238 lines
9.1 KiB
C
238 lines
9.1 KiB
C
|
// Redistribution and use in source and binary forms, with or without
|
||
|
|
// modification, are permitted provided that the following conditions
|
||
|
|
// are met:
|
||
|
|
// * Redistributions of source code must retain the above copyright
|
||
|
|
// notice, this list of conditions and the following disclaimer.
|
||
|
|
// * Redistributions in binary form must reproduce the above copyright
|
||
|
|
// notice, this list of conditions and the following disclaimer in the
|
||
|
|
// documentation and/or other materials provided with the distribution.
|
||
|
|
// * Neither the name of NVIDIA CORPORATION nor the names of its
|
||
|
|
// contributors may be used to endorse or promote products derived
|
||
|
|
// from this software without specific prior written permission.
|
||
|
|
//
|
||
|
|
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
|
||
|
|
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||
|
|
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
|
||
|
|
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
|
||
|
|
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
|
||
|
|
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
|
||
|
|
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
|
||
|
|
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
|
||
|
|
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||
|
|
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
||
|
|
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||
|
|
//
|
||
|
|
// Copyright (c) 2008-2025 NVIDIA Corporation. All rights reserved.
|
||
|
|
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
|
||
|
|
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
|
||
|
|
|
||
|
|
#ifndef PXG_CONSTRAINT_BLOCK_H
|
||
|
|
#define PXG_CONSTRAINT_BLOCK_H
|
||
|
|
|
||
|
|
#include "PxvConfig.h"
|
||
|
|
#include "foundation/PxSimpleTypes.h"
|
||
|
|
#include "foundation/PxVec3.h"
|
||
|
|
#include "PxgSolverBody.h"
|
||
|
|
|
||
|
|
namespace physx
|
||
|
|
{
|
||
|
|
|
||
|
|
#if PX_VC
|
||
|
|
#pragma warning(push)
|
||
|
|
#pragma warning(disable : 4324)
|
||
|
|
#endif
|
||
|
|
|
||
|
|
struct PxgBlockSolverContactHeader
|
||
|
|
{
|
||
|
|
PX_ALIGN(128, float4 invMass0_1_angDom0_1[32]); //512 512
|
||
|
|
PX_ALIGN(128, float4 normal_staticFriction[32]); //1024 512
|
||
|
|
PX_ALIGN(128, PxReal accumNormalForce[32]);
|
||
|
|
//Only used by articulation constraints. Forces the minimum normal force for friction.
|
||
|
|
//Without this, articulations can drift due to no normal force when multi-link systems contact with surfaces.
|
||
|
|
PX_ALIGN(128, PxReal minNormalForce[32]);
|
||
|
|
|
||
|
|
PX_ALIGN(128, PxU32 flags[32]); //1152 128
|
||
|
|
PX_ALIGN(128, PxU32 numNormalConstr[32]); //1280 128
|
||
|
|
PX_ALIGN(128, PxU32 forceWritebackOffset[32]); //1408 128
|
||
|
|
|
||
|
|
// To use different mass for mass-splitting every sub-timestep (or iteration),
|
||
|
|
// recipResponse, velMultipler, biasCoefficient, etc. are computed every sub-timestep (or iteration).
|
||
|
|
// To compute them every sub-timestep (or iteration), restitution and cfm are additionally stored.
|
||
|
|
// This does not change the previous impulse formulation, but a different mass is used due to mass-splitting.
|
||
|
|
PX_ALIGN(128, PxReal restitution[32]);
|
||
|
|
PX_ALIGN(128, PxReal cfm[32]);
|
||
|
|
|
||
|
|
};
|
||
|
|
|
||
|
|
struct PxgBlockSolverFrictionHeader
|
||
|
|
{
|
||
|
|
PX_ALIGN(128, float4 frictionNormals[2][32]); //1024 1024
|
||
|
|
PX_ALIGN(128, PxU32 numFrictionConstr[32]); //1152 128
|
||
|
|
PX_ALIGN(128, PxReal dynamicFriction[32]); //1280 128
|
||
|
|
PX_ALIGN(128, PxU32 broken[32]); //1408 128
|
||
|
|
};
|
||
|
|
|
||
|
|
//PX_COMPILE_TIME_ASSERT(sizeof(PxgBlockSolverContactHeader) == 1280);
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief A single rigid body contact point for the solver.
|
||
|
|
*/
|
||
|
|
struct PxgBlockSolverContactPoint
|
||
|
|
{
|
||
|
|
// To use different mass for mass-splitting every sub-timestep (or iteration),
|
||
|
|
// unitResponse, recipResponse, velMultiplier, etc. are computed every sub-timestep (or iteration).
|
||
|
|
// To compute them at every sub-timestep (or iteration), resp0, resp1, and other relevant data are stored additionally.
