240 lines
8.4 KiB
C++
240 lines
8.4 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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#include "ExtSphericalJoint.h"
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#include "ExtConstraintHelper.h"
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#include "CmConeLimitHelper.h"
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#include "PxPhysics.h"
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using namespace physx;
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using namespace Ext;
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using namespace shdfnd;
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PxSphericalJoint* physx::PxSphericalJointCreate(PxPhysics& physics, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1)
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{
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PX_CHECK_AND_RETURN_NULL(localFrame0.isSane(), "PxSphericalJointCreate: local frame 0 is not a valid transform");
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PX_CHECK_AND_RETURN_NULL(localFrame1.isSane(), "PxSphericalJointCreate: local frame 1 is not a valid transform");
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PX_CHECK_AND_RETURN_NULL(actor0 != actor1, "PxSphericalJointCreate: actors must be different");
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PX_CHECK_AND_RETURN_NULL((actor0 && actor0->is<PxRigidBody>()) || (actor1 && actor1->is<PxRigidBody>()), "PxSphericalJointCreate: at least one actor must be dynamic");
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SphericalJoint* j;
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PX_NEW_SERIALIZED(j, SphericalJoint)(physics.getTolerancesScale(), actor0, localFrame0, actor1, localFrame1);
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if(j->attach(physics, actor0, actor1))
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return j;
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PX_DELETE(j);
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return NULL;
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}
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void SphericalJoint::setProjectionLinearTolerance(PxReal tolerance)
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{
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PX_CHECK_AND_RETURN(PxIsFinite(tolerance) && tolerance >=0, "PxSphericalJoint::setProjectionLinearTolerance: invalid parameter");
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data().projectionLinearTolerance = tolerance;
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markDirty();
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}
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PxReal SphericalJoint::getProjectionLinearTolerance() const
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{
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return data().projectionLinearTolerance;
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}
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void SphericalJoint::setLimitCone(const PxJointLimitCone &limit)
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{
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PX_CHECK_AND_RETURN(limit.isValid(), "PxSphericalJoint::setLimit: invalid parameter");
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data().limit = limit;
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markDirty();
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}
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PxJointLimitCone SphericalJoint::getLimitCone() const
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{
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return data().limit;
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}
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PxSphericalJointFlags SphericalJoint::getSphericalJointFlags(void) const
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{
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return data().jointFlags;
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}
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void SphericalJoint::setSphericalJointFlags(PxSphericalJointFlags flags)
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{
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data().jointFlags = flags;
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}
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void SphericalJoint::setSphericalJointFlag(PxSphericalJointFlag::Enum flag, bool value)
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{
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if(value)
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data().jointFlags |= flag;
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else
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data().jointFlags &= ~flag;
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markDirty();
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}
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PxReal SphericalJoint::getSwingYAngle() const
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{
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return getSwingYAngle_Internal();
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}
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PxReal SphericalJoint::getSwingZAngle() const
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{
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return getSwingZAngle_Internal();
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}
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bool SphericalJoint::attach(PxPhysics &physics, PxRigidActor* actor0, PxRigidActor* actor1)
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{
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mPxConstraint = physics.createConstraint(actor0, actor1, *this, sShaders, sizeof(SphericalJointData));
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return mPxConstraint!=NULL;
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}
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void SphericalJoint::exportExtraData(PxSerializationContext& stream)
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{
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if(mData)
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{
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stream.alignData(PX_SERIAL_ALIGN);
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stream.writeData(mData, sizeof(SphericalJointData));
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}
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stream.writeName(mName);
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}
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void SphericalJoint::importExtraData(PxDeserializationContext& context)
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{
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if(mData)
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mData = context.readExtraData<SphericalJointData, PX_SERIAL_ALIGN>();
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context.readName(mName);
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}
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void SphericalJoint::resolveReferences(PxDeserializationContext& context)
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{
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setPxConstraint(resolveConstraintPtr(context, getPxConstraint(), getConnector(), sShaders));
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}
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SphericalJoint* SphericalJoint::createObject(PxU8*& address, PxDeserializationContext& context)
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{
