444 lines
17 KiB
C
444 lines
17 KiB
C
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//
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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_SOLVER_DEFS_H
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#define PX_SOLVER_DEFS_H
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#include "PxPhysXConfig.h"
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#include "foundation/PxVec3.h"
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#include "foundation/PxMat33.h"
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#include "foundation/PxTransform.h"
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#include "PxConstraintDesc.h"
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#include "geomutils/GuContactPoint.h"
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#if PX_VC
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#pragma warning(push)
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#pragma warning(disable : 4324) // structure was padded due to alignment
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#endif
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#if !PX_DOXYGEN
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namespace physx
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{
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#endif
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struct PxTGSSolverBodyVel;
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namespace Dy
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{
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class ArticulationV;
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typedef size_t ArticulationLinkHandle;
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}
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namespace Sc
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{
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class ShapeInteraction;
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}
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struct PxSolverBody
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{
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PX_ALIGN(16, PxVec3) linearVelocity; //!< Delta linear velocity computed by the solver
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PxU16 maxSolverNormalProgress; //!< Progress counter used by constraint batching and parallel island solver.
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PxU16 maxSolverFrictionProgress; //!< Progress counter used by constraint batching and parallel island solver.
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PxVec3 angularState; //!< Delta angular velocity state computed by the solver.
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PxU32 solverProgress; //!< Progress counter used by constraint batching and parallel island solver
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PxSolverBody() : linearVelocity(0.f), maxSolverNormalProgress(0), maxSolverFrictionProgress(0), angularState(0), solverProgress(0)
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{
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}
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};
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PX_COMPILE_TIME_ASSERT(sizeof(PxSolverBody) == 32);
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struct PxSolverBodyData
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{
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PX_ALIGN(16, PxVec3 linearVelocity); //!< 12 Pre-solver linear velocity
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PxReal invMass; //!< 16 inverse mass
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PxVec3 angularVelocity; //!< 28 Pre-solver angular velocity
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PxReal reportThreshold; //!< 32 contact force threshold
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PxMat33 sqrtInvInertia; //!< 68 inverse inertia in world space
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PxReal penBiasClamp; //!< 72 the penetration bias clamp
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PxU32 nodeIndex; //!< 76 the node idx of this solverBodyData. Used by solver to reference between solver bodies and island bodies. Not required by immediate mode
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PxReal maxContactImpulse; //!< 80 the max contact impulse
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PxTransform body2World; //!< 108 the body's transform
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PxU16 lockFlags; //!< 110 lock flags
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PxU16 pad; //!< 112 pad
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PX_FORCE_INLINE PxReal projectVelocity(const PxVec3& lin, const PxVec3& ang) const
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{
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return linearVelocity.dot(lin) + angularVelocity.dot(ang);
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}
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};
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//----------------------------------
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/*
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* A header that defines the size of a specific batch of constraints (of same type and without dependencies)
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*/
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struct PxConstraintBatchHeader
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{
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PxU32 startIndex; //!< Start index for this batch
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PxU16 stride; //!< Number of constraints in this batch (range: 1-4)
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PxU16 constraintType; //!< The type of constraint this batch references
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};
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struct PxSolverConstraintDesc
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{
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static const PxU16 NO_LINK = 0xffff;
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enum ConstraintType
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{
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eCONTACT_CONSTRAINT, //!< Defines this pair is a contact constraint
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eJOINT_CONSTRAINT //!< Defines this pair is a joint constraint
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};
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union
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{
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PxSolverBody* bodyA; //!< bodyA pointer
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PxTGSSolverBodyVel* tgsBodyA; //!< bodyA pointer
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Dy::ArticulationV* articulationA; //!< Articulation pointer for body A
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};
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union
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{
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PxSolverBody* bodyB; //!< BodyB pointer
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PxTGSSolverBodyVel* tgsBodyB; //!< BodyB pointer
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Dy::ArticulationV* articulationB; //!< Articulation pointer for body B
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};
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PxU16 linkIndexA; //!< Link index defining which link in Articulation A this constraint affects. If not an articulation, must be NO_LINK
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PxU16 linkIndexB; //!< Link index defining which link in Articulation B this constraint affects. If not an articulation, must be NO_LINK.
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PxU32 bodyADataIndex; //!< Body A's index into the SolverBodyData array
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PxU32 bodyBDataIndex; //!< Body B's index into the SolverBodyData array
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PxU16 writeBackLengthOver4; //!< writeBackLength/4, max writeback length is 256K, allows PxSolverConstraintDesc to fit in 32 bytes
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PxU16 constraintLengthOver16; //!< constraintLength/16, max constraint length is 1MB, allows PxSolverConstraintDesc to fit in 32 bytes
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PxU8* constraint; //!< Pointer to the constraint rows to be solved
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void* writeBack; //!< Pointer to the writeback structure results for this given constraint are to be written to
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};
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struct PxSolverConstraintPrepDescBase
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{
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enum BodyState
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{
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eDYNAMIC_BODY = 1 << 0,
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eSTATIC_BODY = 1 << 1,
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eKINEMATIC_BODY = 1 << 2,
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eARTICULATION = 1 << 3
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};
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PxConstraintInvMassScale invMassScales; //!< In: The local mass scaling for this pair.
