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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.
#include "ScConstraintInteraction.h"
#include "ScConstraintSim.h"
#include "ScBodySim.h"
#include "ScScene.h"
#include "PxsRigidBody.h"
#include "PxsSimpleIslandManager.h"
using namespace physx;
Sc::ConstraintInteraction::ConstraintInteraction(ConstraintSim* constraint, RigidSim& r0, RigidSim& r1) :
ActorInteraction (r0, r1, InteractionType::eCONSTRAINTSHADER, InteractionFlag::eCONSTRAINT),
mConstraint (constraint)
{
registerInActors();
BodySim* b0 = mConstraint->getBody(0);
BodySim* b1 = mConstraint->getBody(1);
if (b0)
b0->onConstraintAttach();
if (b1)
b1->onConstraintAttach();
IG::SimpleIslandManager* simpleIslandManager = getScene().getSimpleIslandManager();
mEdgeIndex = simpleIslandManager->addConstraint(&mConstraint->getLowLevelConstraint(), b0 ? b0->getNodeIndex() : IG::NodeIndex(), b1 ? b1->getNodeIndex() : IG::NodeIndex(), this);
}
Sc::ConstraintInteraction::~ConstraintInteraction()
{
PX_ASSERT(!readInteractionFlag(InteractionFlag::eIN_DIRTY_LIST));
PX_ASSERT(!getDirtyFlags());
PX_ASSERT(!mConstraint->readFlag(ConstraintSim::eCHECK_MAX_FORCE_EXCEEDED));
}
PX_FORCE_INLINE void Sc::ConstraintInteraction::removeFromActiveBreakableList(Scene& s)
{
if (mConstraint->readFlag(ConstraintSim::eBREAKABLE | ConstraintSim::eCHECK_MAX_FORCE_EXCEEDED) == (ConstraintSim::eBREAKABLE | ConstraintSim::eCHECK_MAX_FORCE_EXCEEDED))
s.removeActiveBreakableConstraint(mConstraint);
}
void Sc::ConstraintInteraction::destroy()
{
setClean(true); // removes the pair from the dirty interaction list etc.
Scene& scene = getScene();
removeFromActiveBreakableList(scene);
if(mEdgeIndex != IG_INVALID_EDGE)
scene.getSimpleIslandManager()->removeConnection(mEdgeIndex);
mEdgeIndex = IG_INVALID_EDGE;
unregisterFromActors();
BodySim* b0 = mConstraint->getBody(0);
BodySim* b1 = mConstraint->getBody(1);
if (b0)
b0->onConstraintDetach(); // Note: Has to be done AFTER the interaction has unregistered from the actors
if (b1)
b1->onConstraintDetach(); // Note: Has to be done AFTER the interaction has unregistered from the actors
clearInteractionFlag(InteractionFlag::eIS_ACTIVE); // ensures that broken constraints do not go into the list of active breakable constraints anymore
}
void Sc::ConstraintInteraction::updateState()
{
PX_ASSERT(!mConstraint->isBroken());
PX_ASSERT(getDirtyFlags() & InteractionDirtyFlag::eBODY_KINEMATIC); // at the moment this should be the only reason for this method being called
// at least one of the bodies got switched from kinematic to dynamic. This will not have changed the sleep state of the interactions, so the
// constraint interactions are just marked dirty and processed as part of the dirty interaction update system.
//
// -> need to check whether to activate the constraint and whether constraint break testing
// is now necessary
//
// the transition from dynamic to kinematic will always trigger an onDeactivate() (because the body gets deactivated)
// and thus there is no need to consider that case here.
//
onActivate(NULL); // note: this will not activate if the necessary conditions are not met, so it can be called even if the pair has been deactivated again before the
// simulation step started
}
bool Sc::ConstraintInteraction::onActivate(void*)
{
PX_ASSERT(!mConstraint->isBroken());
BodySim* b0 = mConstraint->getBody(0);
BodySim* b1 = mConstraint->getBody(1);
bool b0Vote = !b0 || b0->isActive();
bool b1Vote = !b1 || b1->isActive();
bool b0Dynamic = b0 && (!b0->isKinematic());
bool b1Dynamic = b1 && (!b1->isKinematic());
//
// note: constraints between kinematics and kinematics/statics are always inactive and must not be activated
//
if ((b0Vote || b1Vote) && (b0Dynamic || b1Dynamic))
{
raiseInteractionFlag(InteractionFlag::eIS_ACTIVE);
if (mConstraint->readFlag(ConstraintSim::eBREAKABLE | ConstraintSim::eCHECK_MAX_FORCE_EXCEEDED) == ConstraintSim::eBREAKABLE)
getScene().addActiveBreakableConstraint(mConstraint, this);
return true;
}
else
return false;
}
bool Sc::ConstraintInteraction::onDeactivate(PxU32)
{
const BodySim* b0 = mConstraint->getBody(0);
const BodySim* b1 = mConstraint->getBody(1);
bool b0Dynamic = b0 && (!b0->isKinematic());
bool b1Dynamic = b1 && (!b1->isKinematic());
PX_ASSERT( (!b0 && b1 && !b1->isActive()) ||
(!b1 && b0 && !b0->isActive()) ||
((b0 && b1 && (!b0->isActive() || !b1->isActive()))) );
//
// note: constraints between kinematics and kinematics/statics should always get deactivated
//
if (((!b0 || !b0->isActive()) && (!b1 || !b1->isActive())) || (!b0Dynamic && !b1Dynamic))
{
removeFromActiveBreakableList(getScene());
clearInteractionFlag(InteractionFlag::eIS_ACTIVE);
return true;
}
else
return false;
}
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