112 lines
3.4 KiB
C
112 lines
3.4 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_FEATHERSTONE_ARTICULATION_JOINT_DATA_H
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#define DY_FEATHERSTONE_ARTICULATION_JOINT_DATA_H
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#include "foundation/PxVec3.h"
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#include "foundation/PxQuat.h"
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#include "foundation/PxTransform.h"
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#include "foundation/PxVecMath.h"
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#include "CmUtils.h"
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#include "CmSpatialVector.h"
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#include "DyVArticulation.h"
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#include "DyFeatherstoneArticulationUtils.h"
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#include "DyArticulationJointCore.h"
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#include <stdio.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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class ArticulationJointCoreData
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{
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public:
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ArticulationJointCoreData() : jointOffset(0xffffffff)
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{
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxU8 countJointDofs(ArticulationJointCore* joint) const
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{
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PxU8 tDof = 0;
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for (PxU32 i = 0; i < DY_MAX_DOF; ++i)
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{
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if (joint->motion[i] != PxArticulationMotion::eLOCKED)
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{
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tDof++;
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}
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}
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return tDof;
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}
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PX_FORCE_INLINE PxU8 configureJointDofs(ArticulationJointCore* joint, Cm::UnAlignedSpatialVector* jointAxis)
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{
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nbDof = 0;
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dofLimitMask = 0;
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//KS - no need to zero memory here.
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//PxMemZero(jointAxis, sizeof(jointAxis));
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for (PxU8 i = 0; i < DY_MAX_DOF; ++i)
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{
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if (joint->motion[i] != PxArticulationMotion::eLOCKED)
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{
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Cm::UnAlignedSpatialVector axis = Cm::UnAlignedSpatialVector::Zero();
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//axis is in the local space of joint
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axis[i] = 1.f;
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jointAxis[nbDof] = axis;
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joint->invDofIds[i] = nbDof;
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joint->dofIds[nbDof] = i;
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if (joint->motion[i] == PxArticulationMotion::eLIMITED)
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dofLimitMask |= 1 << nbDof;
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nbDof++;
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}
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}
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return nbDof;
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}
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PxU32 jointOffset; //4
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//degree of freedom
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PxU8 nbDof; //1
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PxU8 dofLimitMask; //1
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};
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}//namespace Dy
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}
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#endif
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