374 lines
12 KiB
C++
374 lines
12 KiB
C++
// 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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#include "ScArticulationTendonSim.h"
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#include "ScArticulationTendonCore.h"
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#include "ScArticulationAttachmentCore.h"
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#include "ScArticulationTendonJointCore.h"
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#include "ScArticulationJointCore.h"
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#include "ScScene.h"
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#include "DyArticulationTendon.h"
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#include "ScArticulationSim.h"
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using namespace physx;
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Sc::ArticulationSpatialTendonSim::ArticulationSpatialTendonSim(ArticulationSpatialTendonCore& tendon, Scene& scene) :
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mTendonCore(tendon), mScene(scene)
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{
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mTendonCore.setSim(this);
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mLLTendon.mStiffness = tendon.mStiffness;
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mLLTendon.mDamping = tendon.mDamping;
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mLLTendon.mOffset = tendon.mOffset;
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mLLTendon.mLimitStiffness = tendon.mLimitStiffness;
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}
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Sc::ArticulationSpatialTendonSim::~ArticulationSpatialTendonSim()
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{
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mTendonCore.setSim(NULL);
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}
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void Sc::ArticulationSpatialTendonSim::setStiffness(const PxReal stiffness)
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{
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mLLTendon.mStiffness = stiffness;
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Dy::FeatherstoneArticulation* llArticulation = static_cast<Dy::FeatherstoneArticulation*>(mArtiSim->getLowLevelArticulation());
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llArticulation->setGpuDirtyFlag(Dy::ArticulationDirtyFlag::eDIRTY_SPATIAL_TENDON);
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}
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PxReal Sc::ArticulationSpatialTendonSim::getStiffness() const
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{
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return mLLTendon.mStiffness;
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}
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void Sc::ArticulationSpatialTendonSim::setDamping(const PxReal damping)
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{
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mLLTendon.mDamping = damping;
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Dy::FeatherstoneArticulation* llArticulation = static_cast<Dy::FeatherstoneArticulation*>(mArtiSim->getLowLevelArticulation());
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llArticulation->setGpuDirtyFlag(Dy::ArticulationDirtyFlag::eDIRTY_SPATIAL_TENDON);
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}
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PxReal Sc::ArticulationSpatialTendonSim::getDamping() const
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{
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return mLLTendon.mDamping;
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}
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void Sc::ArticulationSpatialTendonSim::setLimitStiffness(const PxReal stiffness)
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{
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mLLTendon.mLimitStiffness = stiffness;
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Dy::FeatherstoneArticulation* llArticulation = static_cast<Dy::FeatherstoneArticulation*>(mArtiSim->getLowLevelArticulation());
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llArticulation->setGpuDirtyFlag(Dy::ArticulationDirtyFlag::eDIRTY_FIXED_TENDON);
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}
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PxReal Sc::ArticulationSpatialTendonSim::getLimitStiffness() const
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{
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return mLLTendon.mLimitStiffness;
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}
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void Sc::ArticulationSpatialTendonSim::setOffset(const PxReal offset)
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{
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mLLTendon.mOffset = offset;
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Dy::FeatherstoneArticulation* llArticulation = static_cast<Dy::FeatherstoneArticulation*>(mArtiSim->getLowLevelArticulation());
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llArticulation->setGpuDirtyFlag(Dy::ArticulationDirtyFlag::eDIRTY_SPATIAL_TENDON);
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}
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PxReal Sc::ArticulationSpatialTendonSim::getOffset() const
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{
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return mLLTendon.mOffset;
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}
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void Sc::ArticulationSpatialTendonSim::setAttachmentCoefficient(ArticulationAttachmentCore& core, const PxReal coefficient)
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{
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const PxU32 index = core.mAttachmentIndex;
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Dy::ArticulationAttachment& attachment = mLLTendon.getAttachment(index);
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attachment.coefficient = coefficient;
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Dy::FeatherstoneArticulation* llArticulation = static_cast<Dy::FeatherstoneArticulation*>(mArtiSim->getLowLevelArticulation());
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llArticulation->setGpuDirtyFlag(Dy::ArticulationDirtyFlag::eDIRTY_SPATIAL_TENDON_ATTACHMENT);
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}
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void Sc::ArticulationSpatialTendonSim::setAttachmentRelativeOffset(ArticulationAttachmentCore& core, const PxVec3& offset)
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{
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const PxU32 index = core.mAttachmentIndex;
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Dy::ArticulationAttachment& attachment = mLLTendon.getAttachment(index);
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attachment.relativeOffset = offset;
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Dy::FeatherstoneArticulation* llArticulation = static_cast<Dy::FeatherstoneArticulation*>(mArtiSim->getLowLevelArticulation());
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llArticulation->setGpuDirtyFlag(Dy::ArticulationDirtyFlag::eDIRTY_SPATIAL_TENDON_ATTACHMENT);
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}
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void Sc::ArticulationSpatialTendonSim::setAttachmentLimits(ArticulationAttachmentCore& core, const PxReal lowLimit, const PxReal highLimit)
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{
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const PxU32 index = core.mAttachmentIndex;
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Dy::ArticulationAttachment& attachment = mLLTendon.getAttachment(index);
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attachment.lowLimit = lowLimit;
