171 lines
8.1 KiB
C++
171 lines
8.1 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_LINK
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#define PX_PHYSICS_NP_ARTICULATION_LINK
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#include "NpRigidBodyTemplate.h"
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#include "PxArticulationLink.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 NpArticulation;
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class NpArticulationLink;
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class NpArticulationJoint;
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class PxConstraintVisualizer;
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typedef NpRigidBodyTemplate<PxArticulationLink> NpArticulationLinkT;
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class NpArticulationLinkArray : public Ps::InlineArray<NpArticulationLink*, 4> //!!!AL TODO: check if default of 4 elements makes sense
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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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NpArticulationLinkArray(const PxEMPTY) : Ps::InlineArray<NpArticulationLink*, 4> (PxEmpty) {}
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static void getBinaryMetaData(PxOutputStream& stream);
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//~PX_SERIALIZATION
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NpArticulationLinkArray() : Ps::InlineArray<NpArticulationLink*, 4>(PX_DEBUG_EXP("articulationLinkArray")) {}
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};
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class NpArticulationLink : public NpArticulationLinkT
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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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NpArticulationLink(PxBaseFlags baseFlags) : NpArticulationLinkT(baseFlags), mChildLinks(PxEmpty) {}
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void preExportDataReset() { NpArticulationLinkT::preExportDataReset(); }
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virtual void exportExtraData(PxSerializationContext& context);
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void importExtraData(PxDeserializationContext& context);
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void resolveReferences(PxDeserializationContext& context);
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virtual void requiresObjects(PxProcessPxBaseCallback& c);
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virtual bool isSubordinate() const { return true; }
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static NpArticulationLink* createObject(PxU8*& address, PxDeserializationContext& context);
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static void getBinaryMetaData(PxOutputStream& stream);
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//~PX_SERIALIZATION
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virtual ~NpArticulationLink();
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//---------------------------------------------------------------------------------
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// PxArticulationLink implementation
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//---------------------------------------------------------------------------------
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virtual void release();
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virtual PxActorType::Enum getType() const { return PxActorType::eARTICULATION_LINK; }
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// Pose
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virtual void setGlobalPose(const PxTransform& pose);
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virtual void setGlobalPose(const PxTransform& pose, bool autowake);
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virtual PxTransform getGlobalPose() const;
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//damping
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virtual void setLinearDamping(PxReal linDamp);
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virtual PxReal getLinearDamping() const;
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virtual void setAngularDamping(PxReal angDamp);
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virtual PxReal getAngularDamping() const;
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// Velocity
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virtual void setLinearVelocity(const PxVec3&, bool autowake = true);
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virtual void setAngularVelocity(const PxVec3&, bool autowake = true);
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virtual void setMaxAngularVelocity(PxReal);
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virtual PxReal getMaxAngularVelocity() const;
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virtual void setMaxLinearVelocity(PxReal);
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virtual PxReal getMaxLinearVelocity() const;
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virtual PxArticulationBase& getArticulation() const;
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virtual PxArticulationJointBase* getInboundJoint() const;
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virtual PxU32 getInboundJointDof() const;
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virtual PxU32 getNbChildren() const;
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virtual PxU32 getChildren(PxArticulationLink** userBuffer, PxU32 bufferSize, PxU32 startIndex) const;
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virtual PxU32 getLinkIndex() const;
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virtual void setCMassLocalPose(const PxTransform& pose);
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virtual void addForce(const PxVec3& force, PxForceMode::Enum mode = PxForceMode::eFORCE, bool autowake = true);
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virtual void addTorque(const PxVec3& torque, PxForceMode::Enum mode = PxForceMode::eFORCE, bool autowake = true);
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virtual void setForceAndTorque(const PxVec3& force, const PxVec3& torque, PxForceMode::Enum mode = PxForceMode::eFORCE);
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virtual void clearForce(PxForceMode::Enum mode = PxForceMode::eFORCE);
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virtual void clearTorque(PxForceMode::Enum mode = PxForceMode::eFORCE);
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//---------------------------------------------------------------------------------
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// Miscellaneous
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//---------------------------------------------------------------------------------
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NpArticulationLink(const PxTransform& bodyPose, PxArticulationBase& root, NpArticulationLink* parent);
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void releaseInternal();
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PX_INLINE PxArticulationBase& getRoot() { return *mRoot; }
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PX_INLINE NpArticulationLink* getParent() { return mParent; }
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PX_INLINE void setInboundJoint(PxArticulationJointBase& joint) { mInboundJoint = &joint; }
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void setGlobalPoseInternal(const PxTransform& pose, bool autowake);
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void setLLIndex(const PxU32 index) { mLLIndex = index; }
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void setInboundJointDof(const PxU32 index) { mInboundJointDof = index; }
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private:
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PX_INLINE void addToChildList(NpArticulationLink& link) { mChildLinks.pushBack(&link); }
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PX_INLINE void removeFromChildList(NpArticulationLink& link) { PX_ASSERT(mChildLinks.find(&link) != mChildLinks.end()); mChildLinks.findAndReplaceWithLast(&link); }
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public:
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PX_INLINE NpArticulationLink* const* getChildren() { return mChildLinks.empty() ? NULL : &mChildLinks.front(); }
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void setKinematicLink(const bool value);
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#if PX_ENABLE_DEBUG_VISUALIZATION
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public:
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void visualize(Cm::RenderOutput& out, NpScene* scene);
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void visualizeJoint(PxConstraintVisualizer& jointViz);
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#endif
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private:
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PxArticulationBase* mRoot; //!!!AL TODO: Revisit: Could probably be avoided if registration and deregistration in root is handled differently
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PxArticulationJointBase* mInboundJoint;
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NpArticulationLink* mParent; //!!!AL TODO: Revisit: Some memory waste but makes things faster
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NpArticulationLinkArray mChildLinks;
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PxU32 mLLIndex;
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PxU32 mInboundJointDof;
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};
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}
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#endif
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