384 lines
13 KiB
C++
384 lines
13 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 NP_CONSTRAINT_HELPER_H
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#define NP_CONSTRAINT_HELPER_H
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#include "foundation/PxAssert.h"
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#include "foundation/PxTransform.h"
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#include "foundation/PxMat33.h"
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#include "extensions/PxD6Joint.h"
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#include "ExtJointData.h"
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namespace physx
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{
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namespace Ext
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{
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namespace joint
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{
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PX_INLINE void computeJointFrames(PxTransform& cA2w, PxTransform& cB2w, const JointData& data, const PxTransform& bA2w, const PxTransform& bB2w)
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{
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PX_ASSERT(bA2w.isValid() && bB2w.isValid());
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cA2w = bA2w.transform(data.c2b[0]);
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cB2w = bB2w.transform(data.c2b[1]);
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PX_ASSERT(cA2w.isValid() && cB2w.isValid());
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}
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PX_INLINE void computeDerived(const JointData& data,
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const PxTransform& bA2w, const PxTransform& bB2w,
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PxTransform& cA2w, PxTransform& cB2w, PxTransform& cB2cA,
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bool useShortestPath=true)
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{
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computeJointFrames(cA2w, cB2w, data, bA2w, bB2w);
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if(useShortestPath)
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{
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if(cA2w.q.dot(cB2w.q)<0.0f) // minimum error quat
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cB2w.q = -cB2w.q;
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}
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cB2cA = cA2w.transformInv(cB2w);
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PX_ASSERT(cB2cA.isValid());
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}
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PX_INLINE PxVec3 truncateLinear(const PxVec3& in, PxReal tolerance, bool& truncated)
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{
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const PxReal m = in.magnitudeSquared();
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truncated = m>tolerance * tolerance;
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return truncated ? in * PxRecipSqrt(m) * tolerance : in;
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}
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PX_INLINE PxQuat truncateAngular(const PxQuat& in, PxReal sinHalfTol, PxReal cosHalfTol, bool& truncated)
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{
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truncated = false;
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if(sinHalfTol > 0.9999f) // fixes numerical tolerance issue of projecting because quat is not exactly normalized
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return in;
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const PxQuat q = in.w>=0.0f ? in : -in;
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const PxVec3 im = q.getImaginaryPart();
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const PxReal m = im.magnitudeSquared();
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truncated = m>sinHalfTol*sinHalfTol;
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if(!truncated)
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return in;
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const PxVec3 outV = im * sinHalfTol * PxRecipSqrt(m);
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return PxQuat(outV.x, outV.y, outV.z, cosHalfTol);
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}
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PX_FORCE_INLINE void projectTransforms(PxTransform& bA2w, PxTransform& bB2w,
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const PxTransform& cA2w, const PxTransform& cB2w,
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const PxTransform& cB2cA, const JointData& data, bool projectToA)
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{
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PX_ASSERT(cB2cA.isValid());
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// normalization here is unfortunate: long chains of projected constraints can result in
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// accumulation of error in the quaternion which eventually leaves the quaternion
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// magnitude outside the validation range. The approach here is slightly overconservative
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// in that we could just normalize the quaternions which are out of range, but since we
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// regard projection as an occasional edge case it shouldn't be perf-sensitive, and
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// this way we maintain the invariant (also maintained by the dynamics integrator) that
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// body quats are properly normalized up to FP error.
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if(projectToA)
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{
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bB2w = cA2w.transform(cB2cA.transform(data.c2b[1].getInverse()));
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bB2w.q.normalize();
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}
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else
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{
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bA2w = cB2w.transform(cB2cA.transformInv(data.c2b[0].getInverse()));
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bA2w.q.normalize();
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}
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PX_ASSERT(bA2w.isValid());
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PX_ASSERT(bB2w.isValid());
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}
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PX_INLINE void computeJacobianAxes(PxVec3 row[3], const PxQuat& qa, const PxQuat& qb)
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{
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// Compute jacobian matrix for (qa* qb) [[* means conjugate in this expr]]
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// d/dt (qa* qb) = 1/2 L(qa*) R(qb) (omega_b - omega_a)
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// result is L(qa*) R(qb), where L(q) and R(q) are left/right q multiply matrix
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const PxReal wa = qa.w, wb = qb.w;
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const PxVec3 va(qa.x,qa.y,qa.z), vb(qb.x,qb.y,qb.z);
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const PxVec3 c = vb*wa + va*wb;
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const PxReal d0 = wa*wb;
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const PxReal d1 = va.dot(vb);
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const PxReal d = d0 - d1;
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row[0] = (va * vb.x + vb * va.x + PxVec3(d, c.z, -c.y)) * 0.5f;
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row[1] = (va * vb.y + vb * va.y + PxVec3(-c.z, d, c.x)) * 0.5f;
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row[2] = (va * vb.z + vb * va.z + PxVec3(c.y, -c.x, d)) * 0.5f;
