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physx/source/lowleveldynamics/include/DyArticulation.h
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physx/source/lowleveldynamics/include/DyArticulation.h
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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) 2008-2021 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_ARTICULATION_H
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#define PXD_ARTICULATION_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 "PxArticulationJoint.h"
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#include "DyVArticulation.h"
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namespace physx
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{
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class PxConstraintAllocator;
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class PxcConstraintBlockStream;
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struct PxSolverConstraintDesc;
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class PxsConstraintBlockManager;
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#define DY_DEBUG_ARTICULATION 0
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namespace Dy
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{
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struct ArticulationJointTransforms;
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struct FsInertia;
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struct FsData;
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#if PX_VC
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#pragma warning(push)
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#pragma warning( disable : 4324 ) // Padding was added at the end of a structure because of a __declspec(align) value.
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#endif
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PX_ALIGN_PREFIX(64)
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class Articulation : public ArticulationV
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{
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public:
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// public interface
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Articulation(void*);
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~Articulation();
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virtual bool resize(const PxU32 linkCount);
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virtual void onUpdateSolverDesc()
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{
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PxMemZero(mExternalLoads.begin(), sizeof(Ps::aos::Mat33V) * mExternalLoads.size());
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PxMemZero(mInternalLoads.begin(), sizeof(Ps::aos::Mat33V) * mExternalLoads.size());
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}
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FsData* getFsDataPtr() const { return reinterpret_cast<FsData *>(mFsDataBytes.begin()); }
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//void setFsDataPtr(FsData* data) { mFsData = data; }
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// get data sizes for allocation at higher levels
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virtual void getDataSizes(PxU32 linkCount, PxU32& solverDataSize, PxU32& totalSize, PxU32& scratchSize);
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virtual void getImpulseResponse(
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PxU32 linkID,
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Cm::SpatialVectorF* Z,
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const Cm::SpatialVector& impulse,
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Cm::SpatialVector& deltaV) const;
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virtual void getImpulseResponse(
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PxU32 linkID,
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Cm::SpatialVectorV* Z,
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const Cm::SpatialVectorV& impulse,
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Cm::SpatialVectorV& deltaV) const;
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virtual void getImpulseSelfResponse(
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PxU32 linkID0,
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PxU32 linkID1,
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Cm::SpatialVectorF* Z,
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const Cm::SpatialVector& impulse0,
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const Cm::SpatialVector& impulse1,
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Cm::SpatialVector& deltaV0,
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Cm::SpatialVector& deltaV1) const;
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virtual Cm::SpatialVectorV getLinkVelocity(const PxU32 linkID) const;
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virtual Cm::SpatialVectorV getLinkMotionVector(const PxU32 linkID) const;
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//this is called by island gen to determine whether the articulation should be awake or sleep
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virtual Cm::SpatialVector getMotionVelocity(const PxU32 linkID) const;
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virtual Cm::SpatialVector getMotionAcceleration(const PxU32 linkID) const;
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virtual void fillIndexedManager(const PxU32 linkId, Dy::ArticulationLinkHandle& handle, PxU8& indexType);
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virtual PxReal getLinkMaxPenBias(const PxU32 linkID) const;
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static PxU32 computeUnconstrainedVelocities(
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const ArticulationSolverDesc& desc,
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PxReal dt,
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PxConstraintAllocator& allocator,
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PxSolverConstraintDesc* constraintDesc,
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PxU32& acCount,
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const PxVec3& gravity, PxU64 contextID,
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Cm::SpatialVectorF* Z, Cm::SpatialVectorF* deltaV);
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static void computeUnconstrainedVelocitiesTGS(
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const ArticulationSolverDesc& desc,
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PxReal dt, const PxVec3& gravity,
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PxU64 contextID, Cm::SpatialVectorF* Z, Cm::SpatialVectorF* deltaV);
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static PxU32 setupSolverConstraintsTGS(const ArticulationSolverDesc& articDesc,
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PxcConstraintBlockStream& stream,
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PxSolverConstraintDesc* constraintDesc,
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PxReal dt,
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PxReal invDt,
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PxReal totalDt,
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PxU32& acCount,
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PxsConstraintBlockManager& constraintBlockManager,
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Cm::SpatialVectorF* /*Z*/);
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static void saveVelocity(const ArticulationSolverDesc& d, Cm::SpatialVectorF* deltaV);
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static void saveVelocityTGS(const ArticulationSolverDesc& d, PxReal invDtF32);
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static void updateBodies(const ArticulationSolverDesc& desc, PxReal dt);
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static void recordDeltaMotion(const ArticulationSolverDesc &desc, const PxReal dt, Cm::SpatialVectorF* deltaV, PxReal);
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static void deltaMotionToMotionVelocity(const ArticulationSolverDesc& desc, PxReal invDt);
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virtual void pxcFsApplyImpulse(PxU32 linkID, Ps::aos::Vec3V linear,
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Ps::aos::Vec3V angular, Cm::SpatialVectorF* Z, Cm::SpatialVectorF* deltaV);
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virtual void pxcFsApplyImpulses(PxU32 linkID, const Ps::aos::Vec3V& linear,
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const Ps::aos::Vec3V& angular, PxU32 linkID2, const Ps::aos::Vec3V& linear2,
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const Ps::aos::Vec3V& angular2, Cm::SpatialVectorF* Z, Cm::SpatialVectorF* deltaV);
