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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 "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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