328 lines
13 KiB
C++
328 lines
13 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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#include "ExtRevoluteJoint.h"
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#include "ExtConstraintHelper.h"
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#include "omnipvd/ExtOmniPvdSetData.h"
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using namespace physx;
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using namespace Ext;
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RevoluteJoint::RevoluteJoint(const PxTolerancesScale& /*scale*/, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1) :
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RevoluteJointT(PxJointConcreteType::eREVOLUTE, actor0, localFrame0, actor1, localFrame1, "RevoluteJointData")
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{
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RevoluteJointData* data = static_cast<RevoluteJointData*>(mData);
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data->driveForceLimit = PX_MAX_F32;
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data->driveVelocity = 0.0f;
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data->driveGearRatio = 1.0f;
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data->limit = PxJointAngularLimitPair(-PxPi/2, PxPi/2);
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data->jointFlags = PxRevoluteJointFlags();
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}
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PxReal RevoluteJoint::getAngle() const
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{
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return getTwistAngle_Internal();
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}
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PxReal RevoluteJoint::getVelocity() const
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{
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return getRelativeAngularVelocity().magnitude();
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}
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PxJointAngularLimitPair RevoluteJoint::getLimit() const
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{
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return data().limit;
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}
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void RevoluteJoint::setLimit(const PxJointAngularLimitPair& limit)
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{
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PX_CHECK_AND_RETURN(limit.isValid(), "PxRevoluteJoint::setLimit: limit invalid");
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PX_CHECK_AND_RETURN(limit.lower>-PxTwoPi && limit.upper<PxTwoPi , "PxRevoluteJoint::twist limit must be strictly between -2*PI and 2*PI");
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data().limit = limit;
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markDirty();
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#if PX_SUPPORT_OMNI_PVD
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OMNI_PVD_WRITE_SCOPE_BEGIN(pvdWriter, pvdRegData)
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PxRevoluteJoint& j = static_cast<PxRevoluteJoint&>(*this);
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OMNI_PVD_SET_EXPLICIT(pvdWriter, pvdRegData, OMNI_PVD_CONTEXT_HANDLE, PxRevoluteJoint, limitLower, j, limit.lower)
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OMNI_PVD_SET_EXPLICIT(pvdWriter, pvdRegData, OMNI_PVD_CONTEXT_HANDLE, PxRevoluteJoint, limitUpper, j, limit.upper)
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OMNI_PVD_SET_EXPLICIT(pvdWriter, pvdRegData, OMNI_PVD_CONTEXT_HANDLE, PxRevoluteJoint, limitRestitution, j, limit.restitution)
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OMNI_PVD_SET_EXPLICIT(pvdWriter, pvdRegData, OMNI_PVD_CONTEXT_HANDLE, PxRevoluteJoint, limitBounceThreshold, j, limit.bounceThreshold)
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OMNI_PVD_SET_EXPLICIT(pvdWriter, pvdRegData, OMNI_PVD_CONTEXT_HANDLE, PxRevoluteJoint, limitStiffness, j, limit.stiffness)
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OMNI_PVD_SET_EXPLICIT(pvdWriter, pvdRegData, OMNI_PVD_CONTEXT_HANDLE, PxRevoluteJoint, limitDamping, j, limit.damping)
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OMNI_PVD_WRITE_SCOPE_END
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#endif
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}
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PxReal RevoluteJoint::getDriveVelocity() const
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{
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return data().driveVelocity;
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}
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void RevoluteJoint::setDriveVelocity(PxReal velocity, bool autowake)
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{
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PX_CHECK_AND_RETURN(PxIsFinite(velocity), "PxRevoluteJoint::setDriveVelocity: invalid parameter");
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data().driveVelocity = velocity;
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if(autowake)
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wakeUpActors();
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markDirty();
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OMNI_PVD_SET(OMNI_PVD_CONTEXT_HANDLE, PxRevoluteJoint, driveVelocity, static_cast<PxRevoluteJoint&>(*this), velocity)
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}
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PxReal RevoluteJoint::getDriveForceLimit() const
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{
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return data().driveForceLimit;
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}
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void RevoluteJoint::setDriveForceLimit(PxReal forceLimit)
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{
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PX_CHECK_AND_RETURN(PxIsFinite(forceLimit), "PxRevoluteJoint::setDriveForceLimit: invalid parameter");
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data().driveForceLimit = forceLimit;
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markDirty();
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OMNI_PVD_SET(OMNI_PVD_CONTEXT_HANDLE, PxRevoluteJoint, driveForceLimit, static_cast<PxRevoluteJoint&>(*this), forceLimit)
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}
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PxReal RevoluteJoint::getDriveGearRatio() const
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{
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return data().driveGearRatio;
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}
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void RevoluteJoint::setDriveGearRatio(PxReal gearRatio)
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{