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virtual void solveInternalConstraints(const PxReal dt, const PxReal invDt, Cm::SpatialVectorF* impulses, Cm::SpatialVectorF* DeltaV,
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bool velIteration, bool isTGS, const PxReal elapsedTime);
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virtual void writebackInternalConstraints(bool /*isTGS*/) {}
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virtual void concludeInternalConstraints(bool /*isTGS*/) {}
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virtual Cm::SpatialVectorV pxcFsGetVelocity(PxU32 linkID);
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virtual void pxcFsGetVelocities(PxU32 linkID, PxU32 linkID1, Cm::SpatialVectorV& v0, Cm::SpatialVectorV& v1);
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virtual Cm::SpatialVectorV pxcFsGetVelocityTGS(PxU32 linkID) { return Articulation::pxcFsGetVelocity(linkID); }
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virtual const PxTransform& getCurrentTransform(PxU32 linkID)const
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{
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return mPose[linkID];
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}
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virtual const PxQuat& getDeltaQ(PxU32 linkID) const
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{
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return mDeltaQ[linkID];
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}
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static void prepareDataBlock(FsData& fsData,
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const ArticulationLink* links,
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PxU16 linkCount,
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PxTransform* poses,
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PxQuat* deltaQ,
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FsInertia* baseInertia,
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ArticulationJointTransforms* jointTransforms,
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PxU32 expectedSize);
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static void prepareFsData(FsData& fsData,
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const ArticulationLink* links);
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static PxReal getResistance(PxReal compliance);
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static PxU32 getFsDataSize(PxU32 linkCount);
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static PxU32 getLtbDataSize(PxU32 linkCount);
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static void setInertia(FsInertia& inertia,
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const PxsBodyCore& body,
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const PxTransform& pose);
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static void setJointTransforms(ArticulationJointTransforms& transforms,
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const PxTransform& parentPose,
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const PxTransform& childPose,
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const ArticulationJointCore& joint);
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static void applyImpulses(const FsData& matrix,
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Cm::SpatialVectorV* Z,
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Cm::SpatialVectorV* V);
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private:
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#if DY_DEBUG_ARTICULATION
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// debug quantities
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Cm::SpatialVector computeMomentum(const FsInertia *inertia) const;
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void computeResiduals(const Cm::SpatialVector *,
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const ArticulationJointTransforms* jointTransforms,
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bool dump = false) const;
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void checkLimits() const;
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#endif
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//PX_FORCE_INLINE Cm::SpatialVectorV* getVelocity(FsData& matrix);
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void computeUnconstrainedVelocitiesInternal(const ArticulationSolverDesc& desc,
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PxReal dt,
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const PxVec3& gravity, PxU64 contextID,
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FsInertia* PX_RESTRICT baseInertia,
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ArticulationJointTransforms* PX_RESTRICT jointTransforms,
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PxcFsScratchAllocator& allocator);
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void prepareLtbMatrix(FsData& fsData,
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const FsInertia* baseInertia,
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const PxTransform* poses,
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const ArticulationJointTransforms* jointTransforms,
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PxReal recipDt);
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void computeJointDrives(FsData& fsData,
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Ps::aos::Vec3V* drives,
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const ArticulationLink* links,
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const PxTransform* poses,
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const ArticulationJointTransforms* transforms,
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const Ps::aos::Mat33V* loads,
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PxReal dt);
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mutable Ps::Array<char> mFsDataBytes; // drive cache creation (which is const) can force a resize
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// persistent state of the articulation for warm-starting joint load computation
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Ps::Array<Ps::aos::Mat33V> mInternalLoads;
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Ps::Array<Ps::aos::Mat33V> mExternalLoads;
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Ps::Array<char> mScratchMemory; // drive cache creation (which is const) can force a resize
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Ps::Array<PxTransform> mPose;
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Ps::Array<PxQuat> mDeltaQ;
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Ps::Array<Cm::SpatialVectorV> mMotionVelocity; // saved here in solver to communicate back to island management/sleeping
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} PX_ALIGN_SUFFIX(64);
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#if PX_VC
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#pragma warning(pop)
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#endif
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class PxvArticulationDriveCache
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{
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public:
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// drive cache stuff
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static void initialize(
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FsData &cache,
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PxU16 linkCount,
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const ArticulationLink* links,
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PxReal compliance,
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PxU32 iterations,
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char* scratchMemory,
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PxU32 scratchMemorySize);
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static PxU32 getLinkCount(const FsData& cache);
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static void applyImpulses(const FsData& cache,
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Cm::SpatialVectorV* Z,
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Cm::SpatialVectorV* V);
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static void getImpulseResponse(const FsData& cache,
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PxU32 linkID,
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const Cm::SpatialVectorV& impulse,
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Cm::SpatialVectorV& deltaV);
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};
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void PxvRegisterArticulations();
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}
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}
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#endif
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