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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_ARTICULATION_SIM
#define PX_PHYSICS_ARTICULATION_SIM
#include "PsUserAllocated.h"
#include "CmPhysXCommon.h"
#include "DyArticulation.h"
#include "ScArticulationCore.h"
#include "PxsSimpleIslandManager.h"
namespace physx
{
namespace Dy
{
class Articulation;
}
class PxsTransformCache;
class PxsSimulationController;
namespace Cm
{
class SpatialVector;
template <class Allocator> class BitMapBase;
typedef BitMapBase<Ps::NonTrackingAllocator> BitMap;
}
namespace Bp
{
class BoundsArray;
}
namespace Sc
{
class BodySim;
class ArticulationJointSim;
class ArticulationCore;
class Scene;
class ArticulationSim : public Ps::UserAllocated
{
public:
ArticulationSim(ArticulationCore& core,
Scene& scene,
BodyCore& root);
~ArticulationSim();
PX_INLINE Dy::Articulation* getLowLevelArticulation() const { return mLLArticulation; }
PX_INLINE ArticulationCore& getCore() const { return mCore; }
void addBody(BodySim& body,
BodySim* parent,
ArticulationJointSim* joint);
void removeBody(BodySim &sim);
Dy::ArticulationLinkHandle getLinkHandle(BodySim& body) const;
void checkResize() const; // resize LL memory if necessary
void debugCheckWakeCounterOfLinks(PxReal wakeCounter) const;
void debugCheckSleepStateOfLinks(bool isSleeping) const;
bool isSleeping() const;
void internalWakeUp(PxReal wakeCounter); // called when sim sets sleep timer
void sleepCheck(PxReal dt);
PxU32 getCCDLinks(BodySim** sims);
void updateCached(Cm::BitMapPinned* shapehapeChangedMap);
void updateContactDistance(PxReal* contactDistance, const PxReal dt, Bp::BoundsArray& boundsArray);
// temporary, to make sure link handles are set in island detection. This should be done on insertion,
// but when links are inserted into the scene they don't know about the articulation so for the
// moment we fix it up at sim start
void fixupHandles();
void setActive(const bool b, const PxU32 infoFlag=0);
void updateForces(PxReal dt, bool simUsesAdaptiveForce);
void saveLastCCDTransform();
// drive cache implementation
//
ArticulationDriveCache*
createDriveCache(PxReal compliance,
PxU32 driveIterations) const;
void updateDriveCache(ArticulationDriveCache& cache,
PxReal compliance,
PxU32 driveIterations) const;
void releaseDriveCache(ArticulationDriveCache& cache) const;
void applyImpulse(BodyCore& link,
const ArticulationDriveCache& driveCache,
const PxVec3& force,
const PxVec3& torque);
void computeImpulseResponse(BodyCore& link,
PxVec3& linearResponse,
PxVec3& angularResponse,
const ArticulationDriveCache& driveCache,
const PxVec3& force,
const PxVec3& torque) const;
PX_FORCE_INLINE IG::NodeIndex getIslandNodeIndex() const { return mIslandNodeIndex; }
private:
ArticulationSim& operator=(const ArticulationSim&);
PxU32 findBodyIndex(BodySim &body) const;
Dy::Articulation* mLLArticulation;
Scene& mScene;
ArticulationCore& mCore;
Ps::Array<Dy::ArticulationLink> mLinks;
Ps::Array<BodySim*> mBodies;
Ps::Array<ArticulationJointSim*> mJoints;
IG::NodeIndex mIslandNodeIndex;
// DS: looks slightly fishy, but reallocating/relocating the LL memory for the articulation
// really is supposed to leave it behaviorally equivalent, and so we can reasonably make
// all this stuff mutable and checkResize const
mutable Dy::ArticulationSolverDesc mSolverData;
// persistent state of the articulation for warm-starting joint load computation
mutable Ps::Array<Ps::aos::Mat33V> mInternalLoads;
mutable Ps::Array<Ps::aos::Mat33V> mExternalLoads;
// persistent data used during the solve that can be released at frame end
mutable Ps::Array<PxTransform> mPose;
mutable Ps::Array<Cm::SpatialVectorV> mMotionVelocity; // saved here in solver
mutable Ps::Array<char> mFsDataBytes; // drive cache creation (which is const) can force a resize
mutable Ps::Array<char> mScratchMemory; // drive cache creation (which is const) can force a resize
mutable Ps::Array<Cm::SpatialVector> mAcceleration;
mutable bool mUpdateSolverData;
};
} // namespace Sc
}
#endif
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