121 lines
4.3 KiB
C++
121 lines
4.3 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 DY_SOLVER_CONSTRAINT_DESC_H
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#define DY_SOLVER_CONSTRAINT_DESC_H
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#include "PxvConfig.h"
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#include "DySolverConstraintTypes.h"
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#include "foundation/PxUtilities.h"
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#include "PxConstraintDesc.h"
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#include "solver/PxSolverDefs.h"
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#define PGS_SUPPORT_COMPOUND_CONSTRAINTS 0
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namespace physx
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{
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struct PxcNpWorkUnit;
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struct PxsContactManagerOutput;
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namespace Dy
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{
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class FeatherstoneArticulation;
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// dsequeira: moved this articulation stuff here to sever a build dep on Articulation.h through DyThreadContext.h and onward
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#if PGS_SUPPORT_COMPOUND_CONSTRAINTS
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//This class rolls together multiple contact managers into a single contact manager.
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struct CompoundContactManager
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{
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PxU32 mStartIndex;
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PxU16 mStride;
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PxU16 mReducedContactCount;
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PxU16 originalContactCount;
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PxU8 originalPatchCount;
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PxU8 originalStatusFlags;
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PxcNpWorkUnit* unit; //This is a work unit but the contact buffer has been adjusted to contain all the contacts for all the subsequent pairs
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PxsContactManagerOutput* cmOutput;
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PxU8* originalContactPatches; //This is the original contact buffer that we replaced with a combined buffer
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PxU8* originalContactPoints;
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PxReal* originalForceBuffer; //This is the original force buffer that we replaced with a combined force buffer
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PxU16* forceBufferList; //This is a list of indices from the reduced force buffer to the original force buffers - we need this to fix up the write-backs from the solver
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PxU8* originalFrictionPatches; //This is the original friction patches buffer that we replaced with a combined buffer
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};
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#endif
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struct SolverConstraintPrepState
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{
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enum Enum
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{
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eOUT_OF_MEMORY,
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eUNBATCHABLE,
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eSUCCESS
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};
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};
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PX_FORCE_INLINE bool isArticulationConstraint(const PxSolverConstraintDesc& desc)
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{
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return desc.linkIndexA != PxSolverConstraintDesc::RIGID_BODY
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|| desc.linkIndexB != PxSolverConstraintDesc::RIGID_BODY;
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}
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PX_FORCE_INLINE void setConstraintLength(PxSolverConstraintDesc& desc, const PxU32 constraintLength)
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{
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PX_ASSERT(0==(constraintLength & 0x0f));
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PX_ASSERT(constraintLength <= PX_MAX_U16 * 16);
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desc.constraintLengthOver16 = PxTo16(constraintLength >> 4);
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}
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PX_FORCE_INLINE PxU32 getConstraintLength(const PxSolverConstraintDesc& desc)
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{
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return PxU32(desc.constraintLengthOver16 << 4);
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}
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PX_FORCE_INLINE Dy::FeatherstoneArticulation* getArticulationA(const PxSolverConstraintDesc& desc)
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{
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return reinterpret_cast<Dy::FeatherstoneArticulation*>(desc.articulationA);
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}
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PX_FORCE_INLINE Dy::FeatherstoneArticulation* getArticulationB(const PxSolverConstraintDesc& desc)
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{
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return reinterpret_cast<Dy::FeatherstoneArticulation*>(desc.articulationB);
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}
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PX_COMPILE_TIME_ASSERT(0 == (0x0f & sizeof(PxSolverConstraintDesc)));
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#define MAX_PERMITTED_SOLVER_PROGRESS 0xFFFF
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}
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}
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#endif
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