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if((d0 + d1) != 0.0f) // check if relative rotation is 180 degrees which can lead to singular matrix
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return;
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else
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{
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row[0].x += PX_EPS_F32;
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row[1].y += PX_EPS_F32;
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row[2].z += PX_EPS_F32;
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}
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}
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PX_FORCE_INLINE Px1DConstraint* _linear(const PxVec3& axis, const PxVec3& ra, const PxVec3& rb, PxReal posErr, PxConstraintSolveHint::Enum hint, Px1DConstraint* c)
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{
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c->solveHint = PxU16(hint);
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c->linear0 = axis;
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c->angular0 = ra.cross(axis);
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c->linear1 = axis;
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c->angular1 = rb.cross(axis);
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c->geometricError = posErr;
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PX_ASSERT(c->linear0.isFinite());
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PX_ASSERT(c->linear1.isFinite());
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PX_ASSERT(c->angular0.isFinite());
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PX_ASSERT(c->angular1.isFinite());
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return c;
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}
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PX_FORCE_INLINE Px1DConstraint* _angular(const PxVec3& axis, PxReal posErr, PxConstraintSolveHint::Enum hint, Px1DConstraint* c)
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{
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c->solveHint = PxU16(hint);
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c->linear0 = PxVec3(0.0f);
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c->angular0 = axis;
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c->linear1 = PxVec3(0.0f);
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c->angular1 = axis;
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c->geometricError = posErr;
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c->flags |= Px1DConstraintFlag::eANGULAR_CONSTRAINT;
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return c;
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}
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class ConstraintHelper
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{
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Px1DConstraint* mConstraints;
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Px1DConstraint* mCurrent;
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PxVec3 mRa, mRb;
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PxVec3 mCA2w, mCB2w;
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public:
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ConstraintHelper(Px1DConstraint* c, const PxVec3& ra, const PxVec3& rb)
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: mConstraints(c), mCurrent(c), mRa(ra), mRb(rb) {}
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ConstraintHelper(Px1DConstraint* c, PxConstraintInvMassScale& invMassScale,
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PxTransform& cA2w, PxTransform& cB2w, PxVec3& body0WorldOffset,
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const JointData& data, const PxTransform& bA2w, const PxTransform& bB2w)
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: mConstraints(c), mCurrent(c)
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{
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invMassScale = data.invMassScale;
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computeJointFrames(cA2w, cB2w, data, bA2w, bB2w);
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body0WorldOffset = cB2w.p - bA2w.p;
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mRa = cB2w.p - bA2w.p;
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mRb = cB2w.p - bB2w.p;
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mCA2w = cA2w.p;
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mCB2w = cB2w.p;
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}
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PX_FORCE_INLINE const PxVec3& getRa() const { return mRa; }
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PX_FORCE_INLINE const PxVec3& getRb() const { return mRb; }
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// hard linear & angular
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PX_FORCE_INLINE void linearHard(const PxVec3& axis, PxReal posErr)
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{
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Px1DConstraint* c = linear(axis, posErr, PxConstraintSolveHint::eEQUALITY);
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c->flags |= Px1DConstraintFlag::eOUTPUT_FORCE;
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}
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PX_FORCE_INLINE void angularHard(const PxVec3& axis, PxReal posErr)
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{
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Px1DConstraint* c = angular(axis, posErr, PxConstraintSolveHint::eEQUALITY);
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c->flags |= Px1DConstraintFlag::eOUTPUT_FORCE;
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}
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// limited linear & angular
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PX_FORCE_INLINE void linearLimit(const PxVec3& axis, PxReal ordinate, PxReal limitValue, const PxJointLimitParameters& limit)
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{
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const PxReal pad = limit.isSoft() ? 0.0f : limit.contactDistance;
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if(ordinate + pad > limitValue)
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addLimit(linear(axis, limitValue - ordinate, PxConstraintSolveHint::eNONE), limit);
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}
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PX_FORCE_INLINE void angularLimit(const PxVec3& axis, PxReal ordinate, PxReal limitValue, PxReal pad, const PxJointLimitParameters& limit)
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{
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if(limit.isSoft())
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pad = 0.0f;
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if(ordinate + pad > limitValue)
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addLimit(angular(axis, limitValue - ordinate, PxConstraintSolveHint::eNONE), limit);
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}
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PX_FORCE_INLINE void angularLimit(const PxVec3& axis, PxReal error, const PxJointLimitParameters& limit)
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{
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addLimit(angular(axis, error, PxConstraintSolveHint::eNONE), limit);
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}
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PX_FORCE_INLINE void anglePair(PxReal angle, PxReal lower, PxReal upper, PxReal pad, const PxVec3& axis, const PxJointLimitParameters& limit)
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{
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PX_ASSERT(lower<upper);
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if(limit.isSoft())
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pad = 0;
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if(angle < lower+pad)
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angularLimit(-axis, -(lower - angle), limit);
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if(angle > upper-pad)
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angularLimit(axis, (upper - angle), limit);
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}
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// driven linear & angular
