101 lines
3.9 KiB
C++
101 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_ARTICULATION_CONTACT_PREP_H
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#define DY_ARTICULATION_CONTACT_PREP_H
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#include "DySolverExt.h"
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#include "foundation/PxVecMath.h"
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namespace physx
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{
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struct PxcNpWorkUnit;
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class PxContactBuffer;
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struct PxContactPoint;
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namespace Dy
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{
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struct CorrelationBuffer;
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PxReal getImpulseResponse(const SolverExtBody& b0, const Cm::SpatialVector& impulse0, Cm::SpatialVector& deltaV0, PxReal dom0, PxReal angDom0,
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const SolverExtBody& b1, const Cm::SpatialVector& impulse1, Cm::SpatialVector& deltaV1, PxReal dom1, PxReal angDom1,
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bool allowSelfCollision = false);
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aos::FloatV getImpulseResponse(const SolverExtBody& b0, const Cm::SpatialVectorV& impulse0, Cm::SpatialVectorV& deltaV0, const aos::FloatV& dom0, const aos::FloatV& angDom0,
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const SolverExtBody& b1, const Cm::SpatialVectorV& impulse1, Cm::SpatialVectorV& deltaV1, const aos::FloatV& dom1, const aos::FloatV& angDom1,
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bool allowSelfCollision = false);
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Cm::SpatialVector createImpulseResponseVector(const PxVec3& linear, const PxVec3& angular, const SolverExtBody& body);
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Cm::SpatialVectorV createImpulseResponseVector(const aos::Vec3V& linear, const aos::Vec3V& angular, const SolverExtBody& body);
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void setupFinalizeExtSolverContacts(
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const PxContactPoint* buffer,
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const CorrelationBuffer& c,
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const PxTransform& bodyFrame0,
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const PxTransform& bodyFrame1,
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PxU8* workspace,
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const SolverExtBody& b0,
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const SolverExtBody& b1,
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const PxReal invDtF32,
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const PxReal dtF32,
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PxReal bounceThresholdF32,
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PxReal invMassScale0, PxReal invInertiaScale0,
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PxReal invMassScale1, PxReal invInertiaScale1,
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PxReal restDistance, PxU8* frictionDataPtr,
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PxReal ccdMaxContactDist,
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Cm::SpatialVectorF* Z,
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const PxReal offsetSlop);
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bool setupFinalizeExtSolverContactsCoulomb(
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const PxContactBuffer& buffer,
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const CorrelationBuffer& c,
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const PxTransform& bodyFrame0,
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const PxTransform& bodyFrame1,
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PxU8* workspace,
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PxReal invDt,
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PxReal dtF32,
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PxReal bounceThreshold,
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const SolverExtBody& b0,
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const SolverExtBody& b1,
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PxU32 frictionCountPerPoint,
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PxReal invMassScale0, PxReal invInertiaScale0,
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PxReal invMassScale1, PxReal invInertiaScale1,
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PxReal restDist,
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PxReal ccdMaxContactDist,
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Cm::SpatialVectorF* Z,
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const PxReal solverOffsetSlop);
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} //namespace Dy
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}
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#endif
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