229 lines
8.6 KiB
C++
229 lines
8.6 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 SC_ARTICULATION_SIM_H
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#define SC_ARTICULATION_SIM_H
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#include "foundation/PxUserAllocated.h"
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#include "ScArticulationCore.h"
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#include "PxsSimpleIslandManager.h"
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#include "DyArticulationTendon.h"
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namespace physx
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{
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namespace Bp
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{
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class BoundsArray;
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}
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namespace Sc
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{
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class BodySim;
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class BodyCore;
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class ArticulationJointSim;
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class ArticulationSpatialTendonSim;
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class ArticulationFixedTendonSim;
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class ArticulationMimicJointSim;
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class ArticulationCore;
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class Scene;
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class ConstraintSim;
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struct ArticulationSimDirtyFlag
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{
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enum Enum
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{
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eNONE = 0,
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eUPDATE = 1 << 0
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};
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};
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typedef PxFlags<ArticulationSimDirtyFlag::Enum, PxU32> ArticulationSimDirtyFlags;
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class ArticulationSim : public PxUserAllocated
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{
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PX_NOCOPY(ArticulationSim)
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public:
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ArticulationSim(ArticulationCore& core,
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Scene& scene,
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BodyCore& root);
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~ArticulationSim();
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PX_FORCE_INLINE Dy::FeatherstoneArticulation* getLowLevelArticulation() const { return mLLArticulation; }
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PX_FORCE_INLINE ArticulationCore& getCore() const { return mCore; }
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//we don't need removeBody method anymore because when the articulation is removed from the scene, the articulation sim will
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//get completely distroy and when we re-add the articulation to the scene, all the data will get recomputed
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void addBody(BodySim& body,
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BodySim* parent,
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ArticulationJointSim* joint);
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void removeBody(BodySim& body);
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//we don't need complementary removeTendon/removeMimicJoint functions because
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//the articulation sim will be completely destroyed when the articulation is removed from the scene.
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//When we re-add the articulation to the scene all the data will be recomputed.
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void addTendon(ArticulationSpatialTendonSim* const);
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void addTendon(ArticulationFixedTendonSim* const);
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void addMimicJoint(ArticulationMimicJointSim* const mimicJoint, const PxU32 linkA, const PxU32 linkB);
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void createLLStructure(); // resize LL memory if necessary
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void initializeConfiguration();
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void debugCheckWakeCounterOfLinks(PxReal wakeCounter) const;
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void debugCheckSleepStateOfLinks(bool isSleeping) const;
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bool isSleeping() const;
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void internalWakeUp(PxReal wakeCounter); // called when sim sets sleep timer
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void sleepCheck(PxReal dt);
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void putToSleep();
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void updateCCDLinks(PxArray<BodySim*>& sims);
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void updateCached(PxBitMapPinned* shapehapeChangedMap);
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void markShapesUpdated(PxBitMapPinned* shapeChangedMap);
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void updateContactDistance(PxReal* contactDistance, PxReal dt, const Bp::BoundsArray& boundsArray);
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void setActive(bool b, bool asPartOfCreation=false);
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void updateForces(PxReal dt);
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void saveLastCCDTransform();
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void clearAcceleration(PxReal dt);
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void setFixedBaseLink(bool value);
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//external reduced coordinate implementation
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PxU32 getDofs() const;
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//This function return the dof of the inbound joint, which belong to a link with corresponding linkID
