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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 "ExtRevoluteJoint.h"
#include "PsUtilities.h"
#include "ExtConstraintHelper.h"
#include "CmRenderOutput.h"
#include "PsMathUtils.h"
namespace physx
{
namespace Ext
{
PxU32 RevoluteJointSolverPrep(Px1DConstraint* constraints,
PxVec3& body0WorldOffset,
PxU32 /*maxConstraints*/,
PxConstraintInvMassScale &invMassScale,
const void* constantBlock,
const PxTransform& bA2w,
const PxTransform& bB2w)
{
const RevoluteJointData& data = *reinterpret_cast<const RevoluteJointData*>(constantBlock);
invMassScale = data.invMassScale;
const PxJointAngularLimitPair& limit = data.limit;
bool limitEnabled = data.jointFlags & PxRevoluteJointFlag::eLIMIT_ENABLED;
bool limitIsLocked = limitEnabled && limit.lower >= limit.upper;
PxTransform cA2w = bA2w * data.c2b[0];
PxTransform cB2w = bB2w * data.c2b[1];
if(cB2w.q.dot(cA2w.q)<0.f)
cB2w.q = -cB2w.q;
body0WorldOffset = cB2w.p-bA2w.p;
Ext::joint::ConstraintHelper ch(constraints, cB2w.p - bA2w.p, cB2w.p - bB2w.p);
ch.prepareLockedAxes(cA2w.q, cB2w.q, cA2w.transformInv(cB2w.p), 7, PxU32(limitIsLocked ? 7 : 6));
if(limitIsLocked)
return ch.getCount();
PxVec3 axis = cA2w.rotate(PxVec3(1.f,0,0));
if(data.jointFlags & PxRevoluteJointFlag::eDRIVE_ENABLED)
{
Px1DConstraint *c = ch.getConstraintRow();
c->solveHint = PxConstraintSolveHint::eNONE;
c->linear0 = PxVec3(0);
c->angular0 = -axis;
c->linear1 = PxVec3(0);
c->angular1 = -axis * data.driveGearRatio;
c->velocityTarget = data.driveVelocity;
c->minImpulse = -data.driveForceLimit;
c->maxImpulse = data.driveForceLimit;
if(data.jointFlags & PxRevoluteJointFlag::eDRIVE_FREESPIN)
{
if(data.driveVelocity > 0)
c->minImpulse = 0;
if(data.driveVelocity < 0)
c->maxImpulse = 0;
}
c->flags |= Px1DConstraintFlag::eHAS_DRIVE_LIMIT;
}
if(limitEnabled)
{
// PT: rotation part of "const PxTransform cB2cA = cA2w.transformInv(cB2w);"
const PxQuat cB2cAq = cA2w.q.getConjugate() * cB2w.q;
// PT: twist part of "Ps::separateSwingTwist(cB2cAq,swing,twist)" (more or less)
PxQuat twist(cB2cAq.x,0,0,cB2cAq.w);
PxReal magnitude = twist.normalize();
PxReal tqPhi = physx::intrinsics::fsel(magnitude - 1e-6f, twist.x / (1.0f + twist.w), 0.f);
ch.quarterAnglePair(tqPhi, data.tqLow, data.tqHigh, data.tqPad, axis, limit);
}
return ch.getCount();
}
}//namespace
}
//~PX_SERIALIZATION
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