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PxSolverConstraintDesc* desc; //!< Output: The PxSolverConstraintDesc filled in by contact prep
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const PxSolverBody* body0; //!< In: The first body. Stores velocity information. Unused unless contact involves articulations.
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const PxSolverBody* body1; //!< In: The second body. Stores velocity information. Unused unless contact involves articulations.
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const PxSolverBodyData* data0; //!< In: The first PxSolverBodyData. Stores mass and miscellaneous information for the first body.
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const PxSolverBodyData* data1; //!< In: The second PxSolverBodyData. Stores mass and miscellaneous information for the second body
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PxTransform bodyFrame0; //!< In: The world-space transform of the first body.
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PxTransform bodyFrame1; //!< In: The world-space transform of the second body.
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BodyState bodyState0; //!< In: Defines what kind of actor the first body is
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BodyState bodyState1; //!< In: Defines what kind of actor the second body is
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};
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struct PxSolverConstraintPrepDesc : public PxSolverConstraintPrepDescBase
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{
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PX_ALIGN(16, Px1DConstraint* rows); //!< The start of the constraint rows
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PxU32 numRows; //!< The number of rows
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PxReal linBreakForce, angBreakForce; //!< Break forces
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PxReal minResponseThreshold; //!< The minimum response threshold
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void* writeback; //!< Pointer to constraint writeback structure. Reports back joint breaking. If not required, set to NULL.
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bool disablePreprocessing; //!< Disable joint pre-processing. Pre-processing can improve stability but under certain circumstances, e.g. when some invInertia rows are zero/almost zero, can cause instabilities.
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bool improvedSlerp; //!< Use improved slerp model
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bool driveLimitsAreForces; //!< Indicates whether drive limits are forces
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bool extendedLimits; //!< Indicates whether we want to use extended limits
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PxVec3 body0WorldOffset; //!< Body0 world offset
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};
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struct PxSolverContactDesc : public PxSolverConstraintPrepDescBase
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{
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PX_ALIGN(16, Sc::ShapeInteraction* shapeInteraction); //!< Pointer to share interaction. Used for force threshold reports in solver. Set to NULL if using immediate mode.
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Gu::ContactPoint* contacts; //!< The start of the contacts for this pair
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PxU32 numContacts; //!< The total number of contacs this pair references.
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bool hasMaxImpulse; //!< Defines whether this pairs has maxImpulses clamping enabled
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bool disableStrongFriction; //!< Defines whether this pair disables strong friction (sticky friction correlation)
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bool hasForceThresholds; //!< Defines whether this pair requires force thresholds
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PxReal restDistance; //!< A distance at which the solver should aim to hold the bodies separated. Default is 0
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PxReal maxCCDSeparation; //!< A distance used to configure speculative CCD behavior. Default is PX_MAX_F32. Set internally in PhysX for bodies with eENABLE_SPECULATIVE_CCD on. Do not set directly!
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PxU8* frictionPtr; //!< InOut: Friction patch correlation data. Set each frame by solver. Can be retained for improved behaviour or discarded each frame.
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PxU8 frictionCount; //!< The total number of friction patches in this pair
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PxReal* contactForces; //!< Out: A buffer for the solver to write applied contact forces to.
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PxU32 startFrictionPatchIndex; //!< Start index of friction patch in the correlation buffer. Set by friction correlation
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PxU32 numFrictionPatches; //!< Total number of friction patches in this pair. Set by friction correlation
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PxU32 startContactPatchIndex; //!< The start index of this pair's contact patches in the correlation buffer. For internal use only
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PxU16 numContactPatches; //!< Total number of contact patches.
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PxU16 axisConstraintCount; //!< Axis constraint count. Defines how many constraint rows this pair has produced. Useful for statistical purposes.
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PxU8 pad[16 - sizeof(void*)];
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};
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class PxConstraintAllocator
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{
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public:
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/**
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\brief Allocates constraint data. It is the application's responsibility to release this memory after PxSolveConstraints has completed.
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\param[in] byteSize Allocation size in bytes
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\return the allocated memory. This address must be 16-byte aligned.
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*/
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virtual PxU8* reserveConstraintData(const PxU32 byteSize) = 0;
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/**
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\brief Allocates friction data. Friction data can be retained by the application for a given pair and provided as an input to PxSolverContactDesc to improve simulation stability.
