PxSolverDefs.h

Go to the documentation of this file.

//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
//  * Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//  * Redistributions in binary form must reproduce the above copyright
//    notice, this list of conditions and the following disclaimer in the
//    documentation and/or other materials provided with the distribution.
//  * Neither the name of NVIDIA CORPORATION nor the names of its
//    contributors may be used to endorse or promote products derived
//    from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.

#ifndef PX_SOLVER_DEFS_H
#define PX_SOLVER_DEFS_H

#include "PxPhysXConfig.h"
#include "foundation/PxVec3.h"
#include "foundation/PxMat33.h"
#include "foundation/PxTransform.h"
#include "PxConstraintDesc.h"
#include "geomutils/GuContactPoint.h"

#if PX_VC
#pragma warning(push)
#pragma warning(disable : 4324) // structure was padded due to alignment
#endif

#if !PX_DOXYGEN
namespace physx
{
#endif

struct PxTGSSolverBodyVel;

namespace Dy
{
    class ArticulationV;
    typedef size_t ArticulationLinkHandle;  
}

namespace Sc
{
    class ShapeInteraction;
}

struct PxSolverBody
{
    PX_ALIGN(16, PxVec3) linearVelocity;            
    PxU16               maxSolverNormalProgress;    
    PxU16               maxSolverFrictionProgress;  

    PxVec3              angularState;               

    PxU32               solverProgress;             

    PxSolverBody() : linearVelocity(0.f), maxSolverNormalProgress(0), maxSolverFrictionProgress(0), angularState(0), solverProgress(0)
    {
    }
};

PX_COMPILE_TIME_ASSERT(sizeof(PxSolverBody) == 32);

struct PxSolverBodyData
{
    PX_ALIGN(16, PxVec3 linearVelocity);    
    PxReal          invMass;                
    PxVec3          angularVelocity;        
    PxReal          reportThreshold;        
    PxMat33         sqrtInvInertia;         
    PxReal          penBiasClamp;           
    PxU32           nodeIndex;              
    PxReal          maxContactImpulse;      
    PxTransform     body2World;             
    PxU16           lockFlags;              
    PxU16           pad;                    

    PX_FORCE_INLINE PxReal projectVelocity(const PxVec3& lin, const PxVec3& ang)    const
    {
        return linearVelocity.dot(lin) + angularVelocity.dot(ang);
    }
};

//----------------------------------
/*
* A header that defines the size of a specific batch of constraints (of same type and without dependencies)
*/
struct PxConstraintBatchHeader
{
    PxU32   startIndex;         
    PxU16   stride;             
    PxU16   constraintType;     
};

struct PxSolverConstraintDesc
{
    static const PxU16 NO_LINK = 0xffff;

    enum ConstraintType
    {
        eCONTACT_CONSTRAINT,    
        eJOINT_CONSTRAINT       
    };

    union
    {
        PxSolverBody*           bodyA;          
        PxTGSSolverBodyVel*     tgsBodyA;       
        Dy::ArticulationV*      articulationA;  
        
    };

    union
    {
        PxSolverBody*           bodyB;          
        PxTGSSolverBodyVel*     tgsBodyB;       
        Dy::ArticulationV*      articulationB;  
    };
    PxU16                       linkIndexA;             
    PxU16                       linkIndexB;             
    PxU32                       bodyADataIndex;         
    PxU32                       bodyBDataIndex;         
    PxU16                       writeBackLengthOver4;   
    PxU16                       constraintLengthOver16; 
    PxU8*                       constraint;             
    void*                       writeBack;              
};

struct PxSolverConstraintPrepDescBase
{
    enum BodyState
    {
        eDYNAMIC_BODY = 1 << 0,
        eSTATIC_BODY = 1 << 1,
        eKINEMATIC_BODY = 1 << 2,
        eARTICULATION = 1 << 3
    };

    PxConstraintInvMassScale invMassScales; 

    PxSolverConstraintDesc* desc;           

    const PxSolverBody* body0;              
    const PxSolverBody* body1;              

    const PxSolverBodyData* data0;          
    const PxSolverBodyData* data1;          

    PxTransform bodyFrame0;                 
    PxTransform bodyFrame1;                 

    BodyState bodyState0;                   
    BodyState bodyState1;                   
};

struct PxSolverConstraintPrepDesc : public PxSolverConstraintPrepDescBase
{
    PX_ALIGN(16, Px1DConstraint* rows);     
    PxU32 numRows;                          

    PxReal linBreakForce, angBreakForce;    
    PxReal minResponseThreshold;            
    void* writeback;                        
    bool disablePreprocessing;              
    bool improvedSlerp;                     
    bool driveLimitsAreForces;              
    bool extendedLimits;                    

    PxVec3 body0WorldOffset;                
};

struct PxSolverContactDesc : public PxSolverConstraintPrepDescBase
{
    PX_ALIGN(16, Sc::ShapeInteraction* shapeInteraction); 
    Gu::ContactPoint* contacts;             
    PxU32 numContacts;                      

    bool hasMaxImpulse;                     
    bool disableStrongFriction;             
    bool hasForceThresholds;                

    PxReal restDistance;                    
    PxReal maxCCDSeparation;                

    PxU8* frictionPtr;                      
    PxU8 frictionCount;                     

    PxReal* contactForces;                  

    PxU32 startFrictionPatchIndex;          
    PxU32 numFrictionPatches;               

    PxU32 startContactPatchIndex;           
    PxU16 numContactPatches;                
    PxU16 axisConstraintCount;              

