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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) 2008-2018 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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