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physx/source/lowleveldynamics/include/DyArticulationJointCore.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) 2008-2021 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 DV_ARTICULATION_JOINT_CORE_H
+#define DV_ARTICULATION_JOINT_CORE_H
+
+#include "DyArticulationCore.h"
+#include "PxArticulationJoint.h"
+#include "solver/PxSolverDefs.h"
+#include "PxArticulationJointReducedCoordinate.h"
+
+namespace physx
+{
+	namespace Dy
+	{
+		struct ArticulationJointCoreBase
+		{
+			//= ATTENTION! =====================================================================================
+			// Changing the data layout of this class breaks the binary serialization format.  See comments for 
+			// PX_BINARY_SERIAL_VERSION.  If a modification is required, please adjust the getBinaryMetaData 
+			// function.  If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
+			// accordingly.
+			//==================================================================================================
+		public:
+
+			PX_CUDA_CALLABLE bool setJointPose(PxQuat& relativeQuat)
+			{
+				if (dirtyFlag & ArticulationJointCoreDirtyFlag::ePOSE)
+				{
+					relativeQuat = (childPose.q * (parentPose.q.getConjugate())).getNormalized();
+
+					//ML: this way work in GPU
+					PxU8 flag = PxU8(ArticulationJointCoreDirtyFlag::ePOSE);
+					dirtyFlag &= ArticulationJointCoreDirtyFlags(~flag);
+				
+					return true;
+				}
+
+				return false;
+			}
+
+			PX_CUDA_CALLABLE PX_FORCE_INLINE void operator=(ArticulationJointCoreBase& other)
+			{
+				parentPose = other.parentPose;
+				childPose = other.childPose;
+
+				dirtyFlag = other.dirtyFlag;
+
+				//KS - temp place to put reduced coordinate limit and drive values
+				for(PxU32 i=0; i<PxArticulationAxis::eCOUNT; i++)
+				{
+					limits[i] = other.limits[i];
+					drives[i] = other.drives[i];
+					targetP[i] = other.targetP[i];
+					targetV[i] = other.targetV[i];
+
+					dofIds[i] = other.dofIds[i];
+					motion[i] = other.motion[i];
+				}
+
+				frictionCoefficient = other.frictionCoefficient;
+				maxJointVelocity = other.maxJointVelocity;
+				//relativeQuat = other.relativeQuat;
+				jointType = other.jointType;
+				jointOffset = other.jointOffset; //this is the dof offset for the joint in the cache
+			}
+
+			// attachment points, don't change the order, otherwise it will break GPU code
+			PxTransform						parentPose;								//28		28
+			PxTransform						childPose;								//28		56
+
+			//KS - temp place to put reduced coordinate limit and drive values
+			PxArticulationLimit				limits[PxArticulationAxis::eCOUNT];		//48		104
+			PxArticulationDrive				drives[PxArticulationAxis::eCOUNT];		//96		200
+			PxReal							targetP[PxArticulationAxis::eCOUNT];	//24		224
+			PxReal							targetV[PxArticulationAxis::eCOUNT];	//24		248
+			
+			// initial parent to child rotation. Could be 
+			//PxQuat							relativeQuat;							//16		264
+			PxReal							frictionCoefficient;					//4			268
+
+			PxU8							dofIds[PxArticulationAxis::eCOUNT];		//6			274
+			PxU8							motion[PxArticulationAxis::eCOUNT];		//6			280
+
+			PxReal							maxJointVelocity;						//4			284
+
+			//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
+			//this is the dof offset for the joint in the cache. 
+			PxU8							jointOffset;							//1			285
+			ArticulationJointCoreDirtyFlags	dirtyFlag;								//1			286
+			PxU8							jointType;								//1			287
+			PxU8							pad[1];
+
+			ArticulationJointCoreBase() { maxJointVelocity = 100.f; }
+			// PX_SERIALIZATION
+			ArticulationJointCoreBase(const PxEMPTY&) : dirtyFlag(PxEmpty) { PX_COMPILE_TIME_ASSERT(sizeof(PxArticulationMotions) == sizeof(PxU8)); }
+			//~PX_SERIALIZATION
+		};
+	}
+}
+
+#endif