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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 "ExtPrismaticJoint.h"
#include "ExtConstraintHelper.h"
#include "CmRenderOutput.h"
namespace physx
{
namespace Ext
{
PxU32 PrismaticJointSolverPrep(Px1DConstraint* constraints,
PxVec3& body0WorldOffset,
PxU32 maxConstraints,
PxConstraintInvMassScale &invMassScale,
const void* constantBlock,
const PxTransform& bA2w,
const PxTransform& bB2w)
{
PX_UNUSED(maxConstraints);
const PrismaticJointData& data = *reinterpret_cast<const PrismaticJointData*>(constantBlock);
invMassScale = data.invMassScale;
PxTransform cA2w = bA2w.transform(data.c2b[0]);
PxTransform cB2w = bB2w.transform(data.c2b[1]);
bool limitEnabled = data.jointFlags & PxPrismaticJointFlag::eLIMIT_ENABLED;
const PxJointLinearLimitPair &limit = data.limit;
bool limitIsLocked = limitEnabled && limit.lower >= limit.upper;
PxVec3 bOriginInA = cA2w.transformInv(cB2w.p);
body0WorldOffset = cB2w.p-bA2w.p;
joint::ConstraintHelper ch(constraints,cB2w.p-bA2w.p, cB2w.p-bB2w.p);
ch.prepareLockedAxes(cA2w.q, cB2w.q, bOriginInA, limitIsLocked ? 7ul : 6ul, 7ul);
if(limitEnabled && !limitIsLocked)
{
PxVec3 axis = cA2w.rotate(PxVec3(1.f,0,0));
PxReal ordinate = bOriginInA.x;
ch.linearLimit(axis, ordinate, limit.upper, limit);
ch.linearLimit(-axis, -ordinate, -limit.lower, limit);
}
return ch.getCount();
}
}//namespace
}
//~PX_SERIALIZATION
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