314 lines
11 KiB
C
314 lines
11 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_HELPER_H
|
||
|
|
#define PXG_CONSTRAINT_HELPER_H
|
||
|
|
|
||
|
|
#include "PxgD6JointLimit.h"
|
||
|
|
#include "foundation/PxQuat.h"
|
||
|
|
#include "foundation/PxMathUtils.h"
|
||
|
|
#include "CmConeLimitHelper.h"
|
||
|
|
|
||
|
|
// PT: TODO: refactor/share remaining code. One reason for the duplication is that the CPU code uses
|
||
|
|
// SIMD here and there, while the GPU code doesn't. But we could still merge the two eventually.
|
||
|
|
|
||
|
|
namespace physx
|
||
|
|
{
|
||
|
|
// PT: TODO: this is a duplicate of the one in Extensions, but less robust?
|
||
|
|
PX_CUDA_CALLABLE PX_INLINE void computeJacobianAxes(PxVec3 row[3], const PxQuat& qa, const PxQuat& qb)
|
||
|
|
{
|
||
|
|
// Compute jacobian matrix for (qa* qb) [[* means conjugate in this expr]]
|
||
|
|
// d/dt (qa* qb) = 1/2 L(qa*) R(qb) (omega_b - omega_a)
|
||
|
|
// result is L(qa*) R(qb), where L(q) and R(q) are left/right q multiply matrix
|
||
|
|
|
||
|
|
PxReal wa = qa.w, wb = qb.w;
|
||
|
|
const PxVec3 va(qa.x,qa.y,qa.z), vb(qb.x,qb.y,qb.z);
|
||
|
|
|
||
|
|
const PxVec3 c = vb*wa + va*wb;
|
||
|
|
const PxReal d = wa*wb - va.dot(vb);
|
||
|
|
|
||
|
|
row[0] = (va * vb.x + vb * va.x + PxVec3(d, c.z, -c.y)) * 0.5f;
|
||
|
|
row[1] = (va * vb.y + vb * va.y + PxVec3(-c.z, d, c.x)) * 0.5f;
|
||
|
|
row[2] = (va * vb.z + vb * va.z + PxVec3(c.y, -c.x, d)) * 0.5f;
|
||
|
|
}
|
||
|
|
|
||
|
|
PX_INLINE PX_CUDA_CALLABLE void computeJointFrames(PxTransform& cA2w, PxTransform& cB2w, const PxgJointData& data, const PxTransform& bA2w, const PxTransform& bB2w)
|
||
|
|
{
|
||
|
|
PX_ASSERT(bA2w.isValid() && bB2w.isValid());
|
||
|
|
|
||
|
|
cA2w = bA2w.transform(data.c2b[0]);
|
||
|
|
cB2w = bB2w.transform(data.c2b[1]);
|
||
|
|
|
||
|
|
PX_ASSERT(cA2w.isValid() && cB2w.isValid());
|
||
|
|
}
|
||
|
|
|
||
|
|
class PxgConstraintHelper
|
||
|
|
{
|
||
|
|
PxVec3 mRa, mRb;
|
||
|
|
|
||
|
|
public:
|
||
|
|
PX_CUDA_CALLABLE PxgConstraintHelper(/*Px1DConstraint* c,*/ const PxVec3& ra, const PxVec3& rb)
|
||
|
|
: /*mConstraints(c), mCurrent(c),*/ mRa(ra), mRb(rb) {}
|
||
|
|
|
||
|
|
PX_CUDA_CALLABLE PxgConstraintHelper(
|
||
|
|
PxTransform& cA2w, PxTransform& cB2w,
|
||
|
|
const PxgJointData& data, const PxTransform& bA2w, const PxTransform& bB2w)
|
||
|
|
{
|
||
|
|
computeJointFrames(cA2w, cB2w, data, bA2w, bB2w);
|
||
|
|
|
||
|
|
mRa = cB2w.p - bA2w.p;
|
||
|
|
mRb = cB2w.p - bB2w.p;
|
||
|
|
}
|
||
|
|
|
||
|
|
// hard linear & angular
|
||
|
|
PX_FORCE_INLINE void linearHard(Px1DConstraint* c, const PxVec3& axis, PxReal posErr)
|
||
|
|
{
|
||
|
|
linear(c, axis, posErr, PxConstraintSolveHint::eEQUALITY);
|
||
|
|
c->flags |= Px1DConstraintFlag::eOUTPUT_FORCE;
|
||
|
|
}
|
||
|
|
|
||
|
|
PX_CUDA_CALLABLE PX_FORCE_INLINE void angularHard(Px1DConstraint* c, const PxVec3& axis, PxReal posErr)
|
||
|
|
{
|
||
|
|
