210 lines
9.2 KiB
C++
210 lines
9.2 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.
|
||
|
|
|
||
|
|
#include "ExtPrismaticJoint.h"
|
||
|
|
#include "ExtConstraintHelper.h"
|
||
|
|
|
||
|
|
#include "omnipvd/ExtOmniPvdSetData.h"
|
||
|
|
|
||
|
|
using namespace physx;
|
||
|
|
using namespace Ext;
|
||
|
|
|
||
|
|
PrismaticJoint::PrismaticJoint(const PxTolerancesScale& scale, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1) :
|
||
|
|
PrismaticJointT(PxJointConcreteType::ePRISMATIC, actor0, localFrame0, actor1, localFrame1, "PrismaticJointData")
|
||
|
|
{
|
||
|
|
PrismaticJointData* data = static_cast<PrismaticJointData*>(mData);
|
||
|
|
|
||
|
|
data->limit = PxJointLinearLimitPair(scale);
|
||
|
|
data->jointFlags = PxPrismaticJointFlags();
|
||
|
|
}
|
||
|
|
|
||
|
|
PxPrismaticJointFlags PrismaticJoint::getPrismaticJointFlags() const
|
||
|
|
{
|
||
|
|
return data().jointFlags;
|
||
|
|
}
|
||
|
|
|
||
|
|
void PrismaticJoint::setPrismaticJointFlags(PxPrismaticJointFlags flags)
|
||
|
|
{
|
||
|
|
data().jointFlags = flags; markDirty();
|
||
|
|
|
||
|
|
OMNI_PVD_SET(OMNI_PVD_CONTEXT_HANDLE, PxPrismaticJoint, jointFlags, static_cast<PxPrismaticJoint&>(*this), flags)
|
||
|
|
}
|
||
|
|
|
||
|
|
void PrismaticJoint::setPrismaticJointFlag(PxPrismaticJointFlag::Enum flag, bool value)
|
||
|
|
{
|
||
|
|
if(value)
|
||
|
|
data().jointFlags |= flag;
|
||
|
|
else
|
||
|
|
data().jointFlags &= ~flag;
|
||
|
|
markDirty();
|
||
|
|
|
||
|
|
OMNI_PVD_SET(OMNI_PVD_CONTEXT_HANDLE, PxPrismaticJoint, jointFlags, static_cast<PxPrismaticJoint&>(*this), getPrismaticJointFlags())
|
||
|
|
}
|
||
|
|
|
||
|
|
PxJointLinearLimitPair PrismaticJoint::getLimit() const
|
||
|
|
{
|
||
|
|
return data().limit;
|
||
|
|
}
|
||
|
|
|
||
|
|
void PrismaticJoint::setLimit(const PxJointLinearLimitPair& limit)
|
||
|
|
{
|
||
|
|
PX_CHECK_AND_RETURN(limit.isValid(), "PxPrismaticJoint::setLimit: invalid parameter");
|
||
|
|
data().limit = limit;
|
||
|
|
markDirty();
|
||
|
|
#if PX_SUPPORT_OMNI_PVD
|
||
|
|
OMNI_PVD_WRITE_SCOPE_BEGIN(pvdWriter, pvdRegData)
|
||
|
|
|
||
|
|
PxPrismaticJoint& j = static_cast<PxPrismaticJoint&>(*this);
|
||
|
|
OMNI_PVD_SET_EXPLICIT(pvdWriter, pvdRegData, OMNI_PVD_CONTEXT_HANDLE, PxPrismaticJoint, limitLower, j, limit.lower)
|
||
|
|
OMNI_PVD_SET_EXPLICIT(pvdWriter, pvdRegData, OMNI_PVD_CONTEXT_HANDLE, PxPrismaticJoint, limitUpper, j, limit.upper)
|
||
|
|
OMNI_PVD_SET_EXPLICIT(pvdWriter, pvdRegData, OMNI_PVD_CONTEXT_HANDLE, PxPrismaticJoint, limitRestitution, j, limit.restitution)
|
||
|
|
OMNI_PVD_SET_EXPLICIT(pvdWriter, pvdRegData, OMNI_PVD_CONTEXT_HANDLE, PxPrismaticJoint, limitBounceThreshold, j, limit.bounceThreshold)
|
||
|
|
OMNI_PVD_SET_EXPLICIT(pvdWriter, pvdRegData, OMNI_PVD_CONTEXT_HANDLE, PxPrismaticJoint, limitStiffness, j, limit.stiffness)
|
||
|
|
OMNI_PVD_SET_EXPLICIT(pvdWriter, pvdRegData, OMNI_PVD_CONTEXT_HANDLE, PxPrismaticJoint, limitDamping, j, limit.damping)
|
||
|
|
|
||
|
|
OMNI_PVD_WRITE_SCOPE_END
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
