143 lines
4.0 KiB
C
143 lines
4.0 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 DY_SPATIAL_H
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#define DY_SPATIAL_H
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#include "foundation/PxVec3.h"
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#include "foundation/PxTransform.h"
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#include "PsMathUtils.h"
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#include "CmSpatialVector.h"
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namespace physx
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{
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namespace Dy
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{
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// translate a motion resolved at position p to the origin
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// should have a 'from' frame and a 'to' frame
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class SpInertia
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{
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public:
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SpInertia() {}
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SpInertia(const PxMat33& ll, const PxMat33& la, const PxMat33& aa): mLL(ll), mLA(la), mAA(aa)
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{
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}
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static SpInertia getZero()
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{
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return SpInertia(PxMat33(PxZero), PxMat33(PxZero),
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PxMat33(PxZero));
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}
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static SpInertia dyad(const Cm::SpatialVector& column, const Cm::SpatialVector& row)
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{
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return SpInertia(dyad(column.linear, row.linear),
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dyad(column.linear, row.angular),
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dyad(column.angular, row.angular));
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}
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static SpInertia inertia(PxReal mass, const PxVec3& inertia)
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{
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return SpInertia(PxMat33::createDiagonal(PxVec3(mass,mass,mass)), PxMat33(PxZero),
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PxMat33::createDiagonal(inertia));
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}
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SpInertia operator+(const SpInertia& m) const
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{
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return SpInertia(mLL+m.mLL, mLA+m.mLA, mAA+m.mAA);
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}
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SpInertia operator-(const SpInertia& m) const
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{
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return SpInertia(mLL-m.mLL, mLA-m.mLA, mAA-m.mAA);
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}
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SpInertia operator*(PxReal r) const
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{
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return SpInertia(mLL*r, mLA*r, mAA*r);
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}
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void operator+=(const SpInertia& m)
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{
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mLL+=m.mLL;
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mLA+=m.mLA;
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mAA+=m.mAA;
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}
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void operator-=(const SpInertia& m)
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{
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mLL-=m.mLL;
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mLA-=m.mLA;
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mAA-=m.mAA;
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}
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PX_FORCE_INLINE Cm::SpatialVector operator *(const Cm::SpatialVector& v) const
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{
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return Cm::SpatialVector(mLL*v.linear +mLA*v.angular,
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mLA.transformTranspose(v.linear)+mAA*v.angular);
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}
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SpInertia operator *(const SpInertia& v) const
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{
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return SpInertia(mLL*v.mLL + mLA * v.mLA.getTranspose(),
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mLL*v.mLA + mLA * v.mAA,
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mLA.getTranspose()*v.mLA + mAA * v.mAA);
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}
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bool isFinite() const
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{
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return true;
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// return mLL.isFinite() && mLA.isFinite() && mAA.isFinite();
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}
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PxMat33 mLL, mLA; // linear force from angular motion, linear force from linear motion
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PxMat33 mAA; // angular force from angular motion, mAL = mLA.transpose()
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private:
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static PxMat33 dyad(PxVec3 col, PxVec3 row)
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{
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return PxMat33(col*row.x, col*row.y, col*row.z);
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}
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};
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}
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}
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#endif //DY_SPATIAL_H
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