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PX_CHECK_AND_RETURN(PxIsFinite(gearRatio) && gearRatio>0, "PxRevoluteJoint::setDriveGearRatio: invalid parameter");
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data().driveGearRatio = gearRatio;
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markDirty();
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OMNI_PVD_SET(OMNI_PVD_CONTEXT_HANDLE, PxRevoluteJoint, driveGearRatio, static_cast<PxRevoluteJoint&>(*this), gearRatio)
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}
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PxRevoluteJointFlags RevoluteJoint::getRevoluteJointFlags() const
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{
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return data().jointFlags;
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}
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void RevoluteJoint::setRevoluteJointFlags(PxRevoluteJointFlags flags)
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{
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data().jointFlags = flags;
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OMNI_PVD_SET(OMNI_PVD_CONTEXT_HANDLE, PxRevoluteJoint, jointFlags, static_cast<PxRevoluteJoint&>(*this), flags)
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}
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void RevoluteJoint::setRevoluteJointFlag(PxRevoluteJointFlag::Enum flag, bool value)
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{
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if(value)
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data().jointFlags |= flag;
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else
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data().jointFlags &= ~flag;
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markDirty();
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OMNI_PVD_SET(OMNI_PVD_CONTEXT_HANDLE, PxRevoluteJoint, jointFlags, static_cast<PxRevoluteJoint&>(*this), getRevoluteJointFlags())
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}
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static PxQuat computeTwist(const PxTransform& cA2w, const PxTransform& cB2w)
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{
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// PT: following code is the same as this part of the "getAngle" function:
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// const PxQuat q = getRelativeTransform().q;
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// PxQuat swing, twist;
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// PxSeparateSwingTwist(q, swing, twist);
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// But it's done a little bit more efficiently since we don't need the swing quat.
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// PT: rotation part of "const PxTransform cB2cA = cA2w.transformInv(cB2w);"
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const PxQuat cB2cAq = cA2w.q.getConjugate() * cB2w.q;
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// PT: twist part of "PxSeparateSwingTwist(cB2cAq,swing,twist)" (more or less)
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return PxQuat(cB2cAq.x, 0.0f, 0.0f, cB2cAq.w);
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}
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// PT: this version is similar to the "getAngle" function, but the twist is computed slightly differently.
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static PX_FORCE_INLINE PxReal computePhi(const PxTransform& cA2w, const PxTransform& cB2w)
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{
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PxQuat twist = computeTwist(cA2w, cB2w);
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twist.normalize();
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PxReal angle = twist.getAngle();
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if(twist.x<0.0f)
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angle = -angle;
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return angle;
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}
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static void RevoluteJointVisualize(PxConstraintVisualizer& viz, const void* constantBlock, const PxTransform& body0Transform, const PxTransform& body1Transform, PxU32 flags)
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{
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const RevoluteJointData& data = *reinterpret_cast<const RevoluteJointData*>(constantBlock);
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PxTransform32 cA2w, cB2w;
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joint::computeJointFrames(cA2w, cB2w, data, body0Transform, body1Transform);
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if(flags & PxConstraintVisualizationFlag::eLOCAL_FRAMES)
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viz.visualizeJointFrames(cA2w, cB2w);
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if((data.jointFlags & PxRevoluteJointFlag::eLIMIT_ENABLED) && (flags & PxConstraintVisualizationFlag::eLIMITS))
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viz.visualizeAngularLimit(cA2w, data.limit.lower, data.limit.upper);
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}
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//TAG:solverprepshader
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static PxU32 RevoluteJointSolverPrep(Px1DConstraint* constraints,
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PxVec3p& body0WorldOffset,
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PxU32 /*maxConstraints*/,
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PxConstraintInvMassScale& invMassScale,
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const void* constantBlock,
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const PxTransform& bA2w,
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const PxTransform& bB2w,
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bool useExtendedLimits,
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PxVec3p& cA2wOut, PxVec3p& cB2wOut)
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{
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const RevoluteJointData& data = *reinterpret_cast<const RevoluteJointData*>(constantBlock);
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PxTransform32 cA2w, cB2w;
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joint::ConstraintHelper ch(constraints, invMassScale, cA2w, cB2w, body0WorldOffset, data, bA2w, bB2w);
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const PxJointAngularLimitPair& limit = data.limit;
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const bool limitEnabled = data.jointFlags & PxRevoluteJointFlag::eLIMIT_ENABLED;
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const bool limitIsLocked = limitEnabled && limit.lower >= limit.upper;
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// PT: it is a mistake to use the neighborhood operator since it
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// prevents us from using the quat's double-cover feature.
