170 lines
6.8 KiB
C++
170 lines
6.8 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_RC
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#define PX_PHYSICS_NP_ARTICULATION_RC
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#include "PxArticulationReducedCoordinate.h"
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#include "CmPhysXCommon.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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#include "ScbArticulation.h"
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#include "NpArticulationLink.h"
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#include "NpArticulationTemplate.h"
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#include "NpArticulationJointReducedCoordinate.h"
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namespace physx
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{
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class NpArticulationLink;
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class NpScene;
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class NpAggregate;
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class PxAggregate;
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class PxJoint;
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class NpArticulationReducedCoordinate : public NpArticulationTemplate<PxArticulationReducedCoordinate>
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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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virtual ~NpArticulationReducedCoordinate();
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// PX_SERIALIZATION
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NpArticulationReducedCoordinate(PxBaseFlags baseFlags)
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: NpArticulationTemplate(baseFlags)
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, mLoopJoints(PxEmpty)
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{}
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void preExportDataReset();
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static NpArticulationReducedCoordinate* createObject(PxU8*& address, PxDeserializationContext& context);
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static void getBinaryMetaData(PxOutputStream& stream);
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//~PX_SERIALIZATION
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//---------------------------------------------------------------------------------
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// PxArticulation implementation
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//---------------------------------------------------------------------------------
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//---------------------------------------------------------------------------------
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// PxArticulationReducedCoordinate implementation
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//---------------------------------------------------------------------------------
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virtual void setArticulationFlags(PxArticulationFlags flags);
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virtual void setArticulationFlag(PxArticulationFlag::Enum flag, bool value);
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virtual PxArticulationFlags getArticulationFlags() const;
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virtual PxU32 getDofs() const;
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virtual PxArticulationCache* createCache() const;
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virtual PxU32 getCacheDataSize() const;
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virtual void zeroCache(PxArticulationCache& cache);
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virtual void applyCache(PxArticulationCache& cache, const PxArticulationCacheFlags flag, bool autowake);
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virtual void copyInternalStateToCache(PxArticulationCache& cache, const PxArticulationCacheFlags flag) const;
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virtual void releaseCache(PxArticulationCache& cache) const;
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virtual void packJointData(const PxReal* maximum, PxReal* reduced) const;
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virtual void unpackJointData(const PxReal* reduced, PxReal* maximum) const;
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virtual void commonInit() const;
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virtual void computeGeneralizedGravityForce(PxArticulationCache& cache) const;
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virtual void computeCoriolisAndCentrifugalForce(PxArticulationCache& cache) const;
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virtual void computeGeneralizedExternalForce(PxArticulationCache& cache) const;
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virtual void computeJointAcceleration(PxArticulationCache& cache) const;
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virtual void computeJointForce(PxArticulationCache& cache) const;
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virtual void computeDenseJacobian(PxArticulationCache& cache, PxU32& nRows, PxU32& nCols) const;
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virtual void computeCoefficientMatrix(PxArticulationCache& cache) const;
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virtual bool computeLambda(PxArticulationCache& cache, PxArticulationCache& rollBackCache, const PxReal* const jointTorque, const PxU32 maxIter) const;
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virtual void computeGeneralizedMassMatrix(PxArticulationCache& cache) const;
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virtual void addLoopJoint(PxJoint* joint);
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virtual void removeLoopJoint(PxJoint* constraint);
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virtual PxU32 getNbLoopJoints() const;
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virtual PxU32 getLoopJoints(PxJoint** userBuffer, PxU32 bufferSize, PxU32 startIndex = 0) const;
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virtual PxU32 getCoefficientMatrixSize() const;
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virtual void teleportRootLink(const PxTransform& pose, bool autowake);
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virtual PxSpatialVelocity getLinkVelocity(const PxU32 linkId);
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virtual PxSpatialVelocity getLinkAcceleration(const PxU32 linkId);
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virtual const char* getConcreteTypeName() const { return "PxArticulationReducedCoordinate"; }
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//---------------------------------------------------------------------------------
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// Miscellaneous
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//---------------------------------------------------------------------------------
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NpArticulationReducedCoordinate();
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virtual bool isKindOf(const char* name) const { return !::strcmp("PxArticulationReducedCoordinate", name) || PxBase::isKindOf(name); }
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virtual PxArticulationJointBase* createArticulationJoint(PxArticulationLink& parent,
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const PxTransform& parentFrame,
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PxArticulationLink& child,
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const PxTransform& childFrame);
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virtual void releaseArticulationJoint(PxArticulationJointBase* joint);
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private:
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Ps::Array<PxJoint*> mLoopJoints;
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friend class NpScene;
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};
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}
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#endif
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