96 lines
4.3 KiB
C
96 lines
4.3 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) 2008-2025 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_CONSTRAINT_PARTITION_H
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#define DY_CONSTRAINT_PARTITION_H
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#include "DyDynamics.h"
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#include "DyFeatherstoneArticulation.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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// PT: input of partitionContactConstraints
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struct ConstraintPartitionIn
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{
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ConstraintPartitionIn( PxU8* bodies, PxU32 nbBodies, PxU32 stride,
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Dy::FeatherstoneArticulation** articulations, PxU32 nbArticulations,
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const PxSolverConstraintDesc* contactConstraintDescs, PxU32 nbContactConstraintDescs,
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PxU32 maxPartitions, bool forceStaticConstraintsToSolver) :
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mBodies (bodies), mNumBodies(nbBodies), mStride(stride),
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mArticulationPtrs(articulations), mNumArticulationPtrs(nbArticulations),
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mContactConstraintDescriptors(contactConstraintDescs), mNumContactConstraintDescriptors(nbContactConstraintDescs),
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mMaxPartitions(maxPartitions), mForceStaticConstraintsToSolver(forceStaticConstraintsToSolver)
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{
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}
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PxU8* mBodies; // PT: PxSolverBody (PGS) or PxTGSSolverBodyVel (TGS)
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PxU32 mNumBodies;
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PxU32 mStride;
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Dy::FeatherstoneArticulation** mArticulationPtrs;
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PxU32 mNumArticulationPtrs;
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const PxSolverConstraintDesc* mContactConstraintDescriptors;
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PxU32 mNumContactConstraintDescriptors;
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PxU32 mMaxPartitions; // PT: limit the number of "resizes" beyond the initial 32
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bool mForceStaticConstraintsToSolver; // PT: only for PGS + point-friction
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};
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// PT: output of partitionContactConstraints
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struct ConstraintPartitionOut
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{
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ConstraintPartitionOut(PxSolverConstraintDesc* orderedContactConstraintDescriptors, PxSolverConstraintDesc* overflowConstraintDescriptors, PxArray<PxU32>* constraintsPerPartition) :
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mOrderedContactConstraintDescriptors(orderedContactConstraintDescriptors),
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mOverflowConstraintDescriptors(overflowConstraintDescriptors),
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mConstraintsPerPartition(constraintsPerPartition),
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mNumDifferentBodyConstraints(0),
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mNumStaticConstraints(0),
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mNumOverflowConstraints(0)
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{
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}
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PxSolverConstraintDesc* mOrderedContactConstraintDescriptors;
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PxSolverConstraintDesc* mOverflowConstraintDescriptors;
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PxArray<PxU32>* mConstraintsPerPartition; // PT: actually accumulated constraints per partition
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PxU32 mNumDifferentBodyConstraints;
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PxU32 mNumStaticConstraints;
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PxU32 mNumOverflowConstraints;
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};
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PxU32 partitionContactConstraints(ConstraintPartitionOut& out, const ConstraintPartitionIn& in);
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// PT: TODO: why is this only called for TGS?
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void processOverflowConstraints(PxU8* bodies, PxU32 bodyStride, PxU32 numBodies, ArticulationSolverDesc* articulations, PxU32 numArticulations,
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PxSolverConstraintDesc* constraints, PxU32 numConstraints);
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} // namespace physx
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}
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#endif
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