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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 "ExtSphericalJoint.h"
#include "ExtConstraintHelper.h"
#include "CmConeLimitHelper.h"
#include "CmRenderOutput.h"
#include "CmVisualization.h"
#include "common/PxSerialFramework.h"
using namespace physx;
using namespace Ext;
namespace physx
{
PxSphericalJoint* PxSphericalJointCreate(PxPhysics& physics,
PxRigidActor* actor0, const PxTransform& localFrame0,
PxRigidActor* actor1, const PxTransform& localFrame1);
}
PxSphericalJoint* physx::PxSphericalJointCreate(PxPhysics& physics,
PxRigidActor* actor0, const PxTransform& localFrame0,
PxRigidActor* actor1, const PxTransform& localFrame1)
{
PX_CHECK_AND_RETURN_NULL(localFrame0.isSane(), "PxSphericalJointCreate: local frame 0 is not a valid transform");
PX_CHECK_AND_RETURN_NULL(localFrame1.isSane(), "PxSphericalJointCreate: local frame 1 is not a valid transform");
PX_CHECK_AND_RETURN_NULL(actor0 != actor1, "PxSphericalJointCreate: actors must be different");
PX_CHECK_AND_RETURN_NULL((actor0 && actor0->is<PxRigidBody>()) || (actor1 && actor1->is<PxRigidBody>()), "PxSphericalJointCreate: at least one actor must be dynamic");
SphericalJoint* j;
PX_NEW_SERIALIZED(j,SphericalJoint)(physics.getTolerancesScale(), actor0, localFrame0, actor1, localFrame1);
if(j->attach(physics, actor0, actor1))
return j;
PX_DELETE(j);
return NULL;
}
void SphericalJoint::setProjectionLinearTolerance(PxReal tolerance)
{
PX_CHECK_AND_RETURN(PxIsFinite(tolerance) && tolerance >=0, "PxSphericalJoint::setProjectionLinearTolerance: invalid parameter");
data().projectionLinearTolerance = tolerance;
markDirty();
}
PxReal SphericalJoint::getProjectionLinearTolerance() const
{
return data().projectionLinearTolerance;
}
void SphericalJoint::setLimitCone(const PxJointLimitCone &limit)
{
PX_CHECK_AND_RETURN(limit.isValid(), "PxSphericalJoint::setLimit: invalid parameter");
data().limit = limit;
markDirty();
}
PxJointLimitCone SphericalJoint::getLimitCone() const
{
return data().limit;
}
PxSphericalJointFlags SphericalJoint::getSphericalJointFlags(void) const
{
return data().jointFlags;
}
void SphericalJoint::setSphericalJointFlags(PxSphericalJointFlags flags)
{
data().jointFlags = flags;
}
void SphericalJoint::setSphericalJointFlag(PxSphericalJointFlag::Enum flag, bool value)
{
if(value)
data().jointFlags |= flag;
else
data().jointFlags &= ~flag;
markDirty();
}
void* Ext::SphericalJoint::prepareData()
{
SphericalJointData& d = data();
if(d.jointFlags & PxSphericalJointFlag::eLIMIT_ENABLED)
{
d.tanQYLimit = PxTan(d.limit.yAngle/4);
d.tanQZLimit = PxTan(d.limit.zAngle/4);
d.tanQPad = PxTan(d.limit.contactDistance/4);
}
return SphericalJointT::prepareData();
}
namespace
{
void SphericalJointVisualize(PxConstraintVisualizer& viz,
const void* constantBlock,
const PxTransform& body0Transform,
const PxTransform& body1Transform,
PxU32 /*flags*/)
{
using namespace joint;
const SphericalJointData& data = *reinterpret_cast<const SphericalJointData*>(constantBlock);
PxTransform cA2w = body0Transform * data.c2b[0];
PxTransform cB2w = body1Transform * data.c2b[1];
viz.visualizeJointFrames(cA2w, cB2w);
if(data.jointFlags & PxSphericalJointFlag::eLIMIT_ENABLED)
{
if(cA2w.q.dot(cB2w.q)<0)
cB2w.q = -cB2w.q;
PxTransform cB2cA = cA2w.transformInv(cB2w);
PxQuat swing, twist;
Ps::separateSwingTwist(cB2cA.q,swing,twist);
PxVec3 tanQSwing = PxVec3(0, Ps::tanHalf(swing.z,swing.w), -Ps::tanHalf(swing.y,swing.w));
Cm::ConeLimitHelper coneHelper(data.tanQZLimit, data.tanQYLimit, data.tanQPad);
viz.visualizeLimitCone(cA2w, data.tanQZLimit, data.tanQYLimit,
!coneHelper.contains(tanQSwing));
}
}
void SphericalJointProject(const void* constantBlock,
PxTransform& bodyAToWorld,
PxTransform& bodyBToWorld,
bool projectToA)
{
using namespace joint;
const SphericalJointData& data = *reinterpret_cast<const SphericalJointData*>(constantBlock);
PxTransform cA2w, cB2w, cB2cA, projected;
joint::computeDerived(data, bodyAToWorld, bodyBToWorld, cA2w, cB2w, cB2cA);
bool linearTrunc;
projected.p = truncateLinear(cB2cA.p, data.projectionLinearTolerance, linearTrunc);
if(linearTrunc)
{
projected.q = cB2cA.q;
projectTransforms(bodyAToWorld, bodyBToWorld, cA2w, cB2w, projected, data, projectToA);
}
}
}
bool Ext::SphericalJoint::attach(PxPhysics &physics, PxRigidActor* actor0, PxRigidActor* actor1)
{
mPxConstraint = physics.createConstraint(actor0, actor1, *this, sShaders, sizeof(SphericalJointData));
return mPxConstraint!=NULL;
}
void SphericalJoint::exportExtraData(PxSerializationContext& stream)
{
if(mData)
{
stream.alignData(PX_SERIAL_ALIGN);
stream.writeData(mData, sizeof(SphericalJointData));
}
stream.writeName(mName);
}
void SphericalJoint::importExtraData(PxDeserializationContext& context)
{
if(mData)
mData = context.readExtraData<SphericalJointData, PX_SERIAL_ALIGN>();
context.readName(mName);
}
void SphericalJoint::resolveReferences(PxDeserializationContext& context)
{
setPxConstraint(resolveConstraintPtr(context, getPxConstraint(), getConnector(), sShaders));
}
SphericalJoint* SphericalJoint::createObject(PxU8*& address, PxDeserializationContext& context)
{
SphericalJoint* obj = new (address) SphericalJoint(PxBaseFlag::eIS_RELEASABLE);
address += sizeof(SphericalJoint);
obj->importExtraData(context);
obj->resolveReferences(context);
return obj;
}
// global function to share the joint shaders with API capture
const PxConstraintShaderTable* Ext::GetSphericalJointShaderTable()
{
return &SphericalJoint::getConstraintShaderTable();
}
//~PX_SERIALIZATION
PxConstraintShaderTable Ext::SphericalJoint::sShaders = { Ext::SphericalJointSolverPrep, SphericalJointProject, SphericalJointVisualize, PxConstraintFlag::Enum(0) };
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