330 lines
14 KiB
C++
330 lines
14 KiB
C++
//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef PX_PHYSICS_NP_ARTICULATION_JOINT
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#define PX_PHYSICS_NP_ARTICULATION_JOINT
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#include "PxArticulationJoint.h"
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#include "ScbArticulationJoint.h"
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#include "NpArticulationTemplate.h"
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#if PX_ENABLE_DEBUG_VISUALIZATION
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#include "CmRenderOutput.h"
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#endif
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namespace physx
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{
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class NpScene;
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class NpArticulationLink;
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class PxArticulationJointImpl
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{
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//= ATTENTION! =====================================================================================
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// Changing the data layout of this class breaks the binary serialization format. See comments for
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// PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData
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// function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
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// accordingly.
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//==================================================================================================
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public:
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Scb::ArticulationJoint mJoint;
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NpArticulationLink* mParent;
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NpArticulationLink* mChild;
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PX_INLINE PxArticulationJointImpl(NpArticulationLink& parent,
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const PxTransform& parentFrame,
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NpArticulationLink& child,
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const PxTransform& childFrame,
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bool reducedCoordinate);
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// PX_SERIALIZATION
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PX_INLINE PxArticulationJointImpl(const PxEMPTY) : mJoint(PxEmpty) {}
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PX_INLINE void resolveReferences(PxDeserializationContext& context, PxArticulationJointBase& pxArticulationJoint);
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static void getBinaryMetaData(PxOutputStream& stream);
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//~PX_SERIALIZATION
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PX_INLINE NpScene* getOwnerScene() const; // the scene the user thinks the actor is in, or from which the actor is pending removal
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PX_INLINE void release();
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PX_INLINE const Scb::ArticulationJoint& getScbArticulationJoint() const { return mJoint; }
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PX_INLINE Scb::ArticulationJoint& getScbArticulationJoint() { return mJoint; }
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PX_INLINE PxArticulationLink& getParentArticulationLink() const;
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PX_INLINE PxArticulationLink& getChildArticulationLink() const;
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PX_INLINE PxTransform getParentPose() const;
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PX_INLINE void setParentPose(const PxTransform&);
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PX_INLINE PxTransform getChildPose() const;
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PX_INLINE void setChildPose(const PxTransform&);
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PX_INLINE const NpArticulationLink& getParent() const { return *mParent; }
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PX_INLINE NpArticulationLink& getParent() { return *mParent; }
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PX_INLINE const NpArticulationLink& getChild() const { return *mChild; }
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PX_INLINE NpArticulationLink& getChild() { return *mChild; }
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};
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template <typename APIClass>
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class NpArticulationJointTemplate : public APIClass, public Ps::UserAllocated
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{
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//= ATTENTION! =====================================================================================
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// Changing the data layout of this class breaks the binary serialization format. See comments for
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// PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData
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// function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
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// accordingly.
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//==================================================================================================
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public:
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// PX_SERIALIZATION
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NpArticulationJointTemplate(PxBaseFlags baseFlags) : APIClass(baseFlags), mImpl(PxEmpty) {}
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void preExportDataReset() { mImpl.mJoint.preExportDataReset(); }
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//~PX_SERIALIZATION
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NpArticulationJointTemplate(PxType concreteType, NpArticulationLink& parent, const PxTransform& parentFrame, NpArticulationLink& child, const PxTransform& childFrame);
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virtual ~NpArticulationJointTemplate() {}
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//---------------------------------------------------------------------------------
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// Miscellaneous
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//---------------------------------------------------------------------------------
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public:
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void release();
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PX_INLINE const Scb::ArticulationJoint& getScbArticulationJoint() const { return mImpl.getScbArticulationJoint(); }
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PX_INLINE Scb::ArticulationJoint& getScbArticulationJoint() { return mImpl.getScbArticulationJoint(); }
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virtual PxArticulationLink& getParentArticulationLink() const { return mImpl.getParentArticulationLink(); }
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virtual PxArticulationLink& getChildArticulationLink() const { return mImpl.getChildArticulationLink(); }
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virtual PxTransform getParentPose() const { return mImpl.getParentPose(); }
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virtual void setParentPose(const PxTransform& t) { mImpl.setParentPose(t); }
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virtual PxTransform getChildPose() const { return mImpl.getChildPose(); }
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virtual void setChildPose(const PxTransform& t) { mImpl.setChildPose(t); }
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PX_INLINE const NpArticulationLink& getParent() const { return mImpl.getParent(); }
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PX_INLINE NpArticulationLink& getParent() { return mImpl.getParent(); }
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PX_INLINE const NpArticulationLink& getChild() const { return mImpl.getChild(); }
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PX_INLINE NpArticulationLink& getChild() { return mImpl.getChild(); }
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virtual PxArticulationJointImpl* getImpl() { return &mImpl; }
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virtual const PxArticulationJointImpl* getImpl() const { return &mImpl; }
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public:
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NpScene* getOwnerScene() const { return mImpl.getOwnerScene(); }
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PxArticulationJointImpl mImpl;
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};
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class NpArticulationJoint : public NpArticulationJointTemplate<PxArticulationJoint>
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{
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//= ATTENTION! =====================================================================================
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// Changing the data layout of this class breaks the binary serialization format. See comments for
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// PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData
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// function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
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// accordingly.
