Revision control
- // 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) 2008-2026 NVIDIA Corporation. All rights reserved.
+ // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
- // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
+ // SPDX-FileCopyrightText: Copyright (c) 2008-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+ // SPDX-License-Identifier: Apache-2.0
#ifndef SC_DEFORMABLE_VOLUME_CORE_H
#define SC_DEFORMABLE_VOLUME_CORE_H
#include "foundation/PxPreprocessor.h"
#if PX_SUPPORT_GPU_PHYSX
#include "PxDeformableVolume.h"
#include "DyDeformableVolumeCore.h"
#include "foundation/PxAssert.h"
#include "ScActorCore.h"
#include "ScShapeCore.h"
#include "PxFiltering.h"
#include "ScRigidCore.h" //KS - needed for ShapeChangeNotifyFlags. Move to a shared header
namespace physx
{
namespace Sc
{
class DeformableVolumeSim;
class BodyCore;
class DeformableSurfaceCore;
class DeformableVolumeCore : public ActorCore
{
public:
// PX_SERIALIZATION
DeformableVolumeCore(const PxEMPTY) : ActorCore(PxEmpty){}
//~PX_SERIALIZATION
DeformableVolumeCore();
~DeformableVolumeCore();
//---------------------------------------------------------------------------------
// PxActor API
//---------------------------------------------------------------------------------
void setActorFlags(PxActorFlags flags);
PxActorFlags getActorFlags() const { return mCore.actorFlags; }
//---------------------------------------------------------------------------------
// PxDeformableBody API
//---------------------------------------------------------------------------------
void setBodyFlags(PxDeformableBodyFlags flags);
PxDeformableBodyFlags getBodyFlags() const { return mCore.bodyFlags; }
void setLinearDamping(const PxReal linearDamping);
PxReal getLinearDamping() const { return mCore.linearDamping; }
void setMaxLinearVelocity(const PxReal maxLinearVelocity);
PxReal getMaxLinearVelocity() const { return mCore.maxLinearVelocity; }
void setMaxPenetrationBias(const PxReal maxPenetrationBias);
PxReal getMaxPenetrationBias() const { return mCore.maxPenetrationBias; }
void setSolverIterationCounts(PxU16 c);
PxU16 getSolverIterationCounts() const { return mCore.solverIterationCounts; }
void setSleepThreshold(const PxReal sