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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) 2008-2017 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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