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//==================================================================================================
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public:
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// PX_SERIALIZATION
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NpArticulationJoint(PxBaseFlags baseFlags) : NpArticulationJointTemplate(baseFlags) {}
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virtual void resolveReferences(PxDeserializationContext& context);
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static NpArticulationJoint* createObject(PxU8*& address, PxDeserializationContext& context);
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static void getBinaryMetaData(PxOutputStream& stream);
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void exportExtraData(PxSerializationContext&) {}
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void importExtraData(PxDeserializationContext&) {}
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virtual void requiresObjects(PxProcessPxBaseCallback&){}
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virtual bool isSubordinate() const { return true; }
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//~PX_SERIALIZATION
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NpArticulationJoint(NpArticulationLink& parent, const PxTransform& parentFrame, NpArticulationLink& child, const PxTransform& childFrame);
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virtual ~NpArticulationJoint();
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//---------------------------------------------------------------------------------
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// PxArticulationJoint implementation
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//---------------------------------------------------------------------------------
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virtual void setTargetOrientation(const PxQuat&);
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virtual PxQuat getTargetOrientation() const;
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virtual void setTargetVelocity(const PxVec3&);
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virtual PxVec3 getTargetVelocity() const;
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virtual void setDriveType(PxArticulationJointDriveType::Enum driveType);
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virtual PxArticulationJointDriveType::Enum getDriveType() const;
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virtual void setStiffness(PxReal);
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virtual PxReal getStiffness() const;
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virtual void setDamping(PxReal);
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virtual PxReal getDamping() const;
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virtual void setInternalCompliance(PxReal);
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virtual PxReal getInternalCompliance() const;
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virtual void setExternalCompliance(PxReal);
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virtual PxReal getExternalCompliance() const;
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virtual void setSwingLimit(PxReal yLimit, PxReal zLimit);
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virtual void getSwingLimit(PxReal &yLimit, PxReal &zLimit) const;
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virtual void setTangentialStiffness(PxReal spring);
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virtual PxReal getTangentialStiffness() const;
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virtual void setTangentialDamping(PxReal damping);
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virtual PxReal getTangentialDamping() const;
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virtual void setSwingLimitEnabled(bool);
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virtual bool getSwingLimitEnabled() const;
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virtual void setSwingLimitContactDistance(PxReal contactDistance);
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virtual PxReal getSwingLimitContactDistance() const;
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virtual void setTwistLimit(PxReal lower, PxReal upper);
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virtual void getTwistLimit(PxReal &lower, PxReal &upper) const;
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virtual void setTwistLimitEnabled(bool);
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virtual bool getTwistLimitEnabled() const;
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virtual void setTwistLimitContactDistance(PxReal contactDistance);
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virtual PxReal getTwistLimitContactDistance() const;
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virtual void setJointType(PxArticulationJointType::Enum jointType);
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virtual PxArticulationJointType::Enum getJointType() const;
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virtual void setMotion(PxArticulationAxis::Enum axis, PxArticulationMotion::Enum motion);
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virtual PxArticulationMotion::Enum getMotion(PxArticulationAxis::Enum axis) const;
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virtual void setFrictionCoefficient(const PxReal coefficient);
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virtual PxReal getFrictionCoefficient() const ;
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};
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PX_INLINE PxArticulationLink& PxArticulationJointImpl::getParentArticulationLink() const
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{
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return *mParent;
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}
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PX_INLINE PxArticulationLink& PxArticulationJointImpl::getChildArticulationLink() const
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{
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return *mChild;
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}
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PX_INLINE PxTransform PxArticulationJointImpl::getParentPose() const
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{
