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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) 2008-2018 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
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