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attachment.highLimit = highLimit;
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Dy::FeatherstoneArticulation* llArticulation = static_cast<Dy::FeatherstoneArticulation*>(mArtiSim->getLowLevelArticulation());
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llArticulation->setGpuDirtyFlag(Dy::ArticulationDirtyFlag::eDIRTY_SPATIAL_TENDON_ATTACHMENT);
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}
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void Sc::ArticulationSpatialTendonSim::setAttachmentRestLength(ArticulationAttachmentCore& core, const PxReal restLength)
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{
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const PxU32 index = core.mAttachmentIndex;
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Dy::ArticulationAttachment& attachment = mLLTendon.getAttachment(index);
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attachment.restLength = restLength;
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Dy::FeatherstoneArticulation* llArticulation = static_cast<Dy::FeatherstoneArticulation*>(mArtiSim->getLowLevelArticulation());
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llArticulation->setGpuDirtyFlag(Dy::ArticulationDirtyFlag::eDIRTY_SPATIAL_TENDON_ATTACHMENT);
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}
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void Sc::ArticulationSpatialTendonSim::addAttachment(ArticulationAttachmentCore& core)
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{
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const PxU32 index = mLLTendon.getNewID();
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Dy::ArticulationAttachment& attachment = mLLTendon.getAttachment(index);
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attachment.relativeOffset = core.mRelativeOffset;
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attachment.linkInd = PxU16(core.mLLLinkIndex);
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attachment.lowLimit = core.mLowLimit;
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attachment.highLimit = core.mHighLimit;
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attachment.coefficient = core.mCoefficient;
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attachment.myInd = index;
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attachment.children = 0;
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attachment.childCount = 0;
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attachment.restLength = core.mRestLength;
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core.mAttachmentIndex = index;
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core.mTendonSim = this;
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if (core.mParent)
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{
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const PxU32 parentIndex = core.mParent->mAttachmentIndex;
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attachment.parent = parentIndex;
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mLLTendon.getAttachment(parentIndex).children |= Dy::ArticulationAttachmentBitField(1) << index;
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mLLTendon.getAttachment(parentIndex).childCount++;
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}
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else
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{
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attachment.parent = DY_ARTICULATION_ATTACHMENT_NONE;
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}
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}
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void Sc::ArticulationSpatialTendonSim::removeAttachment(ArticulationAttachmentCore& core)
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{
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const PxU32 index = core.mAttachmentIndex;
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Dy::ArticulationAttachment& attachment = mLLTendon.getAttachment(index);
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PX_ASSERT(attachment.childCount == 0);
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if (attachment.parent != DY_ARTICULATION_ATTACHMENT_NONE)
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{
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Dy::ArticulationAttachment& parent = mLLTendon.getAttachment(attachment.parent);
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parent.children &= ~(Dy::ArticulationAttachmentBitField(1) << index);
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parent.childCount--;
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}
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mLLTendon.freeID(index);
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}
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///////////////////////////////////////////////////////////////////////////////////////////////////////////
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Sc::ArticulationFixedTendonSim::ArticulationFixedTendonSim(ArticulationFixedTendonCore& tendon, Scene& scene) :
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mTendonCore(tendon), mScene(scene)
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{
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mTendonCore.setSim(this);
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mLLTendon.mStiffness = tendon.mStiffness;
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mLLTendon.mDamping = tendon.mDamping;
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mLLTendon.mOffset = tendon.mOffset;
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mLLTendon.mLimitStiffness = tendon.mLimitStiffness;
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mLLTendon.mLowLimit = tendon.mLowLimit;
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mLLTendon.mHighLimit = tendon.mHighLimit;
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mLLTendon.mRestLength = tendon.mRestLength;
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}
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Sc::ArticulationFixedTendonSim::~ArticulationFixedTendonSim()
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{
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mTendonCore.setSim(NULL);
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}
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void Sc::ArticulationFixedTendonSim::setStiffness(const PxReal stiffness)
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{
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mLLTendon.mStiffness = stiffness;
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Dy::FeatherstoneArticulation* llArticulation = static_cast<Dy::FeatherstoneArticulation*>(mArtiSim->getLowLevelArticulation());
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llArticulation->setGpuDirtyFlag(Dy::ArticulationDirtyFlag::eDIRTY_FIXED_TENDON);
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}
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PxReal Sc::ArticulationFixedTendonSim::getStiffness() const
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{
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return mLLTendon.mStiffness;
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}
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void Sc::ArticulationFixedTendonSim::setDamping(const PxReal damping)
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{
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mLLTendon.mDamping = damping;
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Dy::FeatherstoneArticulation* llArticulation = static_cast<Dy::FeatherstoneArticulation*>(mArtiSim->getLowLevelArticulation());
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llArticulation->setGpuDirtyFlag(Dy::ArticulationDirtyFlag::eDIRTY_FIXED_TENDON);
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}
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PxReal Sc::ArticulationFixedTendonSim::getDamping() const
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{