static void PrismaticJointVisualize(PxConstraintVisualizer& viz, const void* constantBlock, const PxTransform& body0Transform, const PxTransform& body1Transform, PxU32 flags)
|
||
|
|
{
|
||
|
|
const PrismaticJointData& data = *reinterpret_cast<const PrismaticJointData*>(constantBlock);
|
||
|
|
|
||
|
|
PxTransform32 cA2w, cB2w;
|
||
|
|
joint::computeJointFrames(cA2w, cB2w, data, body0Transform, body1Transform);
|
||
|
|
if(flags & PxConstraintVisualizationFlag::eLOCAL_FRAMES)
|
||
|
|
viz.visualizeJointFrames(cA2w, cB2w);
|
||
|
|
|
||
|
|
if((flags & PxConstraintVisualizationFlag::eLIMITS) && (data.jointFlags & PxPrismaticJointFlag::eLIMIT_ENABLED))
|
||
|
|
{
|
||
|
|
viz.visualizeLinearLimit(cA2w, cB2w, data.limit.lower);
|
||
|
|
viz.visualizeLinearLimit(cA2w, cB2w, data.limit.upper);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
//TAG:solverprepshader
|
||
|
|
static PxU32 PrismaticJointSolverPrep(Px1DConstraint* constraints,
|
||
|
|
PxVec3p& body0WorldOffset,
|
||
|
|
PxU32 /*maxConstraints*/,
|
||
|
|
PxConstraintInvMassScale& invMassScale,
|
||
|
|
const void* constantBlock,
|
||
|
|
const PxTransform& bA2w,
|
||
|
|
const PxTransform& bB2w,
|
||
|
|
bool /*useExtendedLimits*/,
|
||
|
|
PxVec3p& cA2wOut, PxVec3p& cB2wOut)
|
||
|
|
{
|
||
|
|
const PrismaticJointData& data = *reinterpret_cast<const PrismaticJointData*>(constantBlock);
|
||
|
|
|
||
|
|
PxTransform32 cA2w, cB2w;
|
||
|
|
joint::ConstraintHelper ch(constraints, invMassScale, cA2w, cB2w, body0WorldOffset, data, bA2w, bB2w);
|
||
|
|
|
||
|
|
joint::applyNeighborhoodOperator(cA2w, cB2w);
|
||
|
|
|
||
|
|
const bool limitEnabled = data.jointFlags & PxPrismaticJointFlag::eLIMIT_ENABLED;
|
||
|
|
const PxJointLinearLimitPair& limit = data.limit;
|
||
|
|
const bool limitIsLocked = limitEnabled && limit.lower >= limit.upper;
|
||
|
|
|
||
|
|
const PxVec3 bOriginInA = cA2w.transformInv(cB2w.p);
|
||
|
|
|
||
|
|
PxVec3 ra, rb, axis;
|
||
|
|
ch.prepareLockedAxes(cA2w.q, cB2w.q, bOriginInA, limitIsLocked ? 7ul : 6ul, 7ul, ra, rb, &axis);
|
||
|
|
cA2wOut = ra + bA2w.p;
|
||
|
|
cB2wOut = rb + bB2w.p;
|
||
|
|
|
||
|
|
if(limitEnabled && !limitIsLocked)
|
||
|
|
{
|
||
|
|
const PxReal ordinate = bOriginInA.x;
|
||
|
|
|
||
|
|
ch.linearLimit(axis, ordinate, limit.upper, limit);
|
||
|
|
ch.linearLimit(-axis, -ordinate, -limit.lower, limit);
|
||
|
|
}
|
||
|
|
|
||
|
|
return ch.getCount();
|
||
|
|
}
|
||
|
|
|
||
|
|
///////////////////////////////////////////////////////////////////////////////
|
||
|
|
|
||
|
|
static PxConstraintShaderTable gPrismaticJointShaders = { PrismaticJointSolverPrep, PrismaticJointVisualize, PxConstraintFlag::Enum(0) };
|
||
|
|
|
||
|
|
PxConstraintSolverPrep PrismaticJoint::getPrep() const { return gPrismaticJointShaders.solverPrep; }
|
||
|
|
|
||
|
|
PxPrismaticJoint* physx::PxPrismaticJointCreate(PxPhysics& physics, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1)
|
||
|
|
{
|
||
|
|
PX_CHECK_AND_RETURN_NULL(localFrame0.isSane(), "PxPrismaticJointCreate: local frame 0 is not a valid transform");
|
||
|
|
