172 lines
6.3 KiB
C++
172 lines
6.3 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 DY_SOLVER_CORE_SHARED_H
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#define DY_SOLVER_CORE_SHARED_H
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#include "foundation/PxPreprocessor.h"
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#include "PsVecMath.h"
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#include "CmPhysXCommon.h"
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#include "DySolverBody.h"
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#include "DySolverContact.h"
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#include "DySolverConstraint1D.h"
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#include "DySolverConstraintDesc.h"
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#include "PsUtilities.h"
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#include "DyConstraint.h"
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#include "PsAtomic.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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PX_FORCE_INLINE static FloatV solveDynamicContacts(SolverContactPoint* contacts, const PxU32 nbContactPoints, const Vec3VArg contactNormal,
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const FloatVArg invMassA, const FloatVArg invMassB, const FloatVArg angDom0, const FloatVArg angDom1, Vec3V& linVel0_, Vec3V& angState0_,
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Vec3V& linVel1_, Vec3V& angState1_, PxF32* PX_RESTRICT forceBuffer)
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{
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Vec3V linVel0 = linVel0_;
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Vec3V angState0 = angState0_;
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Vec3V linVel1 = linVel1_;
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Vec3V angState1 = angState1_;
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FloatV accumulatedNormalImpulse = FZero();
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const Vec3V delLinVel0 = V3Scale(contactNormal, invMassA);
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const Vec3V delLinVel1 = V3Scale(contactNormal, invMassB);
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for(PxU32 i=0;i<nbContactPoints;i++)
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{
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SolverContactPoint& c = contacts[i];
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Ps::prefetchLine(&contacts[i], 128);
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const Vec3V raXn = c.raXn;
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const Vec3V rbXn = c.rbXn;
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const FloatV appliedForce = FLoad(forceBuffer[i]);
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const FloatV velMultiplier = c.getVelMultiplier();
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/*const FloatV targetVel = c.getTargetVelocity();
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const FloatV nScaledBias = c.getScaledBias();*/
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const FloatV maxImpulse = c.getMaxImpulse();
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//Compute the normal velocity of the constraint.
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const Vec3V v0 = V3MulAdd(linVel0, contactNormal, V3Mul(angState0, raXn));
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const Vec3V v1 = V3MulAdd(linVel1, contactNormal, V3Mul(angState1, rbXn));
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const FloatV normalVel = V3SumElems(V3Sub(v0, v1));
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const FloatV biasedErr = c.getBiasedErr();//FScaleAdd(targetVel, velMultiplier, nScaledBias);
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//KS - clamp the maximum force
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const FloatV _deltaF = FMax(FNegScaleSub(normalVel, velMultiplier, biasedErr), FNeg(appliedForce));
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const FloatV _newForce = FAdd(appliedForce, _deltaF);
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const FloatV newForce = FMin(_newForce, maxImpulse);
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const FloatV deltaF = FSub(newForce, appliedForce);
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linVel0 = V3ScaleAdd(delLinVel0, deltaF, linVel0);
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linVel1 = V3NegScaleSub(delLinVel1, deltaF, linVel1);
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angState0 = V3ScaleAdd(raXn, FMul(deltaF, angDom0), angState0);
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angState1 = V3NegScaleSub(rbXn, FMul(deltaF, angDom1), angState1);
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FStore(newForce, &forceBuffer[i]);
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accumulatedNormalImpulse = FAdd(accumulatedNormalImpulse, newForce);
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}
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linVel0_ = linVel0;
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angState0_ = angState0;
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linVel1_ = linVel1;
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angState1_ = angState1;
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return accumulatedNormalImpulse;
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}
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PX_FORCE_INLINE static FloatV solveStaticContacts(SolverContactPoint* contacts, const PxU32 nbContactPoints, const Vec3VArg contactNormal,
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const FloatVArg invMassA, const FloatVArg angDom0, Vec3V& linVel0_, Vec3V& angState0_, PxF32* PX_RESTRICT forceBuffer)
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{
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Vec3V linVel0 = linVel0_;
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Vec3V angState0 = angState0_;
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FloatV accumulatedNormalImpulse = FZero();
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const Vec3V delLinVel0 = V3Scale(contactNormal, invMassA);
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for(PxU32 i=0;i<nbContactPoints;i++)
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{
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SolverContactPoint& c = contacts[i];
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Ps::prefetchLine(&contacts[i],128);
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const Vec3V raXn = c.raXn;
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const FloatV appliedForce = FLoad(forceBuffer[i]);
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const FloatV velMultiplier = c.getVelMultiplier();
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/*const FloatV targetVel = c.getTargetVelocity();
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const FloatV nScaledBias = c.getScaledBias();*/
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const FloatV maxImpulse = c.getMaxImpulse();
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const Vec3V v0 = V3MulAdd(linVel0, contactNormal, V3Mul(angState0, raXn));
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const FloatV normalVel = V3SumElems(v0);
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const FloatV biasedErr = c.getBiasedErr();//FScaleAdd(targetVel, velMultiplier, nScaledBias);
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// still lots to do here: using loop pipelining we can interweave this code with the
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// above - the code here has a lot of stalls that we would thereby eliminate
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const FloatV _deltaF = FMax(FNegScaleSub(normalVel, velMultiplier, biasedErr), FNeg(appliedForce));
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const FloatV _newForce = FAdd(appliedForce, _deltaF);
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const FloatV newForce = FMin(_newForce, maxImpulse);
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const FloatV deltaF = FSub(newForce, appliedForce);
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linVel0 = V3ScaleAdd(delLinVel0, deltaF, linVel0);
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angState0 = V3ScaleAdd(raXn, FMul(deltaF, angDom0), angState0);
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FStore(newForce, &forceBuffer[i]);
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accumulatedNormalImpulse = FAdd(accumulatedNormalImpulse, newForce);
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}
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linVel0_ = linVel0;
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angState0_ = angState0;
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return accumulatedNormalImpulse;
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}
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FloatV solveExtContacts(SolverContactPointExt* contacts, const PxU32 nbContactPoints, const Vec3VArg contactNormal,
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Vec3V& linVel0, Vec3V& angVel0,
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Vec3V& linVel1, Vec3V& angVel1,
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Vec3V& li0, Vec3V& ai0,
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Vec3V& li1, Vec3V& ai1,
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PxF32* PX_RESTRICT appliedForceBuffer);
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}
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}
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#endif //DY_SOLVER_CORE_SHARED_H
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