173 lines
6.9 KiB
C
173 lines
6.9 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 EXT_D6_JOINT_H
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#define EXT_D6_JOINT_H
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#include "extensions/PxD6Joint.h"
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#include "ExtJoint.h"
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namespace physx
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{
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struct PxD6JointGeneratedValues;
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namespace Ext
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{
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struct D6JointData : public JointData
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{
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static constexpr PxU32 sDriveEntryCapacity = 6;
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PxD6Motion::Enum motion[6];
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PxJointLinearLimit distanceLimit;
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PxJointLinearLimitPair linearLimitX;
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PxJointLinearLimitPair linearLimitY;
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PxJointLinearLimitPair linearLimitZ;
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PxJointAngularLimitPair twistLimit;
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PxJointLimitCone swingLimit;
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PxJointLimitPyramid pyramidSwingLimit;
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PxD6JointDrive drive[sDriveEntryCapacity];
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PxTransform drivePosition;
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PxVec3 driveLinearVelocity;
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PxVec3 driveAngularVelocity;
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// derived quantities
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PxU32 locked; // bitmap of locked DOFs
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PxU32 limited; // bitmap of limited DOFs
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PxU32 driving; // bitmap of active drives (implies driven DOFs not locked)
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PxReal distanceMinDist; // distance limit minimum distance to get a good direction
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// PT: the PxD6Motion values are now shared for both kind of linear limits, so we need
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// an extra bool to know which one(s) should be actually used.
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bool mUseDistanceLimit;
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bool mUseNewLinearLimits;
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// PT: the swing limits can now be a cone or a pyramid, so we need
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// an extra bool to know which one(s) should be actually used.
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bool mUseConeLimit;
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bool mUsePyramidLimits;
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PxU8 angularDriveConfig; // stores the angular drive config (PxD6AngularDriveConfig::Enum)
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private:
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D6JointData(const PxJointLinearLimit& distance,
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const PxJointLinearLimitPair& linearX,
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const PxJointLinearLimitPair& linearY,
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const PxJointLinearLimitPair& linearZ,
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const PxJointAngularLimitPair& twist,
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const PxJointLimitCone& swing,
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const PxJointLimitPyramid& pyramid) :
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distanceLimit (distance),
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linearLimitX (linearX),
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linearLimitY (linearY),
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linearLimitZ (linearZ),
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twistLimit (twist),
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swingLimit (swing),
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pyramidSwingLimit (pyramid),
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mUseDistanceLimit (false),
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mUseNewLinearLimits (false),
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mUseConeLimit (false),
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mUsePyramidLimits (false),
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angularDriveConfig (PxD6AngularDriveConfig::eLEGACY)
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{}
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};
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typedef JointT<PxD6Joint, D6JointData, PxD6JointGeneratedValues> D6JointT;
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class D6Joint : public D6JointT
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{
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public:
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// PX_SERIALIZATION
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D6Joint(PxBaseFlags baseFlags) : D6JointT(baseFlags) {}
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void resolveReferences(PxDeserializationContext& context);
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static D6Joint* createObject(PxU8*& address, PxDeserializationContext& context) { return createJointObject<D6Joint>(address, context); }
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//~PX_SERIALIZATION
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D6Joint(const PxTolerancesScale& scale, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1);
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#if PX_SUPPORT_OMNI_PVD
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virtual ~D6Joint();
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#endif
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// PxD6Joint
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virtual void setMotion(PxD6Axis::Enum index, PxD6Motion::Enum t) PX_OVERRIDE;
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virtual PxD6Motion::Enum getMotion(PxD6Axis::Enum index) const PX_OVERRIDE;
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virtual PxReal getTwistAngle() const PX_OVERRIDE;
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virtual PxReal getSwingYAngle() const PX_OVERRIDE;
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virtual PxReal getSwingZAngle() const PX_OVERRIDE;
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virtual void setDistanceLimit(const PxJointLinearLimit& l) PX_OVERRIDE;
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virtual PxJointLinearLimit getDistanceLimit() const PX_OVERRIDE;
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virtual void setLinearLimit(PxD6Axis::Enum axis, const PxJointLinearLimitPair& limit) PX_OVERRIDE;
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virtual PxJointLinearLimitPair getLinearLimit(PxD6Axis::Enum axis) const PX_OVERRIDE;
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virtual void setTwistLimit(const PxJointAngularLimitPair& l) PX_OVERRIDE;
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virtual PxJointAngularLimitPair getTwistLimit() const PX_OVERRIDE;
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virtual void setSwingLimit(const PxJointLimitCone& l) PX_OVERRIDE;
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virtual PxJointLimitCone getSwingLimit() const PX_OVERRIDE;
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virtual void setPyramidSwingLimit(const PxJointLimitPyramid& limit) PX_OVERRIDE;
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virtual PxJointLimitPyramid getPyramidSwingLimit() const PX_OVERRIDE;
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virtual void setDrive(PxD6Drive::Enum index, const PxD6JointDrive& d) PX_OVERRIDE;
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virtual PxD6JointDrive getDrive(PxD6Drive::Enum index) const PX_OVERRIDE;
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virtual void setDrivePosition(const PxTransform& pose, bool autowake = true) PX_OVERRIDE;
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virtual PxTransform getDrivePosition() const PX_OVERRIDE;
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virtual void setDriveVelocity(const PxVec3& linear, const PxVec3& angular, bool autowake = true) PX_OVERRIDE;
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virtual void getDriveVelocity(PxVec3& linear, PxVec3& angular) const PX_OVERRIDE;
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virtual PxD6JointGPUIndex getGPUIndex() const PX_OVERRIDE;
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virtual void setAngularDriveConfig(PxD6AngularDriveConfig::Enum) PX_OVERRIDE;
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virtual PxD6AngularDriveConfig::Enum getAngularDriveConfig() const PX_OVERRIDE;
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//~PxD6Joint
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// PxConstraintConnector
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virtual PxConstraintSolverPrep getPrep() const PX_OVERRIDE;
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virtual void* prepareData() PX_OVERRIDE;
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#if PX_SUPPORT_OMNI_PVD
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virtual void updateOmniPvdProperties() const PX_OVERRIDE;
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#endif
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//~PxConstraintConnector
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#if PX_SUPPORT_OMNI_PVD
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friend void omniPvdInitJoint<D6Joint>(D6Joint& joint);
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#endif
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private:
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PX_FORCE_INLINE bool isDriveActive(PxU32 index) const
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{
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const PxD6JointDrive& d = data().drive[index];
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return d.stiffness!=0 || d.damping != 0;
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}
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bool mRecomputeMotion;
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bool mPadding[3]; // PT: padding from prev bool
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};
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} // namespace Ext
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} // namespace physx
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#endif
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