GRK/dependencies/physx-4.1/source/lowleveldynamics/include/DyArticulation.h

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//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
// * Neither the name of NVIDIA CORPORATION nor the names of its
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#ifndef PXD_ARTICULATION_H
#define PXD_ARTICULATION_H
#include "foundation/PxVec3.h"
#include "foundation/PxQuat.h"
#include "foundation/PxTransform.h"
#include "PsVecMath.h"
#include "CmUtils.h"
#include "CmSpatialVector.h"
#include "PxArticulationJoint.h"
#include "DyVArticulation.h"
namespace physx
{
class PxConstraintAllocator;
class PxcConstraintBlockStream;
struct PxSolverConstraintDesc;
class PxsConstraintBlockManager;
#define DY_DEBUG_ARTICULATION 0
namespace Dy
{
struct ArticulationJointTransforms;
struct FsInertia;
struct FsData;
#if PX_VC
#pragma warning(push)
#pragma warning( disable : 4324 ) // Padding was added at the end of a structure because of a __declspec(align) value.
#endif
PX_ALIGN_PREFIX(64)
class Articulation : public ArticulationV
{
public:
// public interface
Articulation(void*);
~Articulation();
virtual bool resize(const PxU32 linkCount);
virtual void onUpdateSolverDesc()
{
PxMemZero(mExternalLoads.begin(), sizeof(Ps::aos::Mat33V) * mExternalLoads.size());
PxMemZero(mInternalLoads.begin(), sizeof(Ps::aos::Mat33V) * mExternalLoads.size());
}
FsData* getFsDataPtr() const { return reinterpret_cast<FsData *>(mFsDataBytes.begin()); }
//void setFsDataPtr(FsData* data) { mFsData = data; }
// get data sizes for allocation at higher levels
virtual void getDataSizes(PxU32 linkCount, PxU32& solverDataSize, PxU32& totalSize, PxU32& scratchSize);
virtual void getImpulseResponse(
PxU32 linkID,
Cm::SpatialVectorF* Z,
const Cm::SpatialVector& impulse,
Cm::SpatialVector& deltaV) const;
virtual void getImpulseResponse(
PxU32 linkID,
Cm::SpatialVectorV* Z,
const Cm::SpatialVectorV& impulse,
Cm::SpatialVectorV& deltaV) const;
virtual void getImpulseSelfResponse(
PxU32 linkID0,
PxU32 linkID1,
Cm::SpatialVectorF* Z,
const Cm::SpatialVector& impulse0,
const Cm::SpatialVector& impulse1,
Cm::SpatialVector& deltaV0,
Cm::SpatialVector& deltaV1) const;
virtual Cm::SpatialVectorV getLinkVelocity(const PxU32 linkID) const;
virtual Cm::SpatialVectorV getLinkMotionVector(const PxU32 linkID) const;
//this is called by island gen to determine whether the articulation should be awake or sleep
virtual Cm::SpatialVector getMotionVelocity(const PxU32 linkID) const;
virtual Cm::SpatialVector getMotionAcceleration(const PxU32 linkID) const;
virtual void fillIndexedManager(const PxU32 linkId, Dy::ArticulationLinkHandle& handle, PxU8& indexType);
virtual PxReal getLinkMaxPenBias(const PxU32 linkID) const;
static PxU32 computeUnconstrainedVelocities(
const ArticulationSolverDesc& desc,
PxReal dt,
PxConstraintAllocator& allocator,
PxSolverConstraintDesc* constraintDesc,
PxU32& acCount,
const PxVec3& gravity, PxU64 contextID,
Cm::SpatialVectorF* Z, Cm::SpatialVectorF* deltaV);
static void computeUnconstrainedVelocitiesTGS(
const ArticulationSolverDesc& desc,
PxReal dt, const PxVec3& gravity,
PxU64 contextID, Cm::SpatialVectorF* Z, Cm::SpatialVectorF* deltaV);
static PxU32 setupSolverConstraintsTGS(const ArticulationSolverDesc& articDesc,
PxcConstraintBlockStream& stream,
PxSolverConstraintDesc* constraintDesc,
PxReal dt,
PxReal invDt,
PxReal totalDt,
PxU32& acCount,
PxsConstraintBlockManager& constraintBlockManager,
Cm::SpatialVectorF* /*Z*/);
static void saveVelocity(const ArticulationSolverDesc& d, Cm::SpatialVectorF* deltaV);
static void saveVelocityTGS(const ArticulationSolverDesc& d, PxReal invDtF32);
static void updateBodies(const ArticulationSolverDesc& desc, PxReal dt);
static void recordDeltaMotion(const ArticulationSolverDesc &desc, const PxReal dt, Cm::SpatialVectorF* deltaV);
static void deltaMotionToMotionVelocity(const ArticulationSolverDesc& desc, PxReal invDt);
virtual void pxcFsApplyImpulse(PxU32 linkID, Ps::aos::Vec3V linear,