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if(!useExtendedLimits)
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joint::applyNeighborhoodOperator(cA2w, cB2w);
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PxVec3 ra, rb, axis;
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ch.prepareLockedAxes(cA2w.q, cB2w.q, cA2w.transformInv(cB2w.p), 7, PxU32(limitIsLocked ? 7 : 6), ra, rb, &axis);
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cA2wOut = ra + bA2w.p;
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cB2wOut = rb + bB2w.p;
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if(limitIsLocked)
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return ch.getCount();
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if(data.jointFlags & PxRevoluteJointFlag::eDRIVE_ENABLED)
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{
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Px1DConstraint* c = ch.getConstraintRow();
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c->solveHint = PxConstraintSolveHint::eNONE;
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c->linear0 = PxVec3(0.0f);
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c->angular0 = -axis;
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c->linear1 = PxVec3(0.0f);
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c->angular1 = -axis * data.driveGearRatio;
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c->velocityTarget = data.driveVelocity;
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c->minImpulse = -data.driveForceLimit;
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c->maxImpulse = data.driveForceLimit;
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c->flags |= Px1DConstraintFlag::eANGULAR_CONSTRAINT;
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if(data.jointFlags & PxRevoluteJointFlag::eDRIVE_FREESPIN)
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{
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if(data.driveVelocity > 0.0f)
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c->minImpulse = 0.0f;
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if(data.driveVelocity < 0.0f)
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c->maxImpulse = 0.0f;
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}
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c->flags |= Px1DConstraintFlag::eHAS_DRIVE_LIMIT;
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}
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if(limitEnabled)
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{
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const PxReal phi = computePhi(cA2w, cB2w);
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ch.anglePair(phi, data.limit.lower, data.limit.upper, axis, limit);
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}
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return ch.getCount();
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}
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///////////////////////////////////////////////////////////////////////////////
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static PxConstraintShaderTable gRevoluteJointShaders = { RevoluteJointSolverPrep, RevoluteJointVisualize, PxConstraintFlag::Enum(0) };
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PxConstraintSolverPrep RevoluteJoint::getPrep() const { return gRevoluteJointShaders.solverPrep; }
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// PT: for tests / benchmarks
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PxConstraintSolverPrep getRevoluteJointPrep() { return gRevoluteJointShaders.solverPrep; }
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PxRevoluteJoint* physx::PxRevoluteJointCreate(PxPhysics& physics, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1)
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{
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PX_CHECK_AND_RETURN_NULL(localFrame0.isSane(), "PxRevoluteJointCreate: local frame 0 is not a valid transform");
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PX_CHECK_AND_RETURN_NULL(localFrame1.isSane(), "PxRevoluteJointCreate: local frame 1 is not a valid transform");
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PX_CHECK_AND_RETURN_NULL(actor0 != actor1, "PxRevoluteJointCreate: actors must be different");
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PX_CHECK_AND_RETURN_NULL((actor0 && actor0->is<PxRigidBody>()) || (actor1 && actor1->is<PxRigidBody>()), "PxRevoluteJointCreate: at least one actor must be dynamic");
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return createJointT<RevoluteJoint, RevoluteJointData>(physics, actor0, localFrame0, actor1, localFrame1, gRevoluteJointShaders);