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SphericalJoint* obj = new (address) SphericalJoint(PxBaseFlag::eIS_RELEASABLE);
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address += sizeof(SphericalJoint);
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obj->importExtraData(context);
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obj->resolveReferences(context);
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return obj;
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}
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// global function to share the joint shaders with API capture
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const PxConstraintShaderTable* Ext::GetSphericalJointShaderTable()
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{
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return &SphericalJoint::getConstraintShaderTable();
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}
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//~PX_SERIALIZATION
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static void SphericalJointProject(const void* constantBlock, PxTransform& bodyAToWorld, PxTransform& bodyBToWorld, bool projectToA)
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{
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const SphericalJointData& data = *reinterpret_cast<const SphericalJointData*>(constantBlock);
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PxTransform cA2w, cB2w, cB2cA, projected;
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joint::computeDerived(data, bodyAToWorld, bodyBToWorld, cA2w, cB2w, cB2cA);
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bool linearTrunc;
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projected.p = joint::truncateLinear(cB2cA.p, data.projectionLinearTolerance, linearTrunc);
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if(linearTrunc)
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{
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projected.q = cB2cA.q;
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joint::projectTransforms(bodyAToWorld, bodyBToWorld, cA2w, cB2w, projected, data, projectToA);
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}
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}
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static void SphericalJointVisualize(PxConstraintVisualizer& viz, const void* constantBlock, const PxTransform& body0Transform, const PxTransform& body1Transform, PxU32 flags)
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{
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const SphericalJointData& data = *reinterpret_cast<const SphericalJointData*>(constantBlock);
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PxTransform cA2w, cB2w;
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joint::computeJointFrames(cA2w, cB2w, data, body0Transform, body1Transform);
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if(flags & PxConstraintVisualizationFlag::eLOCAL_FRAMES)
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viz.visualizeJointFrames(cA2w, cB2w);
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if((flags & PxConstraintVisualizationFlag::eLIMITS) && (data.jointFlags & PxSphericalJointFlag::eLIMIT_ENABLED))
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{
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if(cA2w.q.dot(cB2w.q)<0.0f)
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cB2w.q = -cB2w.q;
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const PxTransform cB2cA = cA2w.transformInv(cB2w);
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PxQuat swing, twist;
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Ps::separateSwingTwist(cB2cA.q,swing,twist);
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// PT: TODO: refactor with D6 joint code
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const PxReal pad = data.limit.isSoft() ? 0.0f : data.limit.contactDistance;
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const PxVec3 swingAngle(0.0f, computeSwingAngle(swing.y, swing.w), computeSwingAngle(swing.z, swing.w));
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Cm::ConeLimitHelperTanLess coneHelper(data.limit.yAngle, data.limit.zAngle, pad);
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viz.visualizeLimitCone(cA2w, PxTan(data.limit.zAngle/4), PxTan(data.limit.yAngle/4), !coneHelper.contains(swingAngle));
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}
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}
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static PxU32 SphericalJointSolverPrep(Px1DConstraint* constraints,
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PxVec3& body0WorldOffset,
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PxU32 /*maxConstraints*/,
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PxConstraintInvMassScale& invMassScale,
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const void* constantBlock,
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const PxTransform& bA2w,
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const PxTransform& bB2w,
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bool /*useExtendedLimits*/,
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PxVec3& cA2wOut, PxVec3& cB2wOut)
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{
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const SphericalJointData& data = *reinterpret_cast<const SphericalJointData*>(constantBlock);
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PxTransform cA2w, cB2w;
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joint::ConstraintHelper ch(constraints, invMassScale, cA2w, cB2w, body0WorldOffset, data, bA2w, bB2w);
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if(cB2w.q.dot(cA2w.q)<0.0f)
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cB2w.q = -cB2w.q;
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if(data.jointFlags & PxSphericalJointFlag::eLIMIT_ENABLED)
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{
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PxQuat swing, twist;
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Ps::separateSwingTwist(cA2w.q.getConjugate() * cB2w.q, swing, twist);
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PX_ASSERT(PxAbs(swing.x)<1e-6f);
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// PT: TODO: refactor with D6 joint code
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PxVec3 axis;
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PxReal error;
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const PxReal pad = data.limit.isSoft() ? 0.0f : data.limit.contactDistance;
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const Cm::ConeLimitHelperTanLess coneHelper(data.limit.yAngle, data.limit.zAngle, pad);
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const bool active = coneHelper.getLimit(swing, axis, error);
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if(active)
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ch.angularLimit(cA2w.rotate(axis), error, data.limit);
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}
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PxVec3 ra, rb;
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ch.prepareLockedAxes(cA2w.q, cB2w.q, cA2w.transformInv(cB2w.p), 7, 0, ra, rb);
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cA2wOut = ra + bA2w.p;
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cB2wOut = rb + bB2w.p;
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return ch.getCount();
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}
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PxConstraintShaderTable Ext::SphericalJoint::sShaders = { SphericalJointSolverPrep, SphericalJointProject, SphericalJointVisualize, PxConstraintFlag::Enum(0) };
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