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// This code contains NVIDIA Confidential Information and is disclosed to you
// under a form of NVIDIA software license agreement provided separately to you.
//
// Notice
// NVIDIA Corporation and its licensors retain all intellectual property and
// proprietary rights in and to this software and related documentation and
// any modifications thereto. Any use, reproduction, disclosure, or
// distribution of this software and related documentation without an express
// license agreement from NVIDIA Corporation is strictly prohibited.
//
// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
//
// Information and code furnished is believed to be accurate and reliable.
// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
// information or for any infringement of patents or other rights of third parties that may
// result from its use. No license is granted by implication or otherwise under any patent
// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
// This code supersedes and replaces all information previously supplied.
// NVIDIA Corporation products are not authorized for use as critical
// components in life support devices or systems without express written approval of
// NVIDIA Corporation.
//
// Copyright (c) 2008-2017 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 "foundation/PxSimpleTypes.h"
#include "ExtDistanceJoint.h"
namespace physx
{
namespace Ext
{
PxU32 DistanceJointSolverPrep(Px1DConstraint* constraints,
PxVec3& body0WorldOffset,
PxU32 maxConstraints,
PxConstraintInvMassScale &invMassScale,
const void* constantBlock,
const PxTransform& bA2w,
const PxTransform& bB2w)
{
PX_UNUSED(maxConstraints);
const DistanceJointData& data = *reinterpret_cast<const DistanceJointData*>(constantBlock);
invMassScale = data.invMassScale;
PxTransform cA2w = bA2w.transform(data.c2b[0]);
PxTransform cB2w = bB2w.transform(data.c2b[1]);
body0WorldOffset = cB2w.p - bA2w.p;
PxVec3 direction = cA2w.p - cB2w.p;
PxReal distance = direction.normalize();
bool enforceMax = (data.jointFlags & PxDistanceJointFlag::eMAX_DISTANCE_ENABLED);
bool enforceMin = (data.jointFlags & PxDistanceJointFlag::eMIN_DISTANCE_ENABLED);
if((!enforceMax || distance<=data.maxDistance) && (!enforceMin || distance>=data.minDistance))
return 0;
#define EPS_REAL 1.192092896e-07F
if (distance < EPS_REAL)
direction = PxVec3(1.f,0,0);
Px1DConstraint *c = constraints;
// constraint is breakable, so we need to output forces
c->flags = Px1DConstraintFlag::eOUTPUT_FORCE;
c->linear0 = direction; c->angular0 = (cA2w.p - bA2w.p).cross(c->linear0);
c->linear1 = direction; c->angular1 = (cB2w.p - bB2w.p).cross(c->linear1);
if (data.jointFlags & PxDistanceJointFlag::eSPRING_ENABLED)
{
c->flags |= Px1DConstraintFlag::eSPRING;
c->mods.spring.stiffness= data.stiffness;
c->mods.spring.damping = data.damping;
}
//add tolerance so we don't have contact-style jitter problem.
if (data.minDistance == data.maxDistance && enforceMin && enforceMax)
{
PxReal error = distance - data.maxDistance;
c->geometricError = error > data.tolerance ? error - data.tolerance :
error < -data.tolerance ? error + data.tolerance : 0;
}
else if (enforceMax && distance > data.maxDistance)
{
c->geometricError = distance - data.maxDistance - data.tolerance;
c->maxImpulse = 0;
}
else if (enforceMin && distance < data.minDistance)
{
c->geometricError = distance - data.minDistance + data.tolerance;
c->minImpulse = 0;
}
return 1;
}
}//namespace
}
//~PX_SERIALIZATION
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