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NP_READ_CHECK(getOwnerScene());
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return mParent->getCMassLocalPose().transform(mJoint.getParentPose());
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}
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PX_INLINE void PxArticulationJointImpl::setParentPose(const PxTransform& t)
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{
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PX_CHECK_AND_RETURN(t.isSane(), "NpArticulationJoint::setParentPose t is not valid.");
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NP_WRITE_CHECK(getOwnerScene());
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if (mParent == NULL)
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return;
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mJoint.setParentPose(mParent->getCMassLocalPose().transformInv(t.getNormalized()));
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}
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PX_INLINE PxTransform PxArticulationJointImpl::getChildPose() const
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{
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NP_READ_CHECK(getOwnerScene());
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return mChild->getCMassLocalPose().transform(mJoint.getChildPose());
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}
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PX_INLINE void PxArticulationJointImpl::setChildPose(const PxTransform& t)
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{
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PX_CHECK_AND_RETURN(t.isSane(), "NpArticulationJoint::setChildPose t is not valid.");
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NP_WRITE_CHECK(getOwnerScene());
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mJoint.setChildPose(mChild->getCMassLocalPose().transformInv(t.getNormalized()));
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}
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PX_INLINE NpScene* PxArticulationJointImpl::getOwnerScene() const
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{
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return mJoint.getScbScene() ? static_cast<NpScene *>(mJoint.getScbScene()->getPxScene()) : NULL;
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}
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PX_INLINE PxArticulationJointImpl::PxArticulationJointImpl(NpArticulationLink& parent,
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const PxTransform& parentFrame,
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NpArticulationLink& child,
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const PxTransform& childFrame,
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bool reducedCoordinate)
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: mJoint(parentFrame, childFrame, reducedCoordinate)
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, mParent(&parent)
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, mChild(&child)
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{
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PxArticulationImpl* impl = parent.getRoot().getImpl();
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mJoint.setScArticulation(&impl->getScbArticulation());
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}
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PX_INLINE void PxArticulationJointImpl::release()
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{
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if (mJoint.getScbSceneForAPI())
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mJoint.getScbSceneForAPI()->removeArticulationJoint(mJoint);
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mJoint.destroy();
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}
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PX_INLINE void PxArticulationJointImpl::resolveReferences(PxDeserializationContext& context, PxArticulationJointBase& pxArticulationJoint)
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{
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context.translatePxBase(mParent);
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context.translatePxBase(mChild);
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getScbArticulationJoint().getScArticulationJoint().setRoot(&pxArticulationJoint);
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//articulation backlink can't be set yet, because articulation wasn't constructed yet
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//see NpArticulationTemplate<APIClass>::resolveReferences
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}
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template <typename APIClass>
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void NpArticulationJointTemplate<APIClass>::release()
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{
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NpPhysics::getInstance().notifyDeletionListenersUserRelease(this, NULL);
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mImpl.release();
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}
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template <typename APIClass>
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NpArticulationJointTemplate<APIClass>::NpArticulationJointTemplate(
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PxType concreteType,
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NpArticulationLink& parent,
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const PxTransform& parentFrame,
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NpArticulationLink& child,
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const PxTransform& childFrame)
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: APIClass(concreteType, PxBaseFlag::eOWNS_MEMORY),
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mImpl(parent, parentFrame, child, childFrame, concreteType == PxConcreteType::eARTICULATION_JOINT_REDUCED_COORDINATE)
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{
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mImpl.getScbArticulationJoint().getScArticulationJoint().setRoot(this);
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}
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}
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#endif
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