PX_CHECK_AND_RETURN_NULL(localFrame1.isSane(), "PxPrismaticJointCreate: local frame 1 is not a valid transform");
|
||
|
|
PX_CHECK_AND_RETURN_NULL((actor0 && actor0->is<PxRigidBody>()) || (actor1 && actor1->is<PxRigidBody>()), "PxPrismaticJointCreate: at least one actor must be dynamic");
|
||
|
|
PX_CHECK_AND_RETURN_NULL(actor0 != actor1, "PxPrismaticJointCreate: actors must be different");
|
||
|
|
|
||
|
|
return createJointT<PrismaticJoint, PrismaticJointData>(physics, actor0, localFrame0, actor1, localFrame1, gPrismaticJointShaders);
|
||
|
|
}
|
||
|
|
|
||
|
|
// PX_SERIALIZATION
|
||
|
|
void PrismaticJoint::resolveReferences(PxDeserializationContext& context)
|
||
|
|
{
|
||
|
|
mPxConstraint = resolveConstraintPtr(context, mPxConstraint, this, gPrismaticJointShaders);
|
||
|
|
}
|
||
|
|
//~PX_SERIALIZATION
|
||
|
|
|
||
|
|
#if PX_SUPPORT_OMNI_PVD
|
||
|
|
|
||
|
|
void PrismaticJoint::updateOmniPvdProperties() const
|
||
|
|
{
|
||
|
|
OMNI_PVD_WRITE_SCOPE_BEGIN(pvdWriter, pvdRegData)
|
||
|
|
|
||
|
|
const PxPrismaticJoint& j = static_cast<const PxPrismaticJoint&>(*this);
|
||
|
|
OMNI_PVD_SET_EXPLICIT(pvdWriter, pvdRegData, OMNI_PVD_CONTEXT_HANDLE, PxPrismaticJoint, position, j, getPosition())
|
||
|
|
OMNI_PVD_SET_EXPLICIT(pvdWriter, pvdRegData, OMNI_PVD_CONTEXT_HANDLE, PxPrismaticJoint, velocity, j, getVelocity())
|
||
|
|
|
||
|
|
OMNI_PVD_WRITE_SCOPE_END
|
||
|
|
}
|
||
|
|
|
||
|
|
template<>
|
||
|
|
void physx::Ext::omniPvdInitJoint<PrismaticJoint>(PrismaticJoint& joint)
|
||
|
|
{
|
||
|
|
OMNI_PVD_WRITE_SCOPE_BEGIN(pvdWriter, pvdRegData)
|
||
|
|
|
||
|
|
PxPrismaticJoint& j = static_cast<PxPrismaticJoint&>(joint);
|
||
|
|
OMNI_PVD_CREATE_EXPLICIT(pvdWriter, pvdRegData, OMNI_PVD_CONTEXT_HANDLE, PxPrismaticJoint, j);
|
||
|
|
omniPvdSetBaseJointParams(static_cast<PxJoint&>(joint), PxJointConcreteType::ePRISMATIC);
|
||
|
|
|
||
|
|
PxJointLinearLimitPair limit = joint.getLimit();
|
||
|
|
OMNI_PVD_SET_EXPLICIT(pvdWriter, pvdRegData, OMNI_PVD_CONTEXT_HANDLE, PxPrismaticJoint, limitLower, j, limit.lower)
|
||
|
|
OMNI_PVD_SET_EXPLICIT(pvdWriter, pvdRegData, OMNI_PVD_CONTEXT_HANDLE, PxPrismaticJoint, limitUpper, j, limit.upper)
|
||
|
|
OMNI_PVD_SET_EXPLICIT(pvdWriter, pvdRegData, OMNI_PVD_CONTEXT_HANDLE, PxPrismaticJoint, limitRestitution, j, limit.restitution)
|
||
|
|
OMNI_PVD_SET_EXPLICIT(pvdWriter, pvdRegData, OMNI_PVD_CONTEXT_HANDLE, PxPrismaticJoint, limitBounceThreshold, j, limit.bounceThreshold)
|
||
|
|
OMNI_PVD_SET_EXPLICIT(pvdWriter, pvdRegData, OMNI_PVD_CONTEXT_HANDLE, PxPrismaticJoint, limitStiffness, j, limit.stiffness)
|
||
|
|
OMNI_PVD_SET_EXPLICIT(pvdWriter, pvdRegData, OMNI_PVD_CONTEXT_HANDLE, PxPrismaticJoint, limitDamping, j, limit.damping)
|
||
|
|
|
||
|
|
OMNI_PVD_SET_EXPLICIT(pvdWriter, pvdRegData, OMNI_PVD_CONTEXT_HANDLE, PxPrismaticJoint, position, j, joint.getPosition())
|
||
|
|
OMNI_PVD_SET_EXPLICIT(pvdWriter, pvdRegData, OMNI_PVD_CONTEXT_HANDLE, PxPrismaticJoint, velocity, j, joint.getVelocity())
|
||
|
|
|
||
|
|
OMNI_PVD_WRITE_SCOPE_END
|
||
|
|
}
|
||
|
|
|
||
|
|
#endif
|