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PxU32 getDof(const PxU32 linkID) const;
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PxArticulationCache* createCache();
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PxU32 getCacheDataSize() const;
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void zeroCache(PxArticulationCache&) const;
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bool applyCache(PxArticulationCache& cache, const PxArticulationCacheFlags flag) const;
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void copyInternalStateToCache
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(PxArticulationCache& cache, const PxArticulationCacheFlags flag, const bool isGpuSimEnabled) const;
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void packJointData(const PxReal* maximum, PxReal* reduced) const;
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void unpackJointData(const PxReal* reduced, PxReal* maximum) const;
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void commonInit();
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void computeGeneralizedGravityForce(PxArticulationCache& cache, const bool rootMotion);
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void computeCoriolisAndCentrifugalForce(PxArticulationCache& cache, const bool rootMotion);
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void computeGeneralizedExternalForce(PxArticulationCache& cache);
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void computeJointAcceleration(PxArticulationCache& cache);
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void computeJointForce(PxArticulationCache& cache);
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void computeKinematicJacobian(const PxU32 linkID, PxArticulationCache& cache);
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void computeDenseJacobian(PxArticulationCache& cache, PxU32& nRows, PxU32& nCols);
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void computeCoefficientMatrix(PxArticulationCache& cache);
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bool computeLambda(PxArticulationCache& cache, PxArticulationCache& rollBackCache, const PxReal* jointTorque, const PxVec3 gravity, const PxU32 maxIter);
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void computeGeneralizedMassMatrix(PxArticulationCache& cache, const bool rootMotion);
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PxVec3 computeArticulationCOM(const bool rootFrame);
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void computeCentroidalMomentumMatrix(PxArticulationCache& cache);
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PxU32 getCoefficientMatrixSize() const;
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void setRootLinearVelocity(const PxVec3& velocity);
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void setRootAngularVelocity(const PxVec3& velocity);
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PxSpatialVelocity getLinkVelocity(const PxU32 linkId) const;
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PxSpatialVelocity getLinkAcceleration(const PxU32 linkId, const bool isGpuSimEnabled) const;
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//internal method implementation
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PX_FORCE_INLINE PxNodeIndex getIslandNodeIndex() const { return mIslandNodeIndex; }
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void setGlobalPose();
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PxU32 findBodyIndex(BodySim &body) const;
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void setJointDirty(Dy::ArticulationJointCore& jointCore);
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void addLoopConstraint(ConstraintSim* constraint);
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void removeLoopConstraint(ConstraintSim* constraint);
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PX_FORCE_INLINE PxU32 getMaxDepth() { return mMaxDepth; }
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void setArticulationDirty(PxU32 flag);
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PX_FORCE_INLINE void setDirtyFlag(ArticulationSimDirtyFlag::Enum flag) { mDirtyFlags = flag; }
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PX_FORCE_INLINE ArticulationSimDirtyFlags getDirtyFlag() const { return mDirtyFlags; }
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PX_FORCE_INLINE const Dy::ArticulationLink& getLink(const PxU32 linkId) const { return mLinks[linkId]; }
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PxU32 getRootActorIndex() const;
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void updateKinematic(PxArticulationKinematicFlags flags);
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void copyJointStatus(const PxU32 linkIndex);
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PX_FORCE_INLINE bool isLLArticulationInitialized() const { return mIsLLArticulationInitialized; }
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private:
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Dy::FeatherstoneArticulation* mLLArticulation;
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Scene& mScene;
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ArticulationCore& mCore;
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PxArray<Dy::ArticulationLink> mLinks;
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PxArray<BodySim*> mBodies;
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PxArray<ArticulationJointSim*> mJoints;
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PxArray<Dy::ArticulationSpatialTendon*> mSpatialTendons;
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PxArray<Dy::ArticulationFixedTendon*> mFixedTendons;
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PxArray<Dy::ArticulationMimicJointCore*> mMimicJoints;
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PxNodeIndex mIslandNodeIndex;
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PxArray <Dy::ArticulationLoopConstraint> mLoopConstraints;
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PxU32 mMaxDepth;
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bool mIsLLArticulationInitialized;
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ArticulationSimDirtyFlags mDirtyFlags;
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};
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ArticulationSim* getArticulationSim(const IG::IslandSim& islandSim, PxNodeIndex nodeIndex);
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} // namespace Sc
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}
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#endif
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