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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.
#ifndef PX_PHYSICS_SCP_CLOTH_CORE
#define PX_PHYSICS_SCP_CLOTH_CORE
#include "CmPhysXCommon.h"
#include "PxPhysXConfig.h"
#if PX_USE_CLOTH_API
#include "ScActorCore.h"
#include "foundation/PxTransform.h"
#include "PxFiltering.h"
#include "PxCloth.h"
#include "PxClothTypes.h"
#include "PxClothCollisionData.h"
#include "PsArray.h"
namespace physx
{
struct PxClothCollisionSphere;
namespace cloth
{
class Cloth;
struct PhaseConfig;
}
namespace Sc
{
class ClothFabricCore;
class ClothSim;
bool DefaultClothInterCollisionFilter(void* cloth0, void* cloth1);
struct ClothBulkData : public Ps::UserAllocated
{
//= 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.
//==================================================================================================
// constructor and destructor are needed because some compilers zero the memory in the
// default constructor and that breaks the serialization related memory markers for
// implicitly padded bytes
ClothBulkData() {}
~ClothBulkData() {}
void exportExtraData(PxSerializationContext& stream);
void importExtraData(PxDeserializationContext& context);
static void getBinaryMetaData(PxOutputStream& stream);
shdfnd::Array<PxClothParticle> mParticles;
shdfnd::Array<PxU32> mVpData;
shdfnd::Array<PxVec3> mVpWeightData;
shdfnd::Array<PxClothCollisionSphere> mCollisionSpheres;
shdfnd::Array<PxU32> mCollisionPairs;
shdfnd::Array<PxClothCollisionPlane> mCollisionPlanes;
shdfnd::Array<PxU32> mConvexMasks;
shdfnd::Array<PxClothCollisionTriangle> mCollisionTriangles;
shdfnd::Array<PxClothParticleMotionConstraint> mConstraints;
shdfnd::Array<PxClothParticleSeparationConstraint> mSeparationConstraints;
shdfnd::Array<PxVec4> mParticleAccelerations;
shdfnd::Array<PxU32> mSelfCollisionIndices;
shdfnd::Array<PxVec4> mRestPositions;
// misc data
PxReal mTetherConstraintScale;
PxReal mTetherConstraintStiffness;
PxReal mMotionConstraintScale;
PxReal mMotionConstraintBias;
PxReal mMotionConstraintStiffness;
PxVec3 mAcceleration;
PxVec3 mDamping;
PxReal mFriction;
PxReal mCollisionMassScale;
PxVec3 mLinearDrag;
PxVec3 mAngularDrag;
PxVec3 mLinearInertia;
PxVec3 mAngularInertia;
PxVec3 mCentrifugalInertia;
PxReal mSolverFrequency;
PxReal mStiffnessFrequency;
PxReal mSelfCollisionDistance;
PxReal mSelfCollisionStiffness;
PxTransform mGlobalPose;
PxReal mSleepThreshold;
PxReal mWakeCounter;
PxVec3 mWindVelocity;
PxReal mDragCoefficient;
PxReal mLiftCoefficient;
};
class ClothCore : public ActorCore
{
//= 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
ClothCore(const PxEMPTY) : ActorCore(PxEmpty), mLowLevelCloth(NULL), mFabric(NULL) {}
void exportExtraData(PxSerializationContext& stream);
void importExtraData(PxDeserializationContext& context);
void resolveReferences(Sc::ClothFabricCore& fabric);
static void getBinaryMetaData(PxOutputStream& stream);
//~PX_SERIALIZATION
ClothCore(const PxTransform& globalPose, Sc::ClothFabricCore& fabric, const PxClothParticle* particles, PxClothFlags flags);
~ClothCore();
//---------------------------------------------------------------------------------
// External API
//---------------------------------------------------------------------------------
PX_FORCE_INLINE ClothFabricCore* getFabric() const { return mFabric; }
PX_FORCE_INLINE void resetFabric() { mFabric = NULL; }
void setParticles(const PxClothParticle* currentParticles, const PxClothParticle* previousParticles);
PxU32 getNbParticles() const;
void setMotionConstraints(const PxClothParticleMotionConstraint* motionConstraints);
bool getMotionConstraints(PxClothParticleMotionConstraint* motionConstraintsBuffer) const;
PxU32 getNbMotionConstraints() const;
void setMotionConstraintConfig(const PxClothMotionConstraintConfig& config);
PxClothMotionConstraintConfig getMotionConstraintConfig() const;
void setSeparationConstraints(const PxClothParticleSeparationConstraint* separationConstraints);
bool getSeparationConstraints(PxClothParticleSeparationConstraint* separationConstraintsBuffer) const;
PxU32 getNbSeparationConstraints() const;
void clearInterpolation();
void setParticleAccelerations(const PxVec4* particleAccelerations);
bool getParticleAccelerations(PxVec4* particleAccelerationsBuffer) const;
PxU32 getNbParticleAccelerations() const;
void addCollisionSphere(const PxClothCollisionSphere& sphere);
void removeCollisionSphere(PxU32 index);
void setCollisionSpheres(const PxClothCollisionSphere* spheresBuffer, PxU32 count);
PxU32 getNbCollisionSpheres() const;
void getCollisionData(PxClothCollisionSphere* spheresBuffer, PxU32* capsulesBuffer,
