129 lines
5.1 KiB
C++
129 lines
5.1 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 DV_ARTICULATION_JOINT_CORE_H
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#define DV_ARTICULATION_JOINT_CORE_H
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#include "DyArticulationCore.h"
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#include "PxArticulationJoint.h"
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#include "solver/PxSolverDefs.h"
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#include "PxArticulationJointReducedCoordinate.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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struct ArticulationJointCoreBase
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{
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//= ATTENTION! =====================================================================================
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// Changing the data layout of this class breaks the binary serialization format. See comments for
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// PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData
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// function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
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// accordingly.
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//==================================================================================================
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public:
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PX_CUDA_CALLABLE bool setJointPose(PxQuat& relativeQuat)
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{
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if (dirtyFlag & ArticulationJointCoreDirtyFlag::ePOSE)
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{
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relativeQuat = (childPose.q * (parentPose.q.getConjugate())).getNormalized();
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//ML: this way work in GPU
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PxU8 flag = PxU8(ArticulationJointCoreDirtyFlag::ePOSE);
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dirtyFlag &= ArticulationJointCoreDirtyFlags(~flag);
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return true;
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}
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return false;
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE void operator=(ArticulationJointCoreBase& other)
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{
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parentPose = other.parentPose;
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childPose = other.childPose;
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dirtyFlag = other.dirtyFlag;
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//KS - temp place to put reduced coordinate limit and drive values
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for(PxU32 i=0; i<PxArticulationAxis::eCOUNT; i++)
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{
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limits[i] = other.limits[i];
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drives[i] = other.drives[i];
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targetP[i] = other.targetP[i];
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targetV[i] = other.targetV[i];
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dofIds[i] = other.dofIds[i];
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motion[i] = other.motion[i];
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}
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frictionCoefficient = other.frictionCoefficient;
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//relativeQuat = other.relativeQuat;
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jointType = other.jointType;
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jointOffset = other.jointOffset; //this is the dof offset for the joint in the cache
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}
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// attachment points, don't change the order, otherwise it will break GPU code
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PxTransform parentPose; //28 28
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PxTransform childPose; //28 56
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//KS - temp place to put reduced coordinate limit and drive values
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PxArticulationLimit limits[PxArticulationAxis::eCOUNT]; //48 104
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PxArticulationDrive drives[PxArticulationAxis::eCOUNT]; //96 200
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PxReal targetP[PxArticulationAxis::eCOUNT]; //24 224
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PxReal targetV[PxArticulationAxis::eCOUNT]; //24 248
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// initial parent to child rotation. Could be
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//PxQuat relativeQuat; //16 264
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PxReal frictionCoefficient; //4 268
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PxU8 dofIds[PxArticulationAxis::eCOUNT]; //6 274
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PxU8 motion[PxArticulationAxis::eCOUNT]; //6 280
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PxReal maxJointVelocity; //4 284
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//Currently, jointOffset can't exceed 64*3 so we can use a PxU8 here! This brings mem footprint to exactly a multiple of 16 bytes
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//this is the dof offset for the joint in the cache.
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PxU8 jointOffset; //1 285
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ArticulationJointCoreDirtyFlags dirtyFlag; //1 286
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PxU8 jointType; //1 287
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PxU8 pad[1];
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ArticulationJointCoreBase() { maxJointVelocity = 100.f; }
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// PX_SERIALIZATION
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ArticulationJointCoreBase(const PxEMPTY&) : dirtyFlag(PxEmpty) { PX_COMPILE_TIME_ASSERT(sizeof(PxArticulationMotions) == sizeof(PxU8)); }
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//~PX_SERIALIZATION
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};
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}
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}
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#endif
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