angular(c, axis, posErr, PxConstraintSolveHint::eEQUALITY);
|
||
|
|
c->flags |= Px1DConstraintFlag::eOUTPUT_FORCE;
|
||
|
|
}
|
||
|
|
|
||
|
|
// limited linear & angular
|
||
|
|
PX_CUDA_CALLABLE PX_FORCE_INLINE PxU32 linearLimit(Px1DConstraint* c, PxU32 currentIndex, const PxVec3& axis, PxReal ordinate, PxReal limitValue, const PxgJointLimitParameters& limit)
|
||
|
|
{
|
||
|
|
if(!limit.isSoft() || ordinate > limitValue)
|
||
|
|
{
|
||
|
|
Px1DConstraint* cConstraint = &c[currentIndex++];
|
||
|
|
linear(cConstraint, axis,limitValue - ordinate, PxConstraintSolveHint::eNONE);
|
||
|
|
addLimit(cConstraint ,limit);
|
||
|
|
}
|
||
|
|
return currentIndex;
|
||
|
|
}
|
||
|
|
|
||
|
|
PX_FORCE_INLINE PxU32 angularLimit(Px1DConstraint* c, PxU32 currentIndex, const PxVec3& axis, PxReal ordinate, PxReal limitValue, PxReal pad, const PxgJointLimitParameters& limit)
|
||
|
|
{
|
||
|
|
if(limit.isSoft())
|
||
|
|
pad = 0;
|
||
|
|
|
||
|
|
if(ordinate + pad > limitValue)
|
||
|
|
{
|
||
|
|
Px1DConstraint* cConstraint = &c[currentIndex++];
|
||
|
|
angular(cConstraint, axis,limitValue - ordinate, PxConstraintSolveHint::eNONE);
|
||
|
|
addLimit(cConstraint,limit);
|
||
|
|
}
|
||
|
|
return currentIndex;
|
||
|
|
}
|
||
|
|
|
||
|
|
PX_CUDA_CALLABLE PX_FORCE_INLINE void angularLimit(Px1DConstraint* c, const PxVec3& axis, PxReal error, const PxgJointLimitParameters& limit)const
|
||
|
|
{
|
||
|
|
angular(c, axis,error, PxConstraintSolveHint::eNONE);
|
||
|
|
addLimit(c,limit);
|
||
|
|
}
|
||
|
|
|
||
|
|
PX_CUDA_CALLABLE PX_FORCE_INLINE PxU32 anglePair(Px1DConstraint* c, PxU32 currentIndex, PxReal angle, PxReal lower, PxReal upper, const PxVec3& axis, const PxgJointLimitParameters& limit)const
|
||
|
|
{
|
||
|
|
PX_ASSERT(lower<upper);
|
||
|
|
const bool softLimit = limit.isSoft();
|
||
|
|
|
||
|
|
if (!softLimit || angle < lower)
|
||
|
|
angularLimit(&c[currentIndex++], -axis, -(lower - angle), limit);
|
||
|
|
if (!softLimit || angle > upper)
|
||
|
|
angularLimit(&c[currentIndex++], axis, (upper - angle), limit);
|
||
|
|
|
||
|
|
return currentIndex;
|
||
|
|
}
|
||
|
|
|
||
|
|
// driven linear & angular
|
||
|
|
|
||
|
|
PX_CUDA_CALLABLE PX_FORCE_INLINE void linear(Px1DConstraint* c, const PxVec3& axis, PxReal velTarget, PxReal error, const PxgD6JointDrive& drive)const
|
||
|
|
{
|
||
|
|
linear(c, axis,error,PxConstraintSolveHint::eNONE);
|
||
|
|
addDrive(c,velTarget,drive);
|
||
|
|
}
|
||
|
|
|
||
|
|
PX_CUDA_CALLABLE PX_FORCE_INLINE void angular(Px1DConstraint* c, const PxVec3& axis, PxReal velTarget, PxReal error, const PxgD6JointDrive& drive, PxConstraintSolveHint::Enum hint = PxConstraintSolveHint::eNONE)const
|
||
|
|
{
|
||
|
|
angular(c, axis,error,hint);
|
||
|
|
addDrive(c,velTarget,drive);
|
||
|
|
}
|
||
|
|
|
||
|
|
//PX_CUDA_CALLABLE PX_FORCE_INLINE PxU32 getCount() { return PxU32(mCurrent - mConstraints); }
|
||
|
|
|
||
|
|
