69 lines
3.0 KiB
C
69 lines
3.0 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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#ifndef DY_SOLVER_BODY_H
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#define DY_SOLVER_BODY_H
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#include "foundation/PxVec3.h"
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#include "foundation/PxTransform.h"
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#include "foundation/PxMat33.h"
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#include "CmSpatialVector.h"
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#include "solver/PxSolverDefs.h"
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namespace physx
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{
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class PxsRigidBody;
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struct PxsBodyCore;
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namespace Dy
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{
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// PT: TODO: make sure this is still needed / replace with V4sqrt
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//This method returns values of 0 when the inertia is 0. This is a bit of a hack but allows us to
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//represent kinematic objects' velocities in our new format
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PX_FORCE_INLINE PxVec3 computeSafeSqrtInertia(const PxVec3& v)
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{
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return PxVec3( v.x == 0.0f ? 0.0f : PxSqrt(v.x),
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v.y == 0.0f ? 0.0f : PxSqrt(v.y),
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v.z == 0.0f ? 0.0f : PxSqrt(v.z));
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}
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void copyToSolverBodyData(const PxVec3& linearVelocity, const PxVec3& angularVelocity, PxReal invMass, const PxVec3& invInertia, const PxTransform& globalPose,
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PxReal maxDepenetrationVelocity, PxReal maxContactImpulse, PxU32 nodeIndex, PxReal reportThreshold, PxSolverBodyData& solverBodyData, PxU32 lockFlags,
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PxReal dt, bool gyroscopicForces);
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// PT: TODO: using PxsBodyCore in the interface makes us write less data to the stack for passing arguments, and we can take advantage of the class layout
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// (we know what is aligned or not, we know if it is safe to V4Load vectors, etc). Note that this is what we previously had, which is why PxsBodyCore was still
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// forward-referenced above.
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//void copyToSolverBodyData(PxSolverBodyData& solverBodyData, const PxsBodyCore& core, const PxU32 nodeIndex);
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}
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}
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#endif
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