|
||
|
|
// This does not change the previous impulse formulation, but a different mass is used due to mass-splitting.
|
||
|
|
|
||
|
|
PX_ALIGN(128, float4 raXn_targetVelocity[32]);
|
||
|
|
PX_ALIGN(128, float4 rbXn_maxImpulse[32]);
|
||
|
|
PX_ALIGN(128, PxReal appliedForce[32]);
|
||
|
|
|
||
|
|
PX_ALIGN(128, PxReal resp0[32]);
|
||
|
|
PX_ALIGN(128, PxReal resp1[32]);
|
||
|
|
|
||
|
|
// Two coefficients used in "queryReducedCompliantContactCoefficients" and "computeCompliantContactCoefficients"
|
||
|
|
PX_ALIGN(128, PxReal coeff0[32]);
|
||
|
|
PX_ALIGN(128, PxReal coeff1[32]);
|
||
|
|
};
|
||
|
|
|
||
|
|
struct PxgArticulationBlockResponse
|
||
|
|
{
|
||
|
|
PX_ALIGN(128, float deltaRALin_x[32]);
|
||
|
|
PX_ALIGN(128, float deltaRALin_y[32]);
|
||
|
|
PX_ALIGN(128, float deltaRALin_z[32]);
|
||
|
|
PX_ALIGN(128, float deltaRAAng_x[32]);
|
||
|
|
PX_ALIGN(128, float deltaRAAng_y[32]);
|
||
|
|
PX_ALIGN(128, float deltaRAAng_z[32]);
|
||
|
|
PX_ALIGN(128, float deltaRBLin_x[32]);
|
||
|
|
PX_ALIGN(128, float deltaRBLin_y[32]);
|
||
|
|
PX_ALIGN(128, float deltaRBLin_z[32]);
|
||
|
|
PX_ALIGN(128, float deltaRBAng_x[32]);
|
||
|
|
PX_ALIGN(128, float deltaRBAng_y[32]);
|
||
|
|
PX_ALIGN(128, float deltaRBAng_z[32]);
|
||
|
|
};
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief A single friction constraint for the solver.
|
||
|
|
*/
|
||
|
|
struct PxgBlockSolverContactFriction
|
||
|
|
{
|
||
|
|
// To use different mass for mass-splitting every sub-timestep (or iteration),
|
||
|
|
// unitResponse, recipResponse, velMultiplier, etc. are computed every sub-timestep (or iteration).
|
||
|
|
// To compute them at every sub-timestep (or iteration), resp0, resp1, and other relevant data are stored additionally.
|
||
|
|
// This does not change the previous impulse formulation, but a different mass is used due to mass-splitting.
|
||
|
|
|
||
|
|
PX_ALIGN(128, float4 raXn_bias[32]);
|
||
|
|
PX_ALIGN(128, float4 rbXn_targetVelW[32]);
|
||
|
|
PX_ALIGN(128, PxReal appliedForce[32]);
|
||
|
|
PX_ALIGN(128, PxReal resp0[32]);
|
||
|
|
PX_ALIGN(128, PxReal resp1[32]);
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
struct PxgTGSBlockSolverContactHeader
|
||
|
|
{
|
||
|
|
PX_ALIGN(128, float4 invMass0_1_angDom0_1[32]); //512 512
|
||
|
|
PX_ALIGN(128, float4 normal_staticFriction[32]); //1024 512
|
||
|
|
|
||
|
|
//Only used by articulation constraints. Forces the minimum normal force for friction.
|
||
|
|
//Without this, articulations can drift due to no normal force when multi-link systems contact with surfaces.
|
||
|
|
PX_ALIGN(128, PxReal minNormalForce[32]);
|
||
|
|
|
||
|
|
PX_ALIGN(128, PxF32 maxPenBias[32]); //1152 128
|
||
|
|
PX_ALIGN(128, PxU32 flags[32]); //1408 128
|
||
|
|
PX_ALIGN(128, PxU32 numNormalConstr[32]); //1536 128
|
||
|
|
PX_ALIGN(128, PxU32 forceWritebackOffset[32]); //1664 128
|
||
|
|
|
||
|
|
// To use different mass for mass-splitting every sub-timestep (or iteration),
|
||
|
|
// recipResponse, velMultipler, biasCoefficient, etc. are computed every sub-timestep (or iteration).
|
||
|
|
// To compute them every sub-timestep (or iteration), restitution, cfm, and p8 are additionally stored.
|
||
|
|
// This does not change the previous impulse formulation, but a different mass is used due to mass-splitting.
