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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_CONSTRAINT_PROJECTION_TREE
#define PX_PHYSICS_SCP_CONSTRAINT_PROJECTION_TREE
#include "PsArray.h"
#include "PsUserAllocated.h"
#include "CmPhysXCommon.h"
namespace physx
{
namespace Sc
{
struct ConstraintGroupNode;
class ConstraintSim;
class BodySim;
class BodyRank;
class ConstraintProjectionTree
{
/**
This class serves both the static administration of an articulation and the actual articulation itself.
An Articulation object holds several articulation root nodes which make up a simulation island that
is further connected with lagrange joints.
*/
public:
ConstraintProjectionTree() {}
~ConstraintProjectionTree() {}
static void buildProjectionTrees(ConstraintGroupNode& root);
static void purgeProjectionTrees(ConstraintGroupNode& root);
static void projectPose(ConstraintGroupNode& root, Ps::Array<BodySim*>& projectedBodies);
private:
static PxU32 projectionTreeBuildStep(ConstraintGroupNode& node, ConstraintSim* cToParent, ConstraintGroupNode** nodeStack);
static void getConstraintStatus(const ConstraintSim& c, const BodySim* b, BodySim*& otherBody, PxU32& projectToBody, PxU32& projectToOtherBody);
static void rankConstraint(ConstraintSim&, BodyRank&, PxU32& dominanceTracking, PxU32& constraintsToProjectCount);
static void projectPoseForTree(ConstraintGroupNode& node, Ps::Array<BodySim*>& projectedBodies);
};
} // namespace Sc
}
#endif
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