135 lines
3.9 KiB
C++
135 lines
3.9 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 DY_V_ARTICULATION_H
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#define DY_V_ARTICULATION_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 "foundation/PxUtilities.h"
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#include "CmUtils.h"
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#include "CmSpatialVector.h"
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#include "foundation/PxMemory.h"
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#include "DyArticulationCore.h"
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#include "DyArticulationJointCore.h"
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#include "DyArticulationMimicJointCore.h"
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namespace physx
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{
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struct PxsBodyCore;
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class PxsConstraintBlockManager;
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class PxsContactManagerOutputIterator;
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struct PxSolverConstraintDesc;
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struct PxSolverBodyData;
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struct PxTGSSolverBodyData;
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struct PxTGSSolverBodyTxInertia;
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struct PxSolverConstraintDesc;
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namespace Dy
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{
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struct SpatialSubspaceMatrix;
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struct ConstraintWriteback;
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class ThreadContext;
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static const size_t DY_ARTICULATION_TENDON_MAX_SIZE = 64;
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struct Constraint;
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class Context;
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class ArticulationSpatialTendon;
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class ArticulationFixedTendon;
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class ArticulationTendonJoint;
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typedef PxU64 ArticulationBitField;
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struct ArticulationLoopConstraint
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{
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public:
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PxU32 linkIndex0;
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PxU32 linkIndex1;
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Dy::Constraint* constraint;
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};
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#define DY_ARTICULATION_LINK_NONE 0xffffffff
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struct ArticulationLink
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{
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PxU32 mPathToRootStartIndex;
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PxU32 mChildrenStartIndex;
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PxU16 mPathToRootCount;
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PxU16 mNumChildren;
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PxsBodyCore* bodyCore;
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ArticulationJointCore* inboundJoint;
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PxU32 parent;
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PxReal cfm;
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};
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class FeatherstoneArticulation;
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struct ArticulationSolverDesc
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{
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void initData(ArticulationCore* core_, const PxArticulationFlags* flags_)
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{
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articulation = NULL;
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links = NULL;
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motionVelocity = NULL;
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acceleration = NULL;
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poses = NULL;
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deltaQ = NULL;
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core = core_;
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flags = flags_;
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linkCount = 0;
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numInternalConstraints = 0;
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}
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FeatherstoneArticulation* articulation;
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ArticulationLink* links;
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Cm::SpatialVectorV* motionVelocity;
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Cm::SpatialVector* acceleration;
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PxTransform* poses;
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PxQuat* deltaQ;
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ArticulationCore* core;
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const PxArticulationFlags* flags; // PT: PX-1399
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PxU8 linkCount;
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PxU8 numInternalConstraints;
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};
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}
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}
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#endif
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