|
||
|
|
|
||
|
|
PX_ALIGN(128, PxReal restitutionXdt[32]);
|
||
|
|
PX_ALIGN(128, PxReal cfm[32]);
|
||
|
|
PX_ALIGN(128, PxReal p8[32]);
|
||
|
|
};
|
||
|
|
|
||
|
|
struct PxgTGSBlockSolverFrictionHeader
|
||
|
|
{
|
||
|
|
PX_ALIGN(128, float4 frictionNormals[2][32]); //1024 1024
|
||
|
|
PX_ALIGN(128, PxU32 numFrictionConstr[32]); //1152 128
|
||
|
|
PX_ALIGN(128, PxReal dynamicFriction[32]); //1280 128
|
||
|
|
PX_ALIGN(128, PxU32 broken[32]); //1408 128
|
||
|
|
PX_ALIGN(128, PxReal biasCoefficient[32]);
|
||
|
|
PX_ALIGN(128, PxReal torsionalFrictionScale[32]);
|
||
|
|
};
|
||
|
|
|
||
|
|
//PX_COMPILE_TIME_ASSERT(sizeof(PxgBlockSolverContactHeader) == 1280);
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief A single rigid body contact point for the solver.
|
||
|
|
*/
|
||
|
|
struct PxgTGSBlockSolverContactPoint
|
||
|
|
{
|
||
|
|
// To use different mass for mass-splitting every sub-timestep (or iteration),
|
||
|
|
// unitResponse, recipResponse, velMultiplier, etc. are computed every sub-timestep (or iteration).
|
||
|
|
// To compute them at every sub-timestep (or iteration), resp0, resp1, and other relevant data are stored additionally.
|
||
|
|
// This does not change the previous impulse formulation, but a different mass is used due to mass-splitting.
|
||
|
|
|
||
|
|
PX_ALIGN(128, float4 raXn_extraCoeff[32]); // For contact constraints, extraCoeff is the compliant contact coefficient "a"
|
||
|
|
// used in "computeCompliantContactCoefficientsTGS".
|
||
|
|
|
||
|
|
PX_ALIGN(128, float4 rbXn_targetVelW[32]);
|
||
|
|
PX_ALIGN(128, PxReal separation[32]);
|
||
|
|
PX_ALIGN(128, PxReal maxImpulse[32]);
|
||
|
|
PX_ALIGN(128, PxReal appliedForce[32]);
|
||
|
|
PX_ALIGN(128, PxReal biasCoefficient[32]);
|
||
|
|
|
||
|
|
PX_ALIGN(128, PxReal resp0[32]);
|
||
|
|
PX_ALIGN(128, PxReal resp1[32]);
|
||
|
|
};
|
||
|
|
|
||
|
|
/**
|
||
|
|
\brief A single friction constraint for the solver.
|
||
|
|
*/
|
||
|
|
struct PxgTGSBlockSolverContactFriction
|
||
|
|
{
|
||
|
|
// To use different mass for mass-splitting every sub-timestep (or iteration),
|
||
|
|
// unitResponse, recipResponse, velMultiplier, etc. are computed every sub-timestep (or iteration).
|
||
|
|
// To compute them every sub-timestep (or iteration), resp0 and resp1 are stored separately.
|
||
|
|
// This does not change the previous impulse formulation, but a different mass is used due to mass-splitting.
|
||
|
|
|
||
|
|
PX_ALIGN(128, float4 raXn_error[32]);
|
||
|
|
PX_ALIGN(128, float4 rbXn_targetVelW[32]);
|
||
|
|
PX_ALIGN(128, PxReal appliedForce[32]);
|
||
|
|
|
||
|
|
PX_ALIGN(128, PxReal resp0[32]);
|
||
|
|
PX_ALIGN(128, PxReal resp1[32]);
|
||
|
|
};
|
||
|
|
|
||
|
|
struct PxgContactBlockParams
|
||
|
|
{
|
||
|
|
PxgBlockSolverContactHeader* blockContactHeader;
|
||
|
|
PxgBlockSolverFrictionHeader* blockFrictionHeader;
|
||
|
|
PxgBlockSolverContactPoint* blockContactPoints;
|
||
|
|
PxgBlockSolverContactFriction* blockFrictions;
|
||
|
|
};
|
||
|
|
|
||
|
|
struct PxgTGSContactBlockParams
|
||
|
|
{
|
||
|
|
PxgTGSBlockSolverContactHeader* blockContactHeader;
|
||
|
|
PxgTGSBlockSolverFrictionHeader* blockFrictionHeader;
|
||
|
|
PxgTGSBlockSolverContactPoint* blockContactPoints;
|
||
|
|
PxgTGSBlockSolverContactFriction* blockFrictions;
|
||
|
|
};
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
#if PX_VC
|
||
|
|
#pragma warning(pop)
|
||
|
|
#endif
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
|
||
|
|
#endif
|
||
|
|
|