150 lines
4.4 KiB
C++
150 lines
4.4 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) 2008-2021 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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#include "PsFoundation.h"
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#include "ScPhysics.h"
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#include "ScBodyCore.h"
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#include "ScConstraintCore.h"
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#include "ScConstraintSim.h"
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using namespace physx;
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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Sc::ConstraintCore::ConstraintCore(PxConstraintConnector& connector, const PxConstraintShaderTable& shaders, PxU32 dataSize)
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: mFlags(PxConstraintFlag::eDRIVE_LIMITS_ARE_FORCES)
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, mAppliedForce(PxVec3(0))
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, mAppliedTorque(PxVec3(0))
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, mConnector(&connector)
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, mProject(shaders.project)
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, mSolverPrep(shaders.solverPrep)
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, mVisualize(shaders.visualize)
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, mDataSize(dataSize)
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, mLinearBreakForce(PX_MAX_F32)
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, mAngularBreakForce(PX_MAX_F32)
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, mMinResponseThreshold(0)
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, mSim(NULL)
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{
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
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Sc::ConstraintCore::~ConstraintCore()
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{
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}
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void Sc::ConstraintCore::setFlags(PxConstraintFlags flags)
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{
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PxConstraintFlags old = mFlags;
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flags = flags | (old & PxConstraintFlag::eGPU_COMPATIBLE);
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if(flags != old)
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{
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mFlags = flags;
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if(getSim())
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getSim()->postFlagChange(old, flags);
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}
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}
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void Sc::ConstraintCore::getForce(PxVec3& force, PxVec3& torque) const
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{
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if(!mSim)
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{
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force = PxVec3(0,0,0);
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torque = PxVec3(0,0,0);
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}
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else
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mSim->getForce(force, torque);
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}
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void Sc::ConstraintCore::setBodies(RigidCore* r0v, RigidCore* r1v)
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{
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if(mSim)
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mSim->postBodiesChange(r0v, r1v);
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}
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bool Sc::ConstraintCore::updateConstants(void* addr)
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{
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if (getSim())
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{
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getSim()->setConstantsLL(addr);
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return true;
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}
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return false;
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}
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void Sc::ConstraintCore::setBreakForce(PxReal linear, PxReal angular)
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{
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mLinearBreakForce = linear;
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mAngularBreakForce = angular;
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if (getSim())
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getSim()->setBreakForceLL(linear, angular);
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}
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void Sc::ConstraintCore::getBreakForce(PxReal& linear, PxReal& angular) const
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{
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linear = mLinearBreakForce;
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angular = mAngularBreakForce;
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}
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void Sc::ConstraintCore::setMinResponseThreshold(PxReal threshold)
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{
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mMinResponseThreshold = threshold;
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if (getSim())
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getSim()->setMinResponseThresholdLL(threshold);
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}
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PxConstraint* Sc::ConstraintCore::getPxConstraint()
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{
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return gOffsetTable.convertScConstraint2Px(this);
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}
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const PxConstraint* Sc::ConstraintCore::getPxConstraint() const
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{
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return gOffsetTable.convertScConstraint2Px(this);
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}
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void Sc::ConstraintCore::breakApart()
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{
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// TODO: probably want to do something with the interaction here
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// as well as remove the constraint from LL.
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mFlags |= PxConstraintFlag::eBROKEN;
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}
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void Sc::ConstraintCore::prepareForSetBodies()
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{
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if(mSim)
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mSim->preBodiesChange();
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}
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