139 lines
4.8 KiB
C++
139 lines
4.8 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_CONSTRAINT_PREP_H
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#define DY_CONSTRAINT_PREP_H
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#include "DyConstraint.h"
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#include "DySolverConstraintDesc.h"
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#include "foundation/PxArray.h"
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#include "PxConstraint.h"
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namespace physx
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{
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class PxcConstraintBlockStream;
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class PxsConstraintBlockManager;
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struct PxSolverBody;
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struct PxSolverBodyData;
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struct PxSolverConstraintDesc;
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namespace Cm
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{
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struct SpatialVectorF;
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}
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namespace Dy
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{
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static const PxU32 MAX_CONSTRAINT_ROWS = 20;
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struct SolverConstraintShaderPrepDesc
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{
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const Constraint* constraint;
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PxConstraintSolverPrep solverPrep;
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const void* constantBlock;
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PxU32 constantBlockByteSize;
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};
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SolverConstraintPrepState::Enum setupSolverConstraint4
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(SolverConstraintShaderPrepDesc* PX_RESTRICT constraintShaderDescs,
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PxSolverConstraintPrepDesc* PX_RESTRICT constraintDescs,
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const PxReal dt, const PxReal recipdt, PxU32& totalRows,
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PxConstraintAllocator& allocator, bool residualReportingEnabled);
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SolverConstraintPrepState::Enum setupSolverConstraint4
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(PxSolverConstraintPrepDesc* PX_RESTRICT constraintDescs,
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const PxReal dt, const PxReal recipdt, PxU32& totalRows,
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PxConstraintAllocator& allocator, PxU32 maxRows, bool residualReportingEnabled);
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PxU32 SetupSolverConstraint(SolverConstraintShaderPrepDesc& shaderDesc,
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PxSolverConstraintPrepDesc& prepDesc,
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PxConstraintAllocator& allocator,
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PxReal dt, PxReal invdt);
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class ConstraintHelper
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{
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public:
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static PxU32 setupSolverConstraint(
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PxSolverConstraintPrepDesc& prepDesc,
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PxConstraintAllocator& allocator,
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PxReal dt, PxReal invdt);
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};
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template<class PrepDescT>
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PX_FORCE_INLINE void setupConstraintFlags(PrepDescT& prepDesc, PxU16 flags)
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{
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prepDesc.disablePreprocessing = (flags & PxConstraintFlag::eDISABLE_PREPROCESSING)!=0;
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prepDesc.improvedSlerp = (flags & PxConstraintFlag::eIMPROVED_SLERP)!=0;
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prepDesc.driveLimitsAreForces = (flags & PxConstraintFlag::eDRIVE_LIMITS_ARE_FORCES)!=0;
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prepDesc.extendedLimits = (flags & PxConstraintFlag::eENABLE_EXTENDED_LIMITS)!=0;
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prepDesc.disableConstraint = (flags & PxConstraintFlag::eDISABLE_CONSTRAINT)!=0;
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}
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void preprocessRows(Px1DConstraint** sorted,
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Px1DConstraint* rows,
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PxVec4* angSqrtInvInertia0,
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PxVec4* angSqrtInvInertia1,
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PxU32 rowCount,
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const PxMat33& sqrtInvInertia0F32,
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const PxMat33& sqrtInvInertia1F32,
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const PxReal invMass0,
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const PxReal invMass1,
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const PxConstraintInvMassScale& ims,
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bool disablePreprocessing,
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bool diagonalizeDrive);
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PX_FORCE_INLINE void setupConstraintRows(Px1DConstraint* PX_RESTRICT rows, PxU32 size)
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{
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// This is necessary so that there will be sensible defaults and shaders will
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// continue to work (albeit with a recompile) if the row format changes.
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// It's a bit inefficient because it fills in all constraint rows even if there
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// is only going to be one generated. A way around this would be for the shader to
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// specify the maximum number of rows it needs, or it could call a subroutine to
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// prep the row before it starts filling it it.
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PxMemZero(rows, sizeof(Px1DConstraint)*size);
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for(PxU32 i=0; i<size; i++)
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{
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Px1DConstraint& c = rows[i];
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//Px1DConstraintInit(c);
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c.minImpulse = -PX_MAX_REAL;
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c.maxImpulse = PX_MAX_REAL;
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}
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}
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}
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}
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#endif
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