PX_CUDA_CALLABLE PxU32 prepareLockedAxes(Px1DConstraint* c, PxU32 currentIndex, const PxQuat& qA, const PxQuat& qB, const PxVec3& cB2cAp, PxU32 lin, PxU32 ang,
|
||
|
|
PxVec3& raOut)
|
||
|
|
{
|
||
|
|
//Px1DConstraint* current = mCurrent;
|
||
|
|
//const PxU32 startIndex = currentIndex;
|
||
|
|
|
||
|
|
PxVec3 errorVector(0.f);
|
||
|
|
|
||
|
|
PxVec3 ra = mRa;
|
||
|
|
|
||
|
|
if(lin)
|
||
|
|
{
|
||
|
|
PxMat33 axes(qA);
|
||
|
|
|
||
|
|
if (lin & 1) errorVector -= axes.column0 * cB2cAp.x;
|
||
|
|
if (lin & 2) errorVector -= axes.column1 * cB2cAp.y;
|
||
|
|
if (lin & 4) errorVector -= axes.column2 * cB2cAp.z;
|
||
|
|
|
||
|
|
ra += errorVector;
|
||
|
|
|
||
|
|
if(lin&1) linear(&c[currentIndex++], axes[0], ra, mRb, -cB2cAp[0], PxConstraintSolveHint::eEQUALITY, Px1DConstraintFlag::eOUTPUT_FORCE);
|
||
|
|
if(lin&2) linear(&c[currentIndex++], axes[1], ra, mRb, -cB2cAp[1], PxConstraintSolveHint::eEQUALITY, Px1DConstraintFlag::eOUTPUT_FORCE);
|
||
|
|
if(lin&4) linear(&c[currentIndex++], axes[2], ra, mRb, -cB2cAp[2], PxConstraintSolveHint::eEQUALITY, Px1DConstraintFlag::eOUTPUT_FORCE);
|
||
|
|
}
|
||
|
|
|
||
|
|
if (ang)
|
||
|
|
{
|
||
|
|
PxQuat qB2qA = qA.getConjugate() * qB;
|
||
|
|
/*if (qB2qA.w<0)
|
||
|
|
qB2qA = -qB2qA;*/
|
||
|
|
|
||
|
|
PxVec3 row[3];
|
||
|
|
computeJacobianAxes(row, qA, qB);
|
||
|
|
PxVec3 imp = qB2qA.getImaginaryPart();
|
||
|
|
if (ang & 1) angular(&c[currentIndex++], row[0], -imp.x, PxConstraintSolveHint::eEQUALITY, Px1DConstraintFlag::eOUTPUT_FORCE);
|
||
|
|
if (ang & 2) angular(&c[currentIndex++], row[1], -imp.y, PxConstraintSolveHint::eEQUALITY, Px1DConstraintFlag::eOUTPUT_FORCE);
|
||
|
|
if (ang & 4) angular(&c[currentIndex++], row[2], -imp.z, PxConstraintSolveHint::eEQUALITY, Px1DConstraintFlag::eOUTPUT_FORCE);
|
||
|
|
}
|
||
|
|
|
||
|
|
raOut = ra;
|
||
|
|
|
||
|
|
return currentIndex;
|
||
|
|
}
|
||
|
|
|
||
|
|
private:
|
||
|
|
PX_CUDA_CALLABLE PX_FORCE_INLINE void linear(Px1DConstraint* c, const PxVec3& axis, PxReal posErr, PxConstraintSolveHint::Enum hint)const
|
||
|
|
{
|
||
|
|
c->solveHint = PxU16(hint);
|
||
|
|
c->linear0 = axis; c->angular0 = mRa.cross(axis);
|
||
|
|
c->linear1 = axis; c->angular1 = mRb.cross(axis);
|
||
|
|
PX_ASSERT(c->linear0.isFinite());
|
||
|
|
PX_ASSERT(c->linear1.isFinite());
|
||
|
|
PX_ASSERT(c->angular0.isFinite());
|
||
|
|
PX_ASSERT(c->angular1.isFinite());
|
||
|
|
|
||
|
|
c->geometricError = posErr;
|
||
|
|
|
||
|
|
c->flags = 0;
|
||
|
|
c->minImpulse = -PX_MAX_REAL;
|
||
|
|
c->maxImpulse = PX_MAX_REAL;
|
||
|
|
c->mods.spring.damping = 0.f;
|
||
|
|
c->mods.spring.stiffness = 0.f;
|
||
|
|
c->velocityTarget =0.f;
|
||
|
|
}
|
||
|
|
|
||
|
|
PX_CUDA_CALLABLE PX_FORCE_INLINE void linear(Px1DConstraint* c, const PxVec3& axis, const PxVec3& ra, const PxVec3& rb, PxReal posErr, PxConstraintSolveHint::Enum hint,
|
||
|
|
PxU32 flags = 0)const
|
||
|
|
{
|
||
|
|
c->solveHint = PxU16(hint);
|
||
|
|
c->linear0 = axis; c->angular0 = ra.cross(axis);
|
||
|
|
