117 lines
4.2 KiB
C++
117 lines
4.2 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 PXG_D6_JOINT_DATA_H
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#define PXG_D6_JOINT_DATA_H
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#include "PxConstraintDesc.h"
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#include "PxgD6JointLimit.h"
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#include "AlignedTransform.h"
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#include "PxgSolverConstraintDesc.h"
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namespace physx
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{
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struct PxgJointData
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{
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PxgConstraintInvMassScale invMassScale;
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PxTransform32 c2b[2];
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};
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struct PxgD6JointData : public PxgJointData
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{
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public:
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PX_CUDA_CALLABLE PxgD6JointData(){}
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static constexpr PxU32 sDriveEntryCapacity = 6;
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PxgD6Motion::Enum motion[6];
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PxgJointLinearLimit distanceLimit;
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PxgJointLinearLimitPair linearLimitX;
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PxgJointLinearLimitPair linearLimitY;
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PxgJointLinearLimitPair linearLimitZ;
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PxgJointAngularLimitPair twistLimit;
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PxgJointLimitCone swingLimit;
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PxgJointLimitPyramid pyramidSwingLimit;
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PxgD6JointDrive drive[sDriveEntryCapacity];
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PxTransform drivePosition;
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PxVec3 driveLinearVelocity;
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PxVec3 driveAngularVelocity;
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// derived quantities
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PxU32 locked; // bitmap of locked DOFs
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PxU32 limited; // bitmap of limited DOFs
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PxU32 driving; // bitmap of active drives (implies driven DOFs not locked)
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PxReal distanceMinDist; // distance limit minimum distance to get a good direction
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// PT: the PxD6Motion values are now shared for both kind of linear limits, so we need
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// an extra bool to know which one(s) should be actually used.
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bool mUseDistanceLimit;
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bool mUseNewLinearLimits;
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// PT: the swing limits can now be a cone or a pyramid, so we need
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// an extra bool to know which one(s) should be actually used.
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bool mUseConeLimit;
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bool mUsePyramidLimits;
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PxU8 angularDriveConfig; // stores the angular drive config (PxD6AngularDriveConfig::Enum)
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//Please don't add fields above this line since the layout must match D6JointData
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// forestall compiler complaints about not being able to generate a constructor
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private:
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PxgD6JointData(const PxgJointLinearLimit& distance,
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const PxgJointLinearLimitPair& linearX,
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const PxgJointLinearLimitPair& linearY,
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const PxgJointLinearLimitPair& linearZ,
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const PxgJointAngularLimitPair& twist,
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const PxgJointLimitCone& swing,
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const PxgJointLimitPyramid& pyramid):
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distanceLimit(distance),
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linearLimitX(linearX),
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linearLimitY(linearY),
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linearLimitZ(linearZ),
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twistLimit(twist),
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swingLimit(swing),
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pyramidSwingLimit(pyramid),
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mUseDistanceLimit(false),
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mUseNewLinearLimits(false),
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mUseConeLimit(false),
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mUsePyramidLimits(false),
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angularDriveConfig(0)
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{}
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};
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PX_COMPILE_TIME_ASSERT(sizeof(PxgD6JointData) <= 512);
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}
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#endif |