108 lines
3.8 KiB
C
108 lines
3.8 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_ARTICULATION_INTERFACE_H
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#define DY_ARTICULATION_INTERFACE_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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struct ArticulationSolverDesc;
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class ArticulationPImpl
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{
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public:
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static PxU32 computeUnconstrainedVelocities(const ArticulationSolverDesc& desc,
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PxReal dt,
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PxU32& acCount,
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const PxVec3& gravity,
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const PxReal invLengthScale)
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{
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return FeatherstoneArticulation::computeUnconstrainedVelocities(desc, dt, acCount, gravity, invLengthScale);
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}
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static void updateBodies(const ArticulationSolverDesc& desc, Cm::SpatialVectorF* tempDeltaV,
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PxReal dt)
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{
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FeatherstoneArticulation::updateBodies(desc, tempDeltaV, dt);
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}
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static void updateBodiesTGS(const ArticulationSolverDesc& desc, Cm::SpatialVectorF* tempDeltaV,
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PxReal dt)
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{
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FeatherstoneArticulation::updateBodiesTGS(desc, tempDeltaV, dt);
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}
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static void saveVelocity(FeatherstoneArticulation* articulation, Cm::SpatialVectorF* tempDeltaV)
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{
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FeatherstoneArticulation::saveVelocity(articulation, tempDeltaV);
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}
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static void saveVelocityTGS(FeatherstoneArticulation* articulation, PxReal invDtF32)
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{
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FeatherstoneArticulation::saveVelocityTGS(articulation, invDtF32);
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}
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static void computeUnconstrainedVelocitiesTGS(const ArticulationSolverDesc& desc,
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PxReal dt,
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const PxVec3& gravity,
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PxReal invLengthScale,
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bool externalForcesEveryTgsIterationEnabled)
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{
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FeatherstoneArticulation::computeUnconstrainedVelocitiesTGS(desc, dt, gravity, invLengthScale, externalForcesEveryTgsIterationEnabled);
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}
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static void updateDeltaMotion(const ArticulationSolverDesc& desc, const PxReal dt, Cm::SpatialVectorF* DeltaV, const PxReal totalInvDt)
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{
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FeatherstoneArticulation::recordDeltaMotion(desc, dt, DeltaV, totalInvDt);
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}
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static void deltaMotionToMotionVel(const ArticulationSolverDesc& desc, const PxReal invDt)
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{
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FeatherstoneArticulation::deltaMotionToMotionVelocity(desc, invDt);
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}
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static PxU32 setupSolverInternalConstraintsTGS(const ArticulationSolverDesc& desc,
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PxReal dt,
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PxReal invDt,
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PxReal totalDt)
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{
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return FeatherstoneArticulation::setupSolverConstraintsTGS(desc, dt, invDt, totalDt);
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}
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};
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}
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}
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#endif
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