PxAggregate;
class NpArticulation : public PxArticulation, public Ps::UserAllocated
{
//= ATTENTION! =====================================================================================
// Changing the data layout of this class breaks the binary serialization format. See comments for
// PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData
// function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
// accordingly.
//==================================================================================================
public:
virtual ~NpArticulation();
// PX_SERIALIZATION
NpArticulation(PxBaseFlags baseFlags) : PxArticulation(baseFlags), mArticulation(PxEmpty), mArticulationLinks(PxEmpty) {}
virtual void exportExtraData(PxSerializationContext& stream);
void importExtraData(PxDeserializationContext& context);
void resolveReferences(PxDeserializationContext& context);
virtual void requiresObjects(PxProcessPxBaseCallback& c);
static NpArticulation* createObject(PxU8*& address, PxDeserializationContext& context);
static void getBinaryMetaData(PxOutputStream& stream);
//~PX_SERIALIZATION
//---------------------------------------------------------------------------------
// PxArticulation implementation
//---------------------------------------------------------------------------------
virtual void release();
virtual PxScene* getScene() const;
virtual PxU32 getInternalDriveIterations() const;
virtual void setInternalDriveIterations(PxU32 iterations);
virtual PxU32 getExternalDriveIterations() const;
virtual void setExternalDriveIterations(PxU32 iterations);
virtual PxU32 getMaxProjectionIterations() const;
virtual void setMaxProjectionIterations(PxU32 iterations);
virtual PxReal getSeparationTolerance() const;
virtual void setSeparationTolerance(PxReal tolerance);
virtual void setSleepThreshold(PxReal threshold);
virtual PxReal getSleepThreshold() const;
virtual void setStabilizationThreshold(PxReal threshold);
virtual PxReal getStabilizationThreshold() const;
virtual void setWakeCounter(PxReal wakeCounterValue);
virtual PxReal getWakeCounter() const;
virtual void setSolverIterationCounts(PxU32 positionIters, PxU32 velocityIters);
virtual void getSolverIterationCounts(PxU32 & positionIters, PxU32 & velocityIters) const;
virtual bool isSleeping() const;
virtual void wakeUp();
virtual void putToSleep();
virtual PxArticulationLink* createLink(PxArticulationLink* parent, const PxTransform& pose);
virtual PxU32 getNbLinks() const;
virtual PxU32 getLinks(PxArticulationLink** userBuffer, PxU32 bufferSize, PxU32 startIndex) const;
virtual PxBounds3 getWorldBounds(float inflation=1.01f) const;
virtual PxAggregate* getAggregate() const;
// Debug name
virtual void setName(const char*);
virtual const char* getName() const;
virtual PxArticulationDriveCache*
createDriveCache(PxReal compliance, PxU32 driveIterations) const;
virtual void updateDriveCache(PxArticulationDriveCache& cache, PxReal compliance, PxU32 driveIterations) const;
virtual void releaseDriveCache(PxArticulationDriveCache&) const;
virtual void applyImpulse(PxArticulationLink*,
const PxArticulationDriveCache& driveCache,
const PxVec3& force,
const PxVec3& torque);
virtual void computeImpulseResponse(PxArticulationLink*,
PxVec3& linearResponse,
PxVec3& angularResponse,
const PxArticulationDriveCache& driveCache,
const PxVec3& force,
const PxVec3& torque) const;
//---------------------------------------------------------------------------------
// Miscellaneous
//---------------------------------------------------------------------------------
NpArticulation();
PX_INLINE void addToLinkList(NpArticulationLink& link) { mArticulationLinks.pushBack(&link); }
bool removeLinkFromList(NpArticulationLink& link) { PX_ASSERT(mArticulationLinks.find(&link) != mArticulationLinks.end()); return mArticulationLinks.findAndReplaceWithLast(&link); }
PX_FORCE_INLINE NpArticulationLink* const* getLinks() { return &mArticulationLinks.front(); }
NpArticulationLink* getRoot();
PX_FORCE_INLINE const Scb::Articulation& getArticulation() const { return mArticulation; }
PX_FORCE_INLINE Scb::Articulation& getArticulation() { return mArticulation; }
NpScene* getAPIScene() const;
NpScene* getOwnerScene() const; // the scene the user thinks the actor is in, or from which the actor is pending removal
PX_FORCE_INLINE void setAggregate(NpAggregate* a) { mAggregate = a; }
void wakeUpInternal(bool forceWakeUp, bool autowake);
PX_FORCE_INLINE Scb::Articulation& getScbArticulation() { return mArticulation; }
PX_FORCE_INLINE const Scb::Articulation& getScbArticulation() const { return mArticulation; }
#if PX_ENABLE_DEBUG_VISUALIZATION
public:
void visualize(Cm::RenderOutput& out, NpScene* scene);
#endif
private:
Scb::Articulation mArticulation;
NpArticulationLinkArray mArticulationLinks;
NpAggregate* mAggregate;
const char* mName;
};
}
#endif
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