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It is the application's responsibility to release this memory. If this memory is released, the application should ensure it does not pass pointers to this memory to PxSolverContactDesc.
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\param[in] byteSize Allocation size in bytes
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\return the allocated memory. This address must be 4-byte aligned.
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*/
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virtual PxU8* reserveFrictionData(const PxU32 byteSize) = 0;
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virtual ~PxConstraintAllocator() {}
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};
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struct PxArticulationAxis
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{
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enum Enum
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{
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eTWIST = 0,
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eSWING1 = 1,
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eSWING2 = 2,
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eX = 3,
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eY = 4,
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eZ = 5,
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eCOUNT = 6
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};
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};
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PX_FLAGS_OPERATORS(PxArticulationAxis::Enum, PxU8)
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struct PxArticulationMotion
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{
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enum Enum
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{
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eLOCKED = 0,
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eLIMITED = 1,
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eFREE = 2
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};
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};
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typedef PxFlags<PxArticulationMotion::Enum, PxU8> PxArticulationMotions;
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PX_FLAGS_OPERATORS(PxArticulationMotion::Enum, PxU8)
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struct PxArticulationJointType
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{
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enum Enum
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{
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ePRISMATIC = 0,
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eREVOLUTE = 1,
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eSPHERICAL = 2,
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eFIX = 3,
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eUNDEFINED = 4
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};
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};
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struct PxArticulationFlag
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{
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enum Enum
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{
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eFIX_BASE = (1 << 0),
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eDRIVE_LIMITS_ARE_FORCES = (1<<1)
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};
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};
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typedef PxFlags<PxArticulationFlag::Enum, PxU8> PxArticulationFlags;
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PX_FLAGS_OPERATORS(PxArticulationFlag::Enum, PxU8)
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struct PxArticulationDriveType
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{
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enum Enum
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{
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eFORCE = 0,
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eACCELERATION = 1,
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eTARGET = 2,
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eVELOCITY = 3,
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eNONE = 4
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};
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};
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struct PxArticulationLimit
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{
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PxReal low, high;
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};
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struct PxArticulationDrive
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{
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PxReal stiffness, damping, maxForce;
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PxArticulationDriveType::Enum driveType;
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};
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struct PxTGSSolverBodyVel
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{
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PX_ALIGN(16, PxVec3) linearVelocity; //12
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PxU16 nbStaticInteractions; //14 Used to accumulate the number of static interactions
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PxU16 maxDynamicPartition; //16 Used to accumualte the max partition of dynamic interactions
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PxVec3 angularVelocity; //28
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PxU32 partitionMask; //32 Used in partitioning as a bit-field
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PxVec3 deltaAngDt; //44
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PxReal maxAngVel; //48
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PxVec3 deltaLinDt; //60
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PxU16 lockFlags; //62
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bool isKinematic; //63
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PxU8 pad; //64
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PX_FORCE_INLINE PxReal projectVelocity(const PxVec3& lin, const PxVec3& ang) const
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{
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return linearVelocity.dot(lin) + angularVelocity.dot(ang);
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}
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};
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//Needed only by prep, integration and 1D constraints
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struct PxTGSSolverBodyTxInertia
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{
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PxTransform deltaBody2World;
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PxMat33 sqrtInvInertia;
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};
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struct PxTGSSolverBodyData
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{
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PX_ALIGN(16, PxVec3) originalLinearVelocity;
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PxReal maxContactImpulse;
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PxVec3 originalAngularVelocity;
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PxReal penBiasClamp;
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PxReal invMass;
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PxU32 nodeIndex;
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PxReal reportThreshold;
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PxU32 pad;
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||
|
|
|
||
|
|
PxReal projectVelocity(const PxVec3& linear, const PxVec3& angular) const
|
||
|
|
{
|
||
|
|
return originalLinearVelocity.dot(linear) + originalAngularVelocity.dot(angular);
|
||
|
|
}
|
||
|
|
};
|
||
|
|
|
||
|
|
struct PxTGSSolverConstraintPrepDescBase
|
||
|
|
{
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||
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|
PxConstraintInvMassScale invMassScales; //!< In: The local mass scaling for this pair.
|
||
|
|
|
||
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|
PxSolverConstraintDesc* desc; //!< Output: The PxSolverConstraintDesc filled in by contact prep
|
||
|
|
|
||
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|
const PxTGSSolverBodyVel* body0; //!< In: The first body. Stores velocity information. Unused unless contact involves articulations.
|
||
|
|
const PxTGSSolverBodyVel *body1; //!< In: The second body. Stores velocity information. Unused unless contact involves articulations.
