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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 "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)
{
PxQuat cB2cAq = cA2w.q.getConjugate() * cB2w.q;
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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