262 lines
7.3 KiB
C++
262 lines
7.3 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 PXD_FEATHERSTONE_ARTICULATION_JOINTCORE_H
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#define PXD_FEATHERSTONE_ARTICULATION_JOINTCORE_H
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#include "foundation/PxVec3.h"
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#include "foundation/PxQuat.h"
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#include "foundation/PxTransform.h"
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#include "PsVecMath.h"
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#include "CmUtils.h"
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#include "CmSpatialVector.h"
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#include "DyVArticulation.h"
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#include "DyFeatherstoneArticulationUtils.h"
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#include "DyArticulationJointCore.h"
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#include <stdio.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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class PX_ALIGN_PREFIX(16) ArticulationJointCoreData
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{
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public:
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ArticulationJointCoreData() : jointOffset(0xffffffff), dofInternalConstraintMask(0)
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{
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE void computeMotionMatrix(ArticulationJointCoreBase* joint,
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SpatialSubspaceMatrix& motionMatrix)
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{
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const PxVec3 childOffset = -joint->childPose.p;
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//transpose(Tc)*S = 0
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//transpose(Ta)*S = 1
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switch (joint->jointType)
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{
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case PxArticulationJointType::ePRISMATIC:
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{
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const Cm::UnAlignedSpatialVector& jJointAxis = jointAxis[0];
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const PxVec3 u = (joint->childPose.rotate(jJointAxis.bottom)).getNormalized();
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motionMatrix.setNumColumns(1);
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motionMatrix.setColumn(0, PxVec3(0.f), u);
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PX_ASSERT(dof == 1);
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break;
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}
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case PxArticulationJointType::eREVOLUTE:
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{
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const Cm::UnAlignedSpatialVector& jJointAxis = jointAxis[0];
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const PxVec3 u = (joint->childPose.rotate(jJointAxis.top)).getNormalized();
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const PxVec3 uXd = u.cross(childOffset);
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motionMatrix.setNumColumns(1);
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motionMatrix.setColumn(0, u, uXd);
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break;
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}
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case PxArticulationJointType::eSPHERICAL:
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{
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motionMatrix.setNumColumns(dof);
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for (PxU32 ind = 0; ind <dof; ++ind)
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{
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const Cm::UnAlignedSpatialVector& jJointAxis = jointAxis[ind];
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const PxVec3 u = (joint->childPose.rotate(jJointAxis.top)).getNormalized();
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const PxVec3 uXd = u.cross(childOffset);
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motionMatrix.setColumn(ind, u, uXd);
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}
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break;
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}
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case PxArticulationJointType::eFIX:
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{
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motionMatrix.setNumColumns(0);
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PX_ASSERT(dof == 0);
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break;
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}
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default:
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break;
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}
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxU8 computeJointDofs(ArticulationJointCoreBase* joint) const
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{
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PxU8 tDof = 0;
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for (PxU32 i = 0; i < DY_MAX_DOF; ++i)
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{
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if (joint->motion[i] != PxArticulationMotion::eLOCKED)
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{
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tDof++;
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}
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}
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return tDof;
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE void computeJointDof(ArticulationJointCoreBase* joint, const bool forceRecompute)
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{
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if (joint->dirtyFlag & ArticulationJointCoreDirtyFlag::eMOTION || forceRecompute)
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{
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dof = 0;
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lockedAxes = 0;
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limitedAxes = 0;
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//KS - no need to zero memory here.
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//PxMemZero(jointAxis, sizeof(jointAxis));
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for (PxU8 i = 0; i < DY_MAX_DOF; ++i)
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{
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if (joint->motion[i] != PxArticulationMotion::eLOCKED)
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{
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//axis is in the local space of joint
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jointAxis[dof][i] = 1.f;
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if (joint->motion[i] == PxArticulationMotion::eLIMITED)
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{
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limitedAxes++;
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}
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joint->dofIds[dof++] = i;
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}
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}
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lockedAxes = 0;
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#if 1
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//Spherical joints treat locked axes as free axes with a constraint. This produces better
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//results for spherical joints with 2 dofs free, where keeping the 3rd axis locked can lead to
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//an over-consrtained behaviour that is undesirable. However, the drawback is that there will be
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//some drift and error on the joint axes
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if (joint->jointType == PxArticulationJointType::eSPHERICAL && dof == 2)
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{
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for (PxU32 i = 0; i < PxArticulationAxis::eX; ++i)
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{
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if (joint->motion[i] == PxArticulationMotion::eLOCKED)
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{
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//axis is in the local space of joint
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jointAxis[dof][i] = 1.f;
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joint->dofIds[dof++] = PxU8(i);
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lockedAxes++;
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}
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}
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}
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#endif
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joint->dirtyFlag &= (~ArticulationJointCoreDirtyFlag::eMOTION);
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}
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}
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//in the joint space
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Cm::UnAlignedSpatialVector jointAxis[3]; //72
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//this is the dof offset for the joint in the cache
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PxU32 jointOffset; //76
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//degree of freedom
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PxU8 dof; //77
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PxU8 limitedAxes; //78
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PxU8 dofInternalConstraintMask; //79
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PxU8 lockedAxes; //80
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} PX_ALIGN_SUFFIX(16);
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struct PX_ALIGN_PREFIX(16) ArticulationJointTargetData
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{
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PxReal targetJointVelocity[3]; //12
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PxReal targetJointPosition[3]; //24
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Cm::UnAlignedSpatialVector worldJointAxis[3]; //96
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//PxU32 pad[2];
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ArticulationJointTargetData()
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{
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for (PxU32 i = 0; i < 3; ++i)
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{
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targetJointPosition[i] = 0.f;
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targetJointVelocity[i] = 0.f;
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}
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE void setJointVelocityDrive(ArticulationJointCoreBase* joint)
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{
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if (joint->dirtyFlag & ArticulationJointCoreDirtyFlag::eTARGETVELOCITY)
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{
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PxU32 count = 0;
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for (PxU32 i = 0; i < DY_MAX_DOF; ++i)
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{
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if (joint->motion[i] != PxArticulationMotion::eLOCKED)
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{
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targetJointVelocity[count] = joint->targetV[i];
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count++;
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}
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}
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joint->dirtyFlag &= ~ArticulationJointCoreDirtyFlag::eTARGETVELOCITY;
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}
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE void setJointPoseDrive(ArticulationJointCoreBase* joint)
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{
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if (joint->dirtyFlag & ArticulationJointCoreDirtyFlag::eTARGETPOSE)
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{
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PxU32 count = 0;
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for (PxU32 i = 0; i < DY_MAX_DOF; ++i)
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{
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if (joint->motion[i] != PxArticulationMotion::eLOCKED)
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{
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targetJointPosition[count] = joint->targetP[i];
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count++;
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}
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}
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joint->dirtyFlag &= ~ArticulationJointCoreDirtyFlag::eTARGETPOSE;
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}
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}
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} PX_ALIGN_SUFFIX(16);
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}//namespace Dy
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}
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#endif
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