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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 NP_D6JOINTCONSTRAINT_H
#define NP_D6JOINTCONSTRAINT_H
#include "ExtJoint.h"
#include "PxD6Joint.h"
#include "PsMathUtils.h"
namespace physx
{
struct PxD6JointGeneratedValues;
namespace Ext
{
PX_FORCE_INLINE PxReal tanHalfFromSin(PxReal sin)
{
return Ps::tanHalf(sin, PxSqrt(1.0f - sin*sin));
}
struct D6JointData : public JointData
{
//= 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.
//==================================================================================================
PxD6Motion::Enum motion[6];
PxJointLinearLimit linearLimit;
PxJointAngularLimitPair twistLimit;
PxJointLimitCone swingLimit;
PxD6JointDrive drive[PxD6Drive::eCOUNT];
PxTransform drivePosition;
PxVec3 driveLinearVelocity;
PxVec3 driveAngularVelocity;
// derived quantities
PxU32 locked; // bitmap of locked DOFs
PxU32 limited; // bitmap of limited DOFs
PxU32 driving; // bitmap of active drives (implies driven DOFs not locked)
// tan-half and tan-quarter angles
PxReal thSwingY;
PxReal thSwingZ;
PxReal thSwingPad;
PxReal tqSwingY;
PxReal tqSwingZ;
PxReal tqSwingPad;
PxReal tqTwistLow;
PxReal tqTwistHigh;
PxReal tqTwistPad;
PxReal linearMinDist; // linear limit minimum distance to get a good direction
// projection quantities
PxReal projectionLinearTolerance;
PxReal projectionAngularTolerance;
// forestall compiler complaints about not being able to generate a constructor
private:
D6JointData(const PxJointLinearLimit& linear, const PxJointAngularLimitPair& twist, const PxJointLimitCone& swing):
linearLimit(linear), twistLimit(twist), swingLimit(swing) {}
};
typedef Joint<PxD6Joint, PxD6JointGeneratedValues> D6JointT;
class D6Joint : public Joint<PxD6Joint, PxD6JointGeneratedValues>
{
public:
// PX_SERIALIZATION
D6Joint(PxBaseFlags baseFlags) : D6JointT(baseFlags) {}
virtual void exportExtraData(PxSerializationContext& context);
void importExtraData(PxDeserializationContext& context);
void resolveReferences(PxDeserializationContext& context);
static D6Joint* createObject(PxU8*& address, PxDeserializationContext& context);
static void getBinaryMetaData(PxOutputStream& stream);
//~PX_SERIALIZATION
virtual ~D6Joint()
{
if(getBaseFlags()&PxBaseFlag::eOWNS_MEMORY)
PX_FREE(mData);
}
D6Joint(const PxTolerancesScale& scale,
PxRigidActor* actor0, const PxTransform& localFrame0,
PxRigidActor* actor1, const PxTransform& localFrame1);
PxReal getTwist() const;
PxReal getSwingYAngle() const;
PxReal getSwingZAngle() const;
PxD6Motion::Enum getMotion(PxD6Axis::Enum index) const;
void setMotion(PxD6Axis::Enum index, PxD6Motion::Enum t);
PxD6JointDrive getDrive(PxD6Drive::Enum index) const;
void setDrive(PxD6Drive::Enum index, const PxD6JointDrive& d);
PxJointLinearLimit getLinearLimit() const;
void setLinearLimit(const PxJointLinearLimit& l);
PxJointAngularLimitPair getTwistLimit() const;
void setTwistLimit(const PxJointAngularLimitPair& l);
PxJointLimitCone getSwingLimit() const;
void setSwingLimit(const PxJointLimitCone& l);
PxTransform getDrivePosition() const;
void setDrivePosition(const PxTransform& pose);
void getDriveVelocity(PxVec3& linear,
PxVec3& angular) const;
void setDriveVelocity(const PxVec3& linear,
const PxVec3& angular);
void setProjectionAngularTolerance(PxReal tolerance);
PxReal getProjectionAngularTolerance() const;
void setProjectionLinearTolerance(PxReal tolerance);
PxReal getProjectionLinearTolerance() const;
void visualize(PxRenderBuffer& out,
const void* constantBlock,
const PxTransform& body0Transform,
const PxTransform& body1Transform,
PxReal frameScale,
PxReal limitScale,
PxU32 flags) const;
bool attach(PxPhysics &physics, PxRigidActor* actor0, PxRigidActor* actor1);
static const PxConstraintShaderTable& getConstraintShaderTable() { return sShaders; }
virtual PxConstraintSolverPrep getPrep() const { return sShaders.solverPrep; }
private:
static PxConstraintShaderTable sShaders;
D6JointData& data() const
{
return *static_cast<D6JointData*>(mData);
}
bool active(const PxD6Drive::Enum index) const
{
PxD6JointDrive& d = data().drive[index];
return d.stiffness!=0 || d.damping != 0;
}
void* prepareData();
bool mRecomputeMotion;
bool mRecomputeLimits;
bool mPadding[2]; // PT: padding from prev bools
};
} // namespace Ext
namespace Ext
{
extern "C" PxU32 D6JointSolverPrep(Px1DConstraint* constraints,
PxVec3& body0WorldOffset,
PxU32 maxConstraints,
PxConstraintInvMassScale& invMassScale,
const void* constantBlock,
const PxTransform& bA2w,
const PxTransform& bB2w);
// global function to share the joint shaders with API capture
extern "C" const PxConstraintShaderTable* GetD6JointShaderTable();
}
}
#endif
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