1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
|
//
// 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_REVOLUTEJOINTCONSTRAINT_H
#define NP_REVOLUTEJOINTCONSTRAINT_H
#include "ExtJoint.h"
#include "PxRevoluteJoint.h"
#include "PsIntrinsics.h"
#include "CmUtils.h"
namespace physx
{
class PxConstraintSolverPrepKernel;
class PxConstraintProjectionKernel;
struct PxRevoluteJointGeneratedValues;
namespace Ext
{
struct RevoluteJointData : 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.
//==================================================================================================
PxReal driveVelocity;
PxReal driveForceLimit;
PxReal driveGearRatio;
PxJointAngularLimitPair limit;
PxReal tqHigh;
PxReal tqLow;
PxReal tqPad;
PxReal projectionLinearTolerance;
PxReal projectionAngularTolerance;
PxRevoluteJointFlags jointFlags;
// forestall compiler complaints about not being able to generate a constructor
private:
RevoluteJointData(const PxJointAngularLimitPair &pair):
limit(pair) {}
};
typedef Joint<PxRevoluteJoint, PxRevoluteJointGeneratedValues> RevoluteJointT;
class RevoluteJoint : public RevoluteJointT
{
//= 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:
// PX_SERIALIZATION
RevoluteJoint(PxBaseFlags baseFlags) : RevoluteJointT(baseFlags) {}
void resolveReferences(PxDeserializationContext& context);
virtual void exportExtraData(PxSerializationContext& context);
void importExtraData(PxDeserializationContext& context);
static RevoluteJoint* createObject(PxU8*& address, PxDeserializationContext& context);
static void getBinaryMetaData(PxOutputStream& stream);
//~PX_SERIALIZATION
virtual ~RevoluteJoint()
{
if(getBaseFlags()&PxBaseFlag::eOWNS_MEMORY)
PX_FREE(mData);
}
RevoluteJoint(const PxTolerancesScale& /*scale*/,
PxRigidActor* actor0, const PxTransform& localFrame0,
PxRigidActor* actor1, const PxTransform& localFrame1)
: RevoluteJointT(PxJointConcreteType::eREVOLUTE, PxBaseFlag::eOWNS_MEMORY | PxBaseFlag::eIS_RELEASABLE)
{
RevoluteJointData* data = reinterpret_cast<RevoluteJointData*>(PX_ALLOC(sizeof(RevoluteJointData), "RevoluteJointData"));
Cm::markSerializedMem(data, sizeof(RevoluteJointData));
mData = data;
initCommonData(*data, actor0, localFrame0, actor1, localFrame1);
data->projectionLinearTolerance = 1e10f;
data->projectionAngularTolerance = PxPi;
data->driveForceLimit = PX_MAX_F32;
data->driveVelocity = 0;
data->driveGearRatio = 1.0f;
data->limit = PxJointAngularLimitPair(-PxPi/2, PxPi/2);
data->jointFlags = PxRevoluteJointFlags();
}
PxReal getAngle() const;
PxReal getVelocity() const;
PxJointAngularLimitPair getLimit() const;
void setLimit(const PxJointAngularLimitPair& limit);
PxReal getDriveVelocity() const;
void setDriveVelocity(PxReal velocity);
PxReal getDriveForceLimit() const;
void setDriveForceLimit(PxReal forceLimit);
PxReal getDriveGearRatio() const;
void setDriveGearRatio(PxReal gearRatio);
void setProjectionAngularTolerance(PxReal tolerance);
PxReal getProjectionAngularTolerance() const;
void setProjectionLinearTolerance(PxReal distance);
PxReal getProjectionLinearTolerance() const;
PxRevoluteJointFlags getRevoluteJointFlags(void) const;
void setRevoluteJointFlags(PxRevoluteJointFlags flags);
void setRevoluteJointFlag(PxRevoluteJointFlag::Enum flag, bool value);
void* prepareData();
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;
PX_FORCE_INLINE RevoluteJointData& data() const
{
return *static_cast<RevoluteJointData*>(mData);
}
};
} // namespace Ext
namespace Ext
{
extern "C" PxU32 RevoluteJointSolverPrep(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* GetRevoluteJointShaderTable();
}
}
#endif
|