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return mLLTendon.mDamping;
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}
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void Sc::ArticulationFixedTendonSim::setLimitStiffness(const PxReal stiffness)
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{
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mLLTendon.mLimitStiffness = stiffness;
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Dy::FeatherstoneArticulation* llArticulation = static_cast<Dy::FeatherstoneArticulation*>(mArtiSim->getLowLevelArticulation());
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llArticulation->setGpuDirtyFlag(Dy::ArticulationDirtyFlag::eDIRTY_FIXED_TENDON);
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}
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PxReal Sc::ArticulationFixedTendonSim::getLimitStiffness() const
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{
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return mLLTendon.mLimitStiffness;
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}
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void Sc::ArticulationFixedTendonSim::setOffset(const PxReal offset)
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{
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mLLTendon.mOffset = offset;
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mArtiSim->setArticulationDirty(Dy::ArticulationDirtyFlag::eDIRTY_FIXED_TENDON);
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}
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PxReal Sc::ArticulationFixedTendonSim::getOffset() const
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{
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return mLLTendon.mOffset;
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}
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void Sc::ArticulationFixedTendonSim::setSpringRestLength(const PxReal restLength)
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{
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mLLTendon.mRestLength = restLength;
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mArtiSim->setArticulationDirty(Dy::ArticulationDirtyFlag::eDIRTY_FIXED_TENDON);
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}
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PxReal Sc::ArticulationFixedTendonSim::getSpringRestLength() const
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{
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return mLLTendon.mRestLength;
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}
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void Sc::ArticulationFixedTendonSim::setLimitRange(const PxReal lowLimit, const PxReal highLimit)
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{
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mLLTendon.mLowLimit = lowLimit;
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mLLTendon.mHighLimit = highLimit;
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mArtiSim->setArticulationDirty(Dy::ArticulationDirtyFlag::eDIRTY_FIXED_TENDON);
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}
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void Sc::ArticulationFixedTendonSim::getLimitRange(PxReal& lowLimit, PxReal& highLimit) const
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{
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lowLimit = mLLTendon.mLowLimit;
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highLimit = mLLTendon.mHighLimit;
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}
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void Sc::ArticulationFixedTendonSim::addTendonJoint(ArticulationTendonJointCore& tendonJointCore)
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{
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const PxU32 jointIndex = mLLTendon.getNewID();
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Dy::ArticulationTendonJoint& tendonJoint = mLLTendon.getTendonJoint(jointIndex);
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tendonJoint.axis = PxU16(tendonJointCore.axis);
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tendonJoint.coefficient = tendonJointCore.coefficient;
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tendonJoint.recipCoefficient = tendonJointCore.recipCoefficient;
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tendonJoint.linkInd = PxU16(tendonJointCore.mLLLinkIndex);
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tendonJoint.children = 0;
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tendonJoint.childCount = 0;
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tendonJointCore.mLLTendonJointIndex = jointIndex;
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//tendonJointCore.mLLTendonJoint = &tendonJoint;
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tendonJointCore.mTendonSim = this;
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if (tendonJointCore.mParent)
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{
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const PxU32 parentIndex = tendonJointCore.mParent->mLLTendonJointIndex;
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tendonJoint.parent = parentIndex;
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mLLTendon.getTendonJoint(parentIndex).children |= Dy::ArticulationAttachmentBitField(1) << jointIndex;
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mLLTendon.getTendonJoint(parentIndex).childCount++;
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}
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else
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{
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tendonJoint.parent = DY_ARTICULATION_ATTACHMENT_NONE;
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}
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}
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void Sc::ArticulationFixedTendonSim::removeTendonJoint(ArticulationTendonJointCore& core)
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{
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const PxU32 index = core.mLLTendonJointIndex;
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Dy::ArticulationTendonJoint& tendonJoint = mLLTendon.getTendonJoint(index);
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PX_ASSERT(tendonJoint.childCount == 0);
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if (tendonJoint.parent != DY_ARTICULATION_ATTACHMENT_NONE)
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{
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Dy::ArticulationTendonJoint& parent = mLLTendon.getTendonJoint(tendonJoint.parent);
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parent.children &= ~(Dy::ArticulationAttachmentBitField(1) << index);
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parent.childCount--;
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}
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mLLTendon.freeID(index);
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}
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void Sc::ArticulationFixedTendonSim::setTendonJointCoefficient(ArticulationTendonJointCore& core, const PxArticulationAxis::Enum axis, const float coefficient, const float recipCoefficient)
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{
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const PxU32 index = core.mLLTendonJointIndex;
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Dy::ArticulationTendonJoint& tendonJoint = mLLTendon.getTendonJoint(index);
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tendonJoint.axis = PxU16(axis);
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tendonJoint.coefficient = coefficient;
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tendonJoint.recipCoefficient = recipCoefficient;
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mArtiSim->setArticulationDirty(Dy::ArticulationDirtyFlag::eDIRTY_FIXED_TENDON_JOINT);
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}
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