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}
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// PX_SERIALIZATION
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void RevoluteJoint::resolveReferences(PxDeserializationContext& context)
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{
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mPxConstraint = resolveConstraintPtr(context, mPxConstraint, this, gRevoluteJointShaders);
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}
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//~PX_SERIALIZATION
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#if PX_SUPPORT_OMNI_PVD
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void RevoluteJoint::updateOmniPvdProperties() const
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{
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OMNI_PVD_WRITE_SCOPE_BEGIN(pvdWriter, pvdRegData)
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const PxRevoluteJoint& j = static_cast<const PxRevoluteJoint&>(*this);
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OMNI_PVD_SET_EXPLICIT(pvdWriter, pvdRegData, OMNI_PVD_CONTEXT_HANDLE, PxRevoluteJoint, angle, j, getAngle())
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OMNI_PVD_SET_EXPLICIT(pvdWriter, pvdRegData, OMNI_PVD_CONTEXT_HANDLE, PxRevoluteJoint, velocity, j, getVelocity())
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OMNI_PVD_WRITE_SCOPE_END
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}
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template<>
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void physx::Ext::omniPvdInitJoint<RevoluteJoint>(RevoluteJoint& joint)
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{
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OMNI_PVD_WRITE_SCOPE_BEGIN(pvdWriter, pvdRegData)
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PxRevoluteJoint& j = static_cast<PxRevoluteJoint&>(joint);
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OMNI_PVD_CREATE_EXPLICIT(pvdWriter, pvdRegData, OMNI_PVD_CONTEXT_HANDLE, PxRevoluteJoint, j);
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omniPvdSetBaseJointParams(static_cast<PxJoint&>(joint), PxJointConcreteType::eREVOLUTE);
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PxJointAngularLimitPair limit = joint.getLimit();
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OMNI_PVD_SET_EXPLICIT(pvdWriter, pvdRegData, OMNI_PVD_CONTEXT_HANDLE, PxRevoluteJoint, limitLower, j, limit.lower)
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OMNI_PVD_SET_EXPLICIT(pvdWriter, pvdRegData, OMNI_PVD_CONTEXT_HANDLE, PxRevoluteJoint, limitUpper, j, limit.upper)
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OMNI_PVD_SET_EXPLICIT(pvdWriter, pvdRegData, OMNI_PVD_CONTEXT_HANDLE, PxRevoluteJoint, limitRestitution, j, limit.restitution)
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OMNI_PVD_SET_EXPLICIT(pvdWriter, pvdRegData, OMNI_PVD_CONTEXT_HANDLE, PxRevoluteJoint, limitBounceThreshold, j, limit.bounceThreshold)
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OMNI_PVD_SET_EXPLICIT(pvdWriter, pvdRegData, OMNI_PVD_CONTEXT_HANDLE, PxRevoluteJoint, limitStiffness, j, limit.stiffness)
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OMNI_PVD_SET_EXPLICIT(pvdWriter, pvdRegData, OMNI_PVD_CONTEXT_HANDLE, PxRevoluteJoint, limitDamping, j, limit.damping)
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OMNI_PVD_SET_EXPLICIT(pvdWriter, pvdRegData, OMNI_PVD_CONTEXT_HANDLE, PxRevoluteJoint, driveVelocity, j, joint.getDriveVelocity())
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OMNI_PVD_SET_EXPLICIT(pvdWriter, pvdRegData, OMNI_PVD_CONTEXT_HANDLE, PxRevoluteJoint, driveForceLimit, j, joint.getDriveForceLimit())
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OMNI_PVD_SET_EXPLICIT(pvdWriter, pvdRegData, OMNI_PVD_CONTEXT_HANDLE, PxRevoluteJoint, driveGearRatio, j, joint.getDriveGearRatio())
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OMNI_PVD_SET_EXPLICIT(pvdWriter, pvdRegData, OMNI_PVD_CONTEXT_HANDLE, PxRevoluteJoint, jointFlags, j, joint.getRevoluteJointFlags())
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OMNI_PVD_SET_EXPLICIT(pvdWriter, pvdRegData, OMNI_PVD_CONTEXT_HANDLE, PxRevoluteJoint, angle, j, joint.getAngle())
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OMNI_PVD_SET_EXPLICIT(pvdWriter, pvdRegData, OMNI_PVD_CONTEXT_HANDLE, PxRevoluteJoint, velocity, j, joint.getVelocity())
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OMNI_PVD_WRITE_SCOPE_END
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}
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#endif
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