173 lines
6.3 KiB
C++
173 lines
6.3 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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#ifndef PXV_DYNAMICS_H
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#define PXV_DYNAMICS_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/PxSimpleTypes.h"
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#include "foundation/PxIntrinsics.h"
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#include "PxRigidDynamic.h"
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namespace physx
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{
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/*!
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\file
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Dynamics interface.
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*/
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struct PxsRigidCore
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{
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PxsRigidCore() : mFlags(0), solverIterationCounts(0) {}
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PxsRigidCore(const PxEMPTY) : mFlags(PxEmpty) {}
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PX_ALIGN_PREFIX(16)
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PxTransform body2World PX_ALIGN_SUFFIX(16);
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PxRigidBodyFlags mFlags; // API body flags
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PxU16 solverIterationCounts; // vel iters are in low word and pos iters in high word.
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PX_FORCE_INLINE PxU32 isKinematic() const { return mFlags & PxRigidBodyFlag::eKINEMATIC; }
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PX_FORCE_INLINE PxU32 hasCCD() const { return mFlags & PxRigidBodyFlag::eENABLE_CCD; }
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PX_FORCE_INLINE PxU32 hasCCDFriction() const { return mFlags & PxRigidBodyFlag::eENABLE_CCD_FRICTION; }
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PX_FORCE_INLINE PxU32 hasIdtBody2Actor() const { return mFlags & PxRigidBodyFlag::eRESERVED; }
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};
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PX_COMPILE_TIME_ASSERT(sizeof(PxsRigidCore) == 32);
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#define PXV_CONTACT_REPORT_DISABLED PX_MAX_F32
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struct PxsBodyCore : public PxsRigidCore
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{
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PxsBodyCore() : PxsRigidCore() { fixedBaseLink = PxU8(0); }
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PxsBodyCore(const PxEMPTY) : PxsRigidCore(PxEmpty) {}
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PX_FORCE_INLINE const PxTransform& getBody2Actor() const { return body2Actor; }
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PX_FORCE_INLINE void setBody2Actor(const PxTransform& t)
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{
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if(t.p.isZero() && t.q.isIdentity())
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mFlags.raise(PxRigidBodyFlag::eRESERVED);
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else
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mFlags.clear(PxRigidBodyFlag::eRESERVED);
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body2Actor = t;
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}
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protected:
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PxTransform body2Actor;
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public:
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PxReal ccdAdvanceCoefficient; //64
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PxVec3 linearVelocity;
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PxReal maxPenBias;
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PxVec3 angularVelocity;
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PxReal contactReportThreshold; //96
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PxReal maxAngularVelocitySq;
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PxReal maxLinearVelocitySq;
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PxReal linearDamping;
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PxReal angularDamping; //112
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PxVec3 inverseInertia;
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PxReal inverseMass; //128
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PxReal maxContactImpulse;
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PxReal sleepThreshold;
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union
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{
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PxReal freezeThreshold;
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PxReal cfmScale;
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};
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PxReal wakeCounter; //144 this is authoritative wakeCounter
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PxReal solverWakeCounter; //this is calculated by the solver when it performs sleepCheck. It is committed to wakeCounter in ScAfterIntegrationTask if the body is still awake.
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PxU32 numCountedInteractions;
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PxReal offsetSlop; //Slop value used to snap contact line of action back in-line with the COM
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PxU8 isFastMoving; //This could be a single bit but it's a u8 at the moment for simplicity's sake
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PxU8 disableGravity; //This could be a single bit but it's a u8 at the moment for simplicity's sake
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PxRigidDynamicLockFlags lockFlags; //This is u8.
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PxU8 fixedBaseLink; //160 This indicates whether the articulation link has PxArticulationFlag::eFIX_BASE. All fits into 16 byte alignment
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// PT: moved from Sc::BodyCore ctor - we don't want to duplicate all this in immediate mode
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PX_FORCE_INLINE void init( const PxTransform& bodyPose,
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const PxVec3& inverseInertia_, PxReal inverseMass_,
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PxReal wakeCounter_, PxReal scaleSpeed,
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PxReal linearDamping_, PxReal angularDamping_,
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PxReal maxLinearVelocitySq_, PxReal maxAngularVelocitySq_,
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PxActorType::Enum type)
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{
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PX_ASSERT(bodyPose.p.isFinite());
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PX_ASSERT(bodyPose.q.isFinite());
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// PT: TODO: unify naming convention
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// From PxsRigidCore
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body2World = bodyPose;
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mFlags = PxRigidBodyFlags();
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solverIterationCounts = (1 << 8) | 4;
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setBody2Actor(PxTransform(PxIdentity));
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ccdAdvanceCoefficient = 0.15f;
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linearVelocity = PxVec3(0.0f);
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maxPenBias = -1e32f;//-PX_MAX_F32;
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angularVelocity = PxVec3(0.0f);
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contactReportThreshold = PXV_CONTACT_REPORT_DISABLED;
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maxAngularVelocitySq = maxAngularVelocitySq_;
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maxLinearVelocitySq = maxLinearVelocitySq_;
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linearDamping = linearDamping_;
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angularDamping = angularDamping_;
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inverseInertia = inverseInertia_;
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inverseMass = inverseMass_;
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maxContactImpulse = 1e32f;// PX_MAX_F32;
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sleepThreshold = 5e-5f * scaleSpeed * scaleSpeed;
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if(type == PxActorType::eARTICULATION_LINK)
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cfmScale = 0.025f;
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else
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freezeThreshold = 2.5e-5f * scaleSpeed * scaleSpeed;
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wakeCounter = wakeCounter_;
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offsetSlop = 0.f;
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// PT: this one is not initialized?
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//solverWakeCounter
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// PT: these are initialized in BodySim ctor
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//numCountedInteractions;
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//numBodyInteractions;
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isFastMoving = false;
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disableGravity = false;
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lockFlags = PxRigidDynamicLockFlags(0);
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}
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};
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PX_COMPILE_TIME_ASSERT(sizeof(PxsBodyCore) == 160);
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}
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#endif
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