150 lines
5.4 KiB
Plaintext
150 lines
5.4 KiB
Plaintext
// 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 __SOFT_BODY_CUH__
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#define __SOFT_BODY_CUH__
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#include "foundation/PxVecMath.h"
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#include "atomic.cuh"
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/**
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TODO, remove. Already has been removed from softbody/softbody, softbody/femcloth and softbody/particle attachments.
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*/
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__device__ inline PxReal getSoftBodyInvMass(const PxReal baryMass, const float4& bary)
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{
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PxReal scale = PxSqrt(bary.x*bary.x + bary.y*bary.y + bary.z*bary.z + bary.w*bary.w);
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return baryMass * scale;
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}
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static __device__ inline PxMat33 calculateDeformationGradient(
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const PxVec3& u1,
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const PxVec3& u2,
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const PxVec3& u3,
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const PxMat33& Qinv,
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const PxMat33& RTranspose)
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{
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// calculate deformation gradient
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PxMat33 P = PxMat33(u1, u2, u3);
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PxMat33 F = P * Qinv;
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// remove rotation factor from strain, tranfrom into element space
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F = RTranspose * F;
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return F;
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}
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static __device__ float4 computeTetraContact(const float4* const vels, const uint4& tetrahedronId,
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const float4& barycentric, float4& invMass)
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{
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const float4 v0 = vels[tetrahedronId.x];
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const float4 v1 = vels[tetrahedronId.y];
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const float4 v2 = vels[tetrahedronId.z];
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const float4 v3 = vels[tetrahedronId.w];
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invMass = make_float4(v0.w, v1.w, v2.w, v3.w);
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const float4 vel = v0 * barycentric.x + v1 * barycentric.y
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+ v2 * barycentric.z + v3 * barycentric.w;
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return vel;
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}
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static __device__ void updateTetraPosDelta(const float4& invMasses, const float4& barycentric, const uint4& tetrahedronId,
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const PxVec3& deltaPos, float4* outputDeltaPoses, const PxReal addition = 1.f)
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{
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if (invMasses.x > 0.f && PxAbs(barycentric.x) > 1e-6f)
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{
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const PxVec3 dP = deltaPos * (invMasses.x * barycentric.x);
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AtomicAdd(outputDeltaPoses[tetrahedronId.x], dP, addition);
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}
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if (invMasses.y > 0.f && PxAbs(barycentric.y) > 1e-6f)
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{
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const PxVec3 dP = deltaPos * (invMasses.y * barycentric.y);
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AtomicAdd(outputDeltaPoses[tetrahedronId.y], dP, addition);
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}
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if (invMasses.z > 0.f && PxAbs(barycentric.z) > 1e-6f)
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{
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const PxVec3 dP = deltaPos * (invMasses.z * barycentric.z);
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AtomicAdd(outputDeltaPoses[tetrahedronId.z], dP, addition);
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}
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if (invMasses.w > 0.f && PxAbs(barycentric.w) > 1e-6f)
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{
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const PxVec3 dP = deltaPos * (invMasses.w * barycentric.w);
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AtomicAdd(outputDeltaPoses[tetrahedronId.w], dP, addition);
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}
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}
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static __device__ void updateTetPositionDelta(float4* outputDeltaPositions, const uint4& tetVertIndices,
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const PxVec3& deltaPosition, const float4& invMassBary, const PxReal constraintWeight)
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{
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//testing inverse mass and barycentric product for > 0, assuming that barycentric coordinates where clamped on construction.
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if (invMassBary.x > 0.0f)
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{
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AtomicAdd(outputDeltaPositions[tetVertIndices.x], deltaPosition*invMassBary.x, constraintWeight);
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}
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if (invMassBary.y > 0.0f)
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{
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AtomicAdd(outputDeltaPositions[tetVertIndices.y], deltaPosition*invMassBary.y, constraintWeight);
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}
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if (invMassBary.z > 0.0f)
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{
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AtomicAdd(outputDeltaPositions[tetVertIndices.z], deltaPosition*invMassBary.z, constraintWeight);
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}
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if (invMassBary.w > 0.0f)
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{
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AtomicAdd(outputDeltaPositions[tetVertIndices.w], deltaPosition*invMassBary.w, constraintWeight);
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}
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}
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static __device__ void updateTriPositionDelta(float4* outputDeltaPositions, const uint4& triVertIndices,
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const PxVec3& deltaPosition, const float4& invMassBary, const PxReal constraintWeight)
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{
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//testing inverse mass and barycentric product for > 0, assuming that barycentric coordinates where clamped on construction.
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if (invMassBary.x > 0.0f)
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{
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AtomicAdd(outputDeltaPositions[triVertIndices.x], deltaPosition*invMassBary.x, constraintWeight);
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}
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if (invMassBary.y > 0.0f)
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{
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AtomicAdd(outputDeltaPositions[triVertIndices.y], deltaPosition*invMassBary.y, constraintWeight);
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}
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if (invMassBary.z > 0.0f)
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{
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AtomicAdd(outputDeltaPositions[triVertIndices.z], deltaPosition*invMassBary.z, constraintWeight);
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}
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}
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#endif |