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PX_FORCE_INLINE void linear(const PxVec3& axis, PxReal velTarget, PxReal error, const PxD6JointDrive& drive)
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{
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addDrive(linear(axis, error, PxConstraintSolveHint::eNONE), velTarget, drive);
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}
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PX_FORCE_INLINE void angular(const PxVec3& axis, PxReal velTarget, PxReal error, const PxD6JointDrive& drive, PxConstraintSolveHint::Enum hint = PxConstraintSolveHint::eNONE)
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{
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addDrive(angular(axis, error, hint), velTarget, drive);
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}
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PX_FORCE_INLINE PxU32 getCount() const { return PxU32(mCurrent - mConstraints); }
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void prepareLockedAxes(const PxQuat& qA, const PxQuat& qB, const PxVec3& cB2cAp, PxU32 lin, PxU32 ang, PxVec3& raOut, PxVec3& rbOut)
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{
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Px1DConstraint* current = mCurrent;
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PxVec3 errorVector(0.f);
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PxVec3 ra = mRa;
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PxVec3 rb = mRb;
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if(lin)
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{
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const PxMat33 axes(qA);
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if(lin&1) errorVector -= axes.column0 * cB2cAp.x;
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if(lin&2) errorVector -= axes.column1 * cB2cAp.y;
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if(lin&4) errorVector -= axes.column2 * cB2cAp.z;
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ra += errorVector;
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if(lin&1) _linear(axes.column0, ra, rb, -cB2cAp.x, PxConstraintSolveHint::eEQUALITY, current++);
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if(lin&2) _linear(axes.column1, ra, rb, -cB2cAp.y, PxConstraintSolveHint::eEQUALITY, current++);
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if(lin&4) _linear(axes.column2, ra, rb, -cB2cAp.z, PxConstraintSolveHint::eEQUALITY, current++);
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}
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if (ang)
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{
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const PxQuat qB2qA = qA.getConjugate() * qB;
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PxVec3 row[3];
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computeJacobianAxes(row, qA, qB);
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if (ang & 1) _angular(row[0], -qB2qA.x, PxConstraintSolveHint::eEQUALITY, current++);
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if (ang & 2) _angular(row[1], -qB2qA.y, PxConstraintSolveHint::eEQUALITY, current++);
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if (ang & 4) _angular(row[2], -qB2qA.z, PxConstraintSolveHint::eEQUALITY, current++);
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}
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raOut = ra;
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rbOut = rb;
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for(Px1DConstraint* front = mCurrent; front < current; front++)
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front->flags |= Px1DConstraintFlag::eOUTPUT_FORCE;
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mCurrent = current;
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}
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PX_FORCE_INLINE Px1DConstraint* getConstraintRow()
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{
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return mCurrent++;
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}
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private:
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PX_FORCE_INLINE Px1DConstraint* linear(const PxVec3& axis, PxReal posErr, PxConstraintSolveHint::Enum hint)
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{
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return _linear(axis, mRa, mRb, posErr, hint, mCurrent++);
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}
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PX_FORCE_INLINE Px1DConstraint* angular(const PxVec3& axis, PxReal posErr, PxConstraintSolveHint::Enum hint)
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{
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return _angular(axis, posErr, hint, mCurrent++);
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}
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void addLimit(Px1DConstraint* c, const PxJointLimitParameters& limit)
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{
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PxU16 flags = PxU16(c->flags | Px1DConstraintFlag::eOUTPUT_FORCE);
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if(limit.isSoft())
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{
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flags |= Px1DConstraintFlag::eSPRING;
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c->mods.spring.stiffness = limit.stiffness;
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c->mods.spring.damping = limit.damping;
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}
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else
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{
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c->solveHint = PxConstraintSolveHint::eINEQUALITY;
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c->mods.bounce.restitution = limit.restitution;
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c->mods.bounce.velocityThreshold = limit.bounceThreshold;
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if(c->geometricError>0.0f)
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flags |= Px1DConstraintFlag::eKEEPBIAS;
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if(limit.restitution>0.0f)
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flags |= Px1DConstraintFlag::eRESTITUTION;
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}
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c->flags = flags;
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c->minImpulse = 0.0f;
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}
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void addDrive(Px1DConstraint* c, PxReal velTarget, const PxD6JointDrive& drive)
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{
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c->velocityTarget = velTarget;
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PxU16 flags = PxU16(c->flags | Px1DConstraintFlag::eSPRING | Px1DConstraintFlag::eHAS_DRIVE_LIMIT);
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if(drive.flags & PxD6JointDriveFlag::eACCELERATION)
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flags |= Px1DConstraintFlag::eACCELERATION_SPRING;
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c->flags = flags;
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c->mods.spring.stiffness = drive.stiffness;
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c->mods.spring.damping = drive.damping;
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c->minImpulse = -drive.forceLimit;
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c->maxImpulse = drive.forceLimit;
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PX_ASSERT(c->linear0.isFinite());
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PX_ASSERT(c->angular0.isFinite());
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}
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};
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}
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} // namespace
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}
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#endif
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