Ps::aos::Vec3V angular, Cm::SpatialVectorF* Z, Cm::SpatialVectorF* deltaV);
virtual void pxcFsApplyImpulses(PxU32 linkID, const Ps::aos::Vec3V& linear,
const Ps::aos::Vec3V& angular, PxU32 linkID2, const Ps::aos::Vec3V& linear2,
const Ps::aos::Vec3V& angular2, Cm::SpatialVectorF* Z, Cm::SpatialVectorF* deltaV);
virtual void solveInternalConstraints(const PxReal dt, const PxReal invDt, Cm::SpatialVectorF* impulses, Cm::SpatialVectorF* DeltaV,
bool velIteration, bool isTGS, const PxReal elapsedTime);
virtual void writebackInternalConstraints(bool /*isTGS*/) {}
virtual Cm::SpatialVectorV pxcFsGetVelocity(PxU32 linkID);
virtual void pxcFsGetVelocities(PxU32 linkID, PxU32 linkID1, Cm::SpatialVectorV& v0, Cm::SpatialVectorV& v1);
virtual Cm::SpatialVectorV pxcFsGetVelocityTGS(PxU32 linkID) { return Articulation::pxcFsGetVelocity(linkID); }
virtual const PxTransform& getCurrentTransform(PxU32 linkID)const
{
return mPose[linkID];
}
virtual const PxQuat& getDeltaQ(PxU32 linkID) const
{
return mDeltaQ[linkID];
}
static void prepareDataBlock(FsData& fsData,
const ArticulationLink* links,
PxU16 linkCount,
PxTransform* poses,
PxQuat* deltaQ,
FsInertia* baseInertia,
ArticulationJointTransforms* jointTransforms,
PxU32 expectedSize);
static void prepareFsData(FsData& fsData,
const ArticulationLink* links);
static PxReal getResistance(PxReal compliance);
static PxU32 getFsDataSize(PxU32 linkCount);
static PxU32 getLtbDataSize(PxU32 linkCount);
static void setInertia(FsInertia& inertia,
const PxsBodyCore& body,
const PxTransform& pose);
static void setJointTransforms(ArticulationJointTransforms& transforms,
const PxTransform& parentPose,
const PxTransform& childPose,
const ArticulationJointCore& joint);
static void applyImpulses(const FsData& matrix,
Cm::SpatialVectorV* Z,
Cm::SpatialVectorV* V);
private:
#if DY_DEBUG_ARTICULATION
// debug quantities
Cm::SpatialVector computeMomentum(const FsInertia *inertia) const;
void computeResiduals(const Cm::SpatialVector *,
const ArticulationJointTransforms* jointTransforms,
bool dump = false) const;
void checkLimits() const;
#endif
//PX_FORCE_INLINE Cm::SpatialVectorV* getVelocity(FsData& matrix);
void computeUnconstrainedVelocitiesInternal(const ArticulationSolverDesc& desc,
PxReal dt,
const PxVec3& gravity, PxU64 contextID,
FsInertia* PX_RESTRICT baseInertia,
ArticulationJointTransforms* PX_RESTRICT jointTransforms,
PxcFsScratchAllocator& allocator);
void prepareLtbMatrix(FsData& fsData,
const FsInertia* baseInertia,
const PxTransform* poses,
const ArticulationJointTransforms* jointTransforms,
PxReal recipDt);
void computeJointDrives(FsData& fsData,
Ps::aos::Vec3V* drives,
const ArticulationLink* links,
const PxTransform* poses,
const ArticulationJointTransforms* transforms,
const Ps::aos::Mat33V* loads,
PxReal dt);
mutable Ps::Array<char> mFsDataBytes; // drive cache creation (which is const) can force a resize
// persistent state of the articulation for warm-starting joint load computation
Ps::Array<Ps::aos::Mat33V> mInternalLoads;
Ps::Array<Ps::aos::Mat33V> mExternalLoads;
Ps::Array<char> mScratchMemory; // drive cache creation (which is const) can force a resize
Ps::Array<PxTransform> mPose;
Ps::Array<PxQuat> mDeltaQ;
Ps::Array<Cm::SpatialVectorV> mMotionVelocity; // saved here in solver to communicate back to island management/sleeping
} PX_ALIGN_SUFFIX(64);
#if PX_VC
#pragma warning(pop)
#endif
class PxvArticulationDriveCache
{
public:
// drive cache stuff
static void initialize(
FsData &cache,
PxU16 linkCount,
const ArticulationLink* links,
PxReal compliance,
PxU32 iterations,
char* scratchMemory,
PxU32 scratchMemorySize);
static PxU32 getLinkCount(const FsData& cache);
static void applyImpulses(const FsData& cache,
Cm::SpatialVectorV* Z,
Cm::SpatialVectorV* V);
static void getImpulseResponse(const FsData& cache,
PxU32 linkID,
const Cm::SpatialVectorV& impulse,
Cm::SpatialVectorV& deltaV);
};
void PxvRegisterArticulations();
}
}
#endif