159 lines
5.0 KiB
C++
159 lines
5.0 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_SOLVER_CONSTRAINT_1D_H
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#define PXG_SOLVER_CONSTRAINT_1D_H
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#include "foundation/PxVec3.h"
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#include "PxConstraintDesc.h"
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#include "PxgSolverConstraintDesc.h"
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#include "DySolverConstraintTypes.h"
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#include "CmSpatialVector.h"
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namespace physx
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{
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struct PxgSolverConstraint1DHeader
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{
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float4 body0WorldOffset_linBreakImpulse;
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//Strict ordering required - invInertiaScale0->invMassScale0->invInertiaScale1->invMassScale1. Do not change!
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PxReal invInertiaScale0;
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PxReal invMassScale0;
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PxReal invInertiaScale1;
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PxReal invMassScale1;
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PxU32 rowCounts; // numbers of rows each 1D constraints
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PxU32 breakable; // indicate whether the constraint are breakable or not
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PxReal angBreakImpulse;
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PxU32 writeBackOffset;
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};
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PX_COMPILE_TIME_ASSERT(sizeof(PxgSolverConstraint1DHeader) == 48);
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PX_ALIGN_PREFIX(16)
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struct PxgSolverConstraint1DCon
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{
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PxVec3 ang0; //12 12
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PxVec3 lin0; //12 24
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PxVec3 ang1; //12 36
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PxVec3 lin1; //12 48
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Cm::UnAlignedSpatialVector deltaVA; //24 72
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Cm::UnAlignedSpatialVector deltaVB; //24 96
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PxReal minImpulse; //4 100
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PxReal maxImpulse; //4 104
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PxReal velMultiplier; //4 108
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PxReal impulseMultiplier; //4 112
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} PX_ALIGN_SUFFIX(16);
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PX_COMPILE_TIME_ASSERT(sizeof(PxgSolverConstraint1DCon) == 112);
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struct PxgSolverConstraint1DMod
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{
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PxVec3 ang0Writeback; //!< unscaled angular velocity projection (body 0)
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PxReal constant; //!< constant
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PxReal unbiasedConstant; //!< unbiased constant
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PxReal appliedForce; //!< applied force to correct velocity+bias
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PxU32 flags;
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};
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struct PxgTGSSolverConstraint1DHeader
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{
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PxU16 rowCounts; // numbers of rows each 1D constraints
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PxU16 breakable; // indicate whether the constraint are breakable or not
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PxReal linBreakImpulse;
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PxReal angBreakImpulse;
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PxU32 writeBackOffset;
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PxVec4 raWorld;
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PxVec4 rbWorld;
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//Strict ordering required - invInertiaScale0->invMassScale0->invInertiaScale1->invMassScale1. Do not change!
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PxReal invInertiaScale0;
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PxReal invMassScale0;
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PxReal invInertiaScale1;
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PxReal invMassScale1;
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//There is no orthogonalization with articulation constraints, so we do not need to
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//add anything to reflect that in this code!
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};
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PX_ALIGN_PREFIX(16)
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struct PxgTGSSolverConstraint1DCon
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{
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PxVec3 ang0; //12 12
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PxVec3 lin0; //12 24
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PxVec3 ang1; //12 36
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PxVec3 lin1; //12 48
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Cm::UnAlignedSpatialVector deltaVA; //24 72
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Cm::UnAlignedSpatialVector deltaVB; //24 96
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PxReal minImpulse; //4 100
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PxReal maxImpulse; //4 104
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PxReal velMultiplier; //4 108
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PxReal impulseMultiplier; //4 112
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PxReal error; //4 116
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PxReal velTarget; //4 120
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PxReal recipResponse; //4 124
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PxReal angularErrorScale; //4 128
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} PX_ALIGN_SUFFIX(16);
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PX_COMPILE_TIME_ASSERT(sizeof(PxgTGSSolverConstraint1DCon) == 128);
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struct PxgTGSSolverConstraint1DMod
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{
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PxReal appliedForce; //!< applied force to correct velocity+bias
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PxReal maxBias;
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PxReal biasScale;
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PxU32 flags;
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};
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struct PxgJointParams
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{
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PxgSolverConstraint1DHeader* jointHeader;
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PxgSolverConstraint1DCon* jointCon;
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PxgSolverConstraint1DMod* jointMod;
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};
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struct PxgTGSJointParams
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{
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PxgTGSSolverConstraint1DHeader* jointHeader;
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PxgTGSSolverConstraint1DCon* jointCon;
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PxgTGSSolverConstraint1DMod* jointMod;
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};
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}
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#endif |