PxClothCollisionPlane* planesBuffer, PxU32* convexesBuffer, PxClothCollisionTriangle* trianglesBuffer) const;
void addCollisionCapsule(PxU32 first, PxU32 second);
void removeCollisionCapsule(PxU32 index);
PxU32 getNbCollisionCapsules() const;
void addCollisionTriangle(const PxClothCollisionTriangle& triangle);
void removeCollisionTriangle(PxU32 index);
void setCollisionTriangles(const PxClothCollisionTriangle* trianglesBuffer, PxU32 count);
PxU32 getNbCollisionTriangles() const;
void addCollisionPlane(const PxClothCollisionPlane& plane);
void removeCollisionPlane(PxU32 index);
void setCollisionPlanes(const PxClothCollisionPlane* planesBuffer, PxU32 count);
PxU32 getNbCollisionPlanes() const;
void addCollisionConvex(PxU32 mask);
void removeCollisionConvex(PxU32 index);
PxU32 getNbCollisionConvexes() const;
void setVirtualParticles(PxU32 numParticles, const PxU32* indices, PxU32 numWeights, const PxVec3* weights);
PxU32 getNbVirtualParticles() const;
void getVirtualParticles(PxU32* indicesBuffer) const;
PxU32 getNbVirtualParticleWeights() const;
void getVirtualParticleWeights(PxVec3* weightsBuffer) const;
PxTransform getGlobalPose() const;
void setGlobalPose(const PxTransform& pose);
void setTargetPose(const PxTransform& pose);
PxVec3 getExternalAcceleration() const;
void setExternalAcceleration(PxVec3 acceleration);
PxVec3 getDampingCoefficient() const;
void setDampingCoefficient(PxVec3 dampingCoefficient);
PxReal getFrictionCoefficient() const;
void setFrictionCoefficient(PxReal frictionCoefficient);
PxVec3 getLinearDragCoefficient() const;
void setLinearDragCoefficient(PxVec3 dragCoefficient);
PxVec3 getAngularDragCoefficient() const;
void setAngularDragCoefficient(PxVec3 dragCoefficient);
PxReal getCollisionMassScale() const;
void setCollisionMassScale(PxReal scalingCoefficient);
void setSelfCollisionDistance(PxReal distance);
PxReal getSelfCollisionDistance() const;
void setSelfCollisionStiffness(PxReal stiffness);
PxReal getSelfCollisionStiffness() const;
void setSelfCollisionIndices(const PxU32* indices, PxU32 nbIndices);
bool getSelfCollisionIndices(PxU32* indices) const;
PxU32 getNbSelfCollisionIndices() const;
void setRestPositions(const PxVec4* restPositions);
bool getRestPositions(PxVec4* restPositions) const;
PxU32 getNbRestPositions() const;
PxReal getSolverFrequency() const;
void setSolverFrequency(PxReal);
PxReal getStiffnessFrequency() const;
void setStiffnessFrequency(PxReal);
PxVec3 getLinearInertiaScale() const;
void setLinearInertiaScale( PxVec3 );
PxVec3 getAngularInertiaScale() const;
void setAngularInertiaScale( PxVec3 );
PxVec3 getCentrifugalInertiaScale() const;
void setCentrifugalInertiaScale( PxVec3 );
PxClothStretchConfig getStretchConfig(PxClothFabricPhaseType::Enum type) const;
PxClothTetherConfig getTetherConfig() const;
void setStretchConfig(PxClothFabricPhaseType::Enum type, const PxClothStretchConfig& config);
void setTetherConfig(const PxClothTetherConfig& config);
PxClothFlags getClothFlags() const;
void setClothFlags(PxClothFlags flags);
PxVec3 getWindVelocity() const;
void setWindVelocity(PxVec3);
PxReal getDragCoefficient() const;
void setDragCoefficient(PxReal);
PxReal getLiftCoefficient() const;
void setLiftCoefficient(PxReal);
bool isSleeping() const;
PxReal getSleepLinearVelocity() const;
void setSleepLinearVelocity(PxReal threshold);
void setWakeCounter(PxReal wakeCounterValue);
PxReal getWakeCounter() const;
void wakeUp(PxReal wakeCounter);
void putToSleep();
void getParticleData(PxClothParticleData& readData);
void unlockParticleData();
PxReal getPreviousTimeStep() const;
PxBounds3 getWorldBounds() const;
void setSimulationFilterData(const PxFilterData& data);
PxFilterData getSimulationFilterData() const;
void setContactOffset(PxReal);
PxReal getContactOffset() const;
void setRestOffset(PxReal);
PxReal getRestOffset() const;
public:
ClothSim* getSim() const;
PxCloth* getPxCloth();
PX_FORCE_INLINE cloth::Cloth* getLowLevelCloth() { return mLowLevelCloth; }
void onOriginShift(const PxVec3& shift);
void switchCloth(cloth::Cloth*);
PX_FORCE_INLINE bool isGpu() const { return mClothFlags & PxClothFlag::eCUDA; }
private:
void updateBulkData(ClothBulkData& bulkData);
void initLowLevel(const PxTransform& globalPose, const PxClothParticle* particles);
private:
PxVec3 mExternalAcceleration;
cloth::Cloth* mLowLevelCloth;
ClothFabricCore* mFabric;
ClothBulkData* mBulkData;
cloth::PhaseConfig* mPhaseConfigs;
PxFilterData mFilterData;
PxClothFlags mClothFlags;
PxReal mContactOffset;
PxReal mRestOffset;
public: //
PxU32 mNumUserSpheres;
PxU32 mNumUserCapsules;
PxU32 mNumUserPlanes;
PxU32 mNumUserConvexes;
PxU32 mNumUserTriangles;
};
} // namespace Sc
}
#endif // PX_USE_CLOTH_API
#endif
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