c->linear1 = axis; c->angular1 = rb.cross(axis);
|
||
|
|
PX_ASSERT(c->linear0.isFinite());
|
||
|
|
PX_ASSERT(c->linear1.isFinite());
|
||
|
|
PX_ASSERT(c->angular0.isFinite());
|
||
|
|
PX_ASSERT(c->angular1.isFinite());
|
||
|
|
|
||
|
|
c->geometricError = posErr;
|
||
|
|
|
||
|
|
c->flags = flags;
|
||
|
|
c->minImpulse = -PX_MAX_REAL;
|
||
|
|
c->maxImpulse = PX_MAX_REAL;
|
||
|
|
c->mods.spring.damping = 0.f;
|
||
|
|
c->mods.spring.stiffness = 0.f;
|
||
|
|
c->velocityTarget = 0.f;
|
||
|
|
}
|
||
|
|
|
||
|
|
PX_CUDA_CALLABLE PX_FORCE_INLINE void angular(Px1DConstraint* c, const PxVec3& axis, PxReal posErr, PxConstraintSolveHint::Enum hint,
|
||
|
|
PxU32 flags = 0)const
|
||
|
|
{
|
||
|
|
c->solveHint = PxU16(hint);
|
||
|
|
c->linear0 = PxVec3(0); c->angular0 = axis;
|
||
|
|
c->linear1 = PxVec3(0); c->angular1 = axis;
|
||
|
|
c->geometricError = posErr;
|
||
|
|
|
||
|
|
c->flags = flags | Px1DConstraintFlag::eANGULAR_CONSTRAINT;
|
||
|
|
c->minImpulse = -PX_MAX_REAL;
|
||
|
|
c->maxImpulse = PX_MAX_REAL;
|
||
|
|
c->mods.spring.damping = 0.f;
|
||
|
|
c->mods.spring.stiffness = 0.f;
|
||
|
|
c->velocityTarget = 0.f;
|
||
|
|
}
|
||
|
|
|
||
|
|
PX_CUDA_CALLABLE void addLimit(Px1DConstraint* c, const PxgJointLimitParameters& limit)const
|
||
|
|
{
|
||
|
|
PxU16 flags = PxU16(c->flags | Px1DConstraintFlag::eOUTPUT_FORCE);
|
||
|
|
|
||
|
|
if(limit.isSoft())
|
||
|
|
{
|
||
|
|
flags |= Px1DConstraintFlag::eSPRING;
|
||
|
|
c->mods.spring.stiffness = limit.stiffness;
|
||
|
|
c->mods.spring.damping = limit.damping;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
c->solveHint = PxConstraintSolveHint::eINEQUALITY;
|
||
|
|
c->mods.bounce.restitution = limit.restitution;
|
||
|
|
c->mods.bounce.velocityThreshold = limit.bounceThreshold;
|
||
|
|
if(c->geometricError>0)
|
||
|
|
flags |= Px1DConstraintFlag::eKEEPBIAS;
|
||
|
|
if(limit.restitution>0)
|
||
|
|
flags |= Px1DConstraintFlag::eRESTITUTION;
|
||
|
|
}
|
||
|
|
|
||
|
|
c->flags = flags;
|
||
|
|
c->minImpulse = 0;
|
||
|
|
}
|
||
|
|
|
||
|
|
PX_CUDA_CALLABLE void addDrive(Px1DConstraint* c, PxReal velTarget, const PxgD6JointDrive& drive)const
|
||
|
|
{
|
||
|
|
c->velocityTarget = velTarget;
|
||
|
|
|
||
|
|
PxU16 flags = PxU16(c->flags | Px1DConstraintFlag::eSPRING | Px1DConstraintFlag::eHAS_DRIVE_LIMIT);
|
||
|
|
|
||
|
|
if(drive.flags & PxgD6JointDriveFlag::eACCELERATION)
|
||
|
|
flags |= Px1DConstraintFlag::eACCELERATION_SPRING;
|
||
|
|
|
||
|
|
if (drive.flags & PxgD6JointDriveFlag::eOUTPUT_FORCE)
|
||
|
|
flags |= Px1DConstraintFlag::eOUTPUT_FORCE;
|
||
|
|
|
||
|
|
c->flags = flags;
|
||
|
|
c->mods.spring.stiffness = drive.stiffness;
|
||
|
|
c->mods.spring.damping = drive.damping;
|
||
|
|
|
||
|
|
c->minImpulse = -drive.forceLimit;
|
||
|
|
c->maxImpulse = drive.forceLimit;
|
||
|
|
|
||
|
|
//PX_ASSERT(c->linear0.isFinite());
|
||
|
|
//PX_ASSERT(c->angular0.isFinite());
|
||
|
|
}
|
||
|
|
};
|
||
|
|
}
|
||
|
|
|
||
|
|
#endif
|