184 lines
7.0 KiB
C
184 lines
7.0 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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// 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 PXS_MATERIAL_COMBINER_H
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#define PXS_MATERIAL_COMBINER_H
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#include "PxsMaterialCore.h"
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namespace physx
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{
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal combineScalars(PxReal a, PxReal b, PxI32 combineMode)
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{
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switch (combineMode)
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{
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case PxCombineMode::eAVERAGE:
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return 0.5f * (a + b);
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case PxCombineMode::eMIN:
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return PxMin(a,b);
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case PxCombineMode::eMULTIPLY:
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return a * b;
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case PxCombineMode::eMAX:
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return PxMax(a,b);
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default:
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return PxReal(0);
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}
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxReal PxsCombinePxReal(PxReal val0, PxReal val1, PxI32 combineMode)
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{
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switch (combineMode)
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{
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case PxCombineMode::eAVERAGE:
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return 0.5f * (val0 + val1);
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case PxCombineMode::eMIN:
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return PxMin(val0, val1);
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case PxCombineMode::eMULTIPLY:
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return (val0 * val1);
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case PxCombineMode::eMAX:
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return PxMax(val0, val1);
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}
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return 0.0f;
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE void PxsCombineMaterials(const PxsMaterialData& mat0Data, const PxsMaterialData& mat1Data,
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PxReal& combinedStaticFriction, PxReal& combinedDynamicFriction,
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PxReal& combinedRestitution, PxU32& combinedMaterialFlags, PxReal& combinedDamping)
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{
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const PxReal r0 = mat0Data.restitution;
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const PxReal r1 = mat1Data.restitution;
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const bool compliant0 = r0 < 0.0f;
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const bool compliant1 = r1 < 0.0f;
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const bool exactlyOneCompliant = compliant0 ^ compliant1;
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const bool bothCompliant = compliant0 & compliant1;
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const bool compliantAcc0 = !!(mat0Data.flags & PxMaterialFlag::eCOMPLIANT_ACCELERATION_SPRING);
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const bool compliantAcc1 = !!(mat1Data.flags & PxMaterialFlag::eCOMPLIANT_ACCELERATION_SPRING);
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const bool exactlyOneAccCompliant = compliantAcc0 ^ compliantAcc1;
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// combine restitution
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{
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// For rigid-rigid or compliant-compliant interactions, follow the user's choice of combine mode but make sure it stays negative for multiply.
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// For rigid-compliant interactions, we go with the compliant behavior.
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// For forceCompliant-accelerationCompliant, we go with the accelerationCompliant behavior
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if (bothCompliant && exactlyOneAccCompliant)
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{
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combinedRestitution = compliantAcc0 ? r0 : r1;
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}
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else
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{
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const PxCombineMode::Enum combineMode =
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exactlyOneCompliant ? PxCombineMode::eMIN
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: PxMax(mat0Data.getRestitutionCombineMode(), mat1Data.getRestitutionCombineMode());
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const PxReal flipSign = (bothCompliant && (combineMode == PxCombineMode::eMULTIPLY)) ? -1.0f : 1.0f;
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combinedRestitution = flipSign * combineScalars(r0, r1, combineMode);
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}
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}
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// combine damping
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{
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// For rigid-rigid or compliant-compliant interactions, follow the user's choice of combine mode.
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// For rigid-compliant interactions, we go with the compliant behavior.
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// For forceCompliant-accelerationCompliant, we go with the accelerationCompliant behavior
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const PxReal d0 = mat0Data.damping;
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const PxReal d1 = mat1Data.damping;
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if (bothCompliant && exactlyOneAccCompliant)
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{
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combinedDamping = compliantAcc0 ? d0 : d1;
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}
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else
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{
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const PxCombineMode::Enum combineMode =
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exactlyOneCompliant ? PxCombineMode::eMAX
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: PxMax(mat0Data.getDampingCombineMode(), mat1Data.getDampingCombineMode());
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combinedDamping = combineScalars(d0, d1, combineMode);
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}
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}
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// combine isotropic friction
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{
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const PxU32 combineFlags = (mat0Data.flags | mat1Data.flags); //& (PxMaterialFlag::eDISABLE_STRONG_FRICTION|PxMaterialFlag::eDISABLE_FRICTION); //eventually set DisStrongFric flag, lower all others.
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if (!(combineFlags & PxMaterialFlag::eDISABLE_FRICTION))
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{
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const PxI32 fictionCombineMode = PxMax(mat0Data.getFrictionCombineMode(), mat1Data.getFrictionCombineMode());
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PxReal dynFriction = 0.0f;
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PxReal staFriction = 0.0f;
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dynFriction = PxsCombinePxReal(mat0Data.dynamicFriction, mat1Data.dynamicFriction, fictionCombineMode);
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staFriction = PxsCombinePxReal(mat0Data.staticFriction, mat1Data.staticFriction, fictionCombineMode);
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/*switch (fictionCombineMode)
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{
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case PxCombineMode::eAVERAGE:
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dynFriction = 0.5f * (mat0Data.dynamicFriction + mat1Data.dynamicFriction);
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staFriction = 0.5f * (mat0Data.staticFriction + mat1Data.staticFriction);
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break;
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case PxCombineMode::eMIN:
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dynFriction = PxMin(mat0Data.dynamicFriction, mat1Data.dynamicFriction);
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staFriction = PxMin(mat0Data.staticFriction, mat1Data.staticFriction);
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break;
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case PxCombineMode::eMULTIPLY:
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dynFriction = (mat0Data.dynamicFriction * mat1Data.dynamicFriction);
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staFriction = (mat0Data.staticFriction * mat1Data.staticFriction);
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break;
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case PxCombineMode::eMAX:
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dynFriction = PxMax(mat0Data.dynamicFriction, mat1Data.dynamicFriction);
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staFriction = PxMax(mat0Data.staticFriction, mat1Data.staticFriction);
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break;
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} */
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//isotropic case
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const PxReal fDynFriction = PxMax(dynFriction, 0.0f);
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#if PX_CUDA_COMPILER
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const PxReal fStaFriction = (staFriction - fDynFriction) >= 0 ? staFriction : fDynFriction;
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#else
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const PxReal fStaFriction = physx::intrinsics::fsel(staFriction - fDynFriction, staFriction, fDynFriction);
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#endif
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combinedDynamicFriction = fDynFriction;
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combinedStaticFriction = fStaFriction;
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combinedMaterialFlags = combineFlags;
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}
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else
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{
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combinedMaterialFlags = combineFlags | PxMaterialFlag::eDISABLE_STRONG_FRICTION;
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combinedDynamicFriction = 0.0f;
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combinedStaticFriction = 0.0f;
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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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