    PxU8 pad[16 - sizeof(void*)];
};

class PxConstraintAllocator
{
public:
    virtual PxU8* reserveConstraintData(const PxU32 byteSize) = 0;

    virtual PxU8* reserveFrictionData(const PxU32 byteSize) = 0;

    virtual ~PxConstraintAllocator() {}
};

struct PxArticulationAxis
{
    enum Enum
    {
        eTWIST = 0,
        eSWING1 = 1,
        eSWING2 = 2,
        eX = 3,
        eY = 4,
        eZ = 5,
        eCOUNT = 6
    };
};

PX_FLAGS_OPERATORS(PxArticulationAxis::Enum, PxU8)

struct PxArticulationMotion
{
    enum Enum
    {
        eLOCKED = 0,
        eLIMITED = 1,
        eFREE = 2
    };
};

typedef PxFlags<PxArticulationMotion::Enum, PxU8> PxArticulationMotions;
PX_FLAGS_OPERATORS(PxArticulationMotion::Enum, PxU8)

struct PxArticulationJointType
{
    enum Enum
    {
        eFIX = 0,
        ePRISMATIC = 1,
        eREVOLUTE = 2,
        eSPHERICAL = 3,
        eUNDEFINED = 4
    };
};

struct PxArticulationFlag
{
    enum Enum
    {
        eFIX_BASE = (1 << 0),
        eDRIVE_LIMITS_ARE_FORCES = (1<<1)
    };
};

typedef PxFlags<PxArticulationFlag::Enum, PxU8> PxArticulationFlags;
PX_FLAGS_OPERATORS(PxArticulationFlag::Enum, PxU8)

struct PxArticulationDriveType
{
    enum Enum
    {
        eFORCE = 0,
        eACCELERATION = 1,
        eTARGET = 2,
        eVELOCITY = 3,
        eNONE = 4
    };
};

struct PxArticulationLimit
{
    PxReal low, high;
};

struct PxArticulationDrive
{
    PxReal stiffness, damping, maxForce;
    PxArticulationDriveType::Enum driveType;
};


struct PxTGSSolverBodyVel
{
    PX_ALIGN(16, PxVec3) linearVelocity;            //12
    PxU16           nbStaticInteractions;   //14 Used to accumulate the number of static interactions
    PxU16           maxDynamicPartition;    //16 Used to accumualte the max partition of dynamic interactions
    PxVec3          angularVelocity;        //28
    PxU32           partitionMask;          //32 Used in partitioning as a bit-field
    PxVec3          deltaAngDt;             //44
    PxReal          maxAngVel;              //48
    PxVec3          deltaLinDt;             //60
    PxU16           lockFlags;              //62
    bool            isKinematic;            //63
    PxU8            pad;                    //64

    PX_FORCE_INLINE PxReal projectVelocity(const PxVec3& lin, const PxVec3& ang)    const
    {
        return linearVelocity.dot(lin) + angularVelocity.dot(ang);
    }

};

//Needed only by prep, integration and 1D constraints
struct PxTGSSolverBodyTxInertia
{
    PxTransform deltaBody2World;
    PxMat33 sqrtInvInertia;
};

struct PxTGSSolverBodyData
{
    PX_ALIGN(16, PxVec3) originalLinearVelocity;
    PxReal maxContactImpulse;
    PxVec3 originalAngularVelocity;
    PxReal penBiasClamp;

    PxReal invMass;
    PxU32 nodeIndex;
    PxReal reportThreshold;
    PxU32 pad;

    PxReal projectVelocity(const PxVec3& linear, const PxVec3& angular) const
    {
        return originalLinearVelocity.dot(linear) + originalAngularVelocity.dot(angular);
    }
};

struct PxTGSSolverConstraintPrepDescBase
{
    PxConstraintInvMassScale invMassScales; 

    PxSolverConstraintDesc* desc;               

    const PxTGSSolverBodyVel* body0;                    
    const PxTGSSolverBodyVel *body1;                    

    const PxTGSSolverBodyTxInertia* body0TxI;
    const PxTGSSolverBodyTxInertia* body1TxI;

    const PxTGSSolverBodyData* bodyData0;
    const PxTGSSolverBodyData* bodyData1;

    PxTransform bodyFrame0;                     
    PxTransform bodyFrame1;                     

    PxSolverContactDesc::BodyState bodyState0;                      
    PxSolverContactDesc::BodyState bodyState1;                      

};

struct PxTGSSolverConstraintPrepDesc : public PxTGSSolverConstraintPrepDescBase
{
    Px1DConstraint* rows;           
    PxU32 numRows;                              

    PxReal linBreakForce, angBreakForce;        
    PxReal minResponseThreshold;                
    void* writeback;                            
    bool disablePreprocessing;                  
    bool improvedSlerp;                         
    bool driveLimitsAreForces;                  
    bool extendedLimits;                        

    PxVec3 body0WorldOffset;                    
    PxVec3 cA2w;                                
    PxVec3 cB2w;                                
};


struct PxTGSSolverContactDesc : public PxTGSSolverConstraintPrepDescBase
{

    Sc::ShapeInteraction* shapeInteraction; 
    Gu::ContactPoint* contacts;             
    PxU32 numContacts;                      

    bool hasMaxImpulse;                     
    bool disableStrongFriction;             
    bool hasForceThresholds;                

    PxReal restDistance;                    
    PxReal maxCCDSeparation;                

    PxU8* frictionPtr;                      
    PxU8 frictionCount;                     

    PxReal* contactForces;                  

    PxU32 startFrictionPatchIndex;          
    PxU32 numFrictionPatches;               

    PxU32 startContactPatchIndex;           
    PxU16 numContactPatches;                
    PxU16 axisConstraintCount;              

    PxReal maxImpulse;

    PxReal torsionalPatchRadius;
    PxReal minTorsionalPatchRadius;
};

#if !PX_DOXYGEN
}
#endif

#if PX_VC
#pragma warning(pop)
#endif

#endif