139 lines
3.7 KiB
C++
139 lines
3.7 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 "ScConstraintGroupNode.h"
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#include "ScConstraintProjectionManager.h"
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#include "PsFoundation.h"
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#include "ScBodySim.h"
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#include "ScConstraintSim.h"
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#include "ScConstraintInteraction.h"
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using namespace physx;
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Sc::ConstraintGroupNode::ConstraintGroupNode(BodySim& b) :
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body(&b),
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parent(this),
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tail(this),
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rank(0),
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next(NULL),
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projectionFirstRoot(NULL),
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projectionNextRoot(NULL),
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projectionParent(NULL),
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projectionFirstChild(NULL),
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projectionNextSibling(NULL),
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projectionConstraint(NULL),
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flags(0)
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{
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}
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//
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// Implementation of FIND of
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// UNION-FIND algo.
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//
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Sc::ConstraintGroupNode& Sc::ConstraintGroupNode::getRoot()
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{
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PX_ASSERT(parent);
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ConstraintGroupNode* root = parent;
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if (root->parent == root)
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return *root;
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else
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{
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PxU32 nbHops = 1;
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root = root->parent;
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while(root != root->parent)
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{
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root = root->parent;
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nbHops++;
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}
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// Write root to all nodes on the path
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ConstraintGroupNode* curr = this;
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while(nbHops)
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{
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ConstraintGroupNode* n = curr->parent;
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curr->parent = root;
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curr = n;
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nbHops--;
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}
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return *root;
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}
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}
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void Sc::ConstraintGroupNode::markForProjectionTreeRebuild(ConstraintProjectionManager& cpManager)
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{
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ConstraintGroupNode& root = getRoot();
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if (!root.readFlag(ConstraintGroupNode::ePENDING_TREE_UPDATE))
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{
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cpManager.addToPendingTreeUpdates(root);
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}
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}
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void Sc::ConstraintGroupNode::initProjectionData(ConstraintGroupNode* parent_, ConstraintSim* c)
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{
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projectionConstraint = c;
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//add us to parent's child list:
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if (parent_)
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{
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projectionNextSibling = parent_->projectionFirstChild;
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parent_->projectionFirstChild = this;
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projectionParent = parent_;
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}
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}
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void Sc::ConstraintGroupNode::clearProjectionData()
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{
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projectionFirstRoot = NULL;
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projectionNextRoot = NULL;
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projectionParent = NULL;
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projectionFirstChild = NULL;
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projectionNextSibling = NULL;
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projectionConstraint = NULL;
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}
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void Sc::ConstraintGroupNode::projectPose(ConstraintGroupNode& node, Ps::Array<BodySim*>& projectedBodies)
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{
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PX_ASSERT(node.hasProjectionTreeRoot());
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Sc::ConstraintProjectionTree::projectPose(node, projectedBodies);
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}
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