|
||
|
|
|
||
|
|
const PxTGSSolverBodyTxInertia* body0TxI;
|
||
|
|
const PxTGSSolverBodyTxInertia* body1TxI;
|
||
|
|
|
||
|
|
const PxTGSSolverBodyData* bodyData0;
|
||
|
|
const PxTGSSolverBodyData* bodyData1;
|
||
|
|
|
||
|
|
PxTransform bodyFrame0; //!< In: The world-space transform of the first body.
|
||
|
|
PxTransform bodyFrame1; //!< In: The world-space transform of the second body.
|
||
|
|
|
||
|
|
PxSolverContactDesc::BodyState bodyState0; //!< In: Defines what kind of actor the first body is
|
||
|
|
PxSolverContactDesc::BodyState bodyState1; //!< In: Defines what kind of actor the second body is
|
||
|
|
|
||
|
|
};
|
||
|
|
|
||
|
|
struct PxTGSSolverConstraintPrepDesc : public PxTGSSolverConstraintPrepDescBase
|
||
|
|
{
|
||
|
|
Px1DConstraint* rows; //!< The start of the constraint rows
|
||
|
|
PxU32 numRows; //!< The number of rows
|
||
|
|
|
||
|
|
PxReal linBreakForce, angBreakForce; //!< Break forces
|
||
|
|
PxReal minResponseThreshold; //!< The minimum response threshold
|
||
|
|
void* writeback; //!< Pointer to constraint writeback structure. Reports back joint breaking. If not required, set to NULL.
|
||
|
|
bool disablePreprocessing; //!< Disable joint pre-processing. Pre-processing can improve stability but under certain circumstances, e.g. when some invInertia rows are zero/almost zero, can cause instabilities.
|
||
|
|
bool improvedSlerp; //!< Use improved slerp model
|
||
|
|
bool driveLimitsAreForces; //!< Indicates whether drive limits are forces
|
||
|
|
bool extendedLimits; //!< Indiciates whether extended limits are used
|
||
|
|
|
||
|
|
PxVec3 body0WorldOffset; //!< Body0 world offset
|
||
|
|
PxVec3 cA2w; //!< Location of anchor point A in world space
|
||
|
|
PxVec3 cB2w; //!< Location of anchor point B in world space
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
struct PxTGSSolverContactDesc : public PxTGSSolverConstraintPrepDescBase
|
||
|
|
{
|
||
|
|
|
||
|
|
Sc::ShapeInteraction* shapeInteraction; //!< Pointer to share interaction. Used for force threshold reports in solver. Set to NULL if using immediate mode.
|
||
|
|
Gu::ContactPoint* contacts; //!< The start of the contacts for this pair
|
||
|
|
PxU32 numContacts; //!< The total number of contacs this pair references.
|
||
|
|
|
||
|
|
bool hasMaxImpulse; //!< Defines whether this pairs has maxImpulses clamping enabled
|
||
|
|
bool disableStrongFriction; //!< Defines whether this pair disables strong friction (sticky friction correlation)
|
||
|
|
bool hasForceThresholds; //!< Defines whether this pair requires force thresholds
|
||
|
|
|
||
|
|
PxReal restDistance; //!< A distance at which the solver should aim to hold the bodies separated. Default is 0
|
||
|
|
PxReal maxCCDSeparation; //!< A distance used to configure speculative CCD behavior. Default is PX_MAX_F32. Set internally in PhysX for bodies with eENABLE_SPECULATIVE_CCD on. Do not set directly!
|
||
|
|
|
||
|
|
PxU8* frictionPtr; //!< InOut: Friction patch correlation data. Set each frame by solver. Can be retained for improved behaviour or discarded each frame.
|
||
|
|
PxU8 frictionCount; //!< The total number of friction patches in this pair
|
||
|
|
|
||
|
|
PxReal* contactForces; //!< Out: A buffer for the solver to write applied contact forces to.
|
||
|
|
|
||
|
|
PxU32 startFrictionPatchIndex; //!< Start index of friction patch in the correlation buffer. Set by friction correlation
|
||
|
|
PxU32 numFrictionPatches; //!< Total number of friction patches in this pair. Set by friction correlation
|
||
|
|
|
||
|
|
PxU32 startContactPatchIndex; //!< The start index of this pair's contact patches in the correlation buffer. For internal use only
|
||
|
|
PxU16 numContactPatches; //!< Total number of contact patches.
|
||
|
|
PxU16 axisConstraintCount; //!< Axis constraint count. Defines how many constraint rows this pair has produced. Useful for statistical purposes.
|
||
|
|
|
||
|
|
PxReal maxImpulse;
|
||
|
|
|
||
|
|
PxReal torsionalPatchRadius;
|
||
|
|
PxReal minTorsionalPatchRadius;
|
||
|
|
};
|
||
|
|
|
||
|
|
#if !PX_DOXYGEN
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#if PX_VC
|
||
|
|
#pragma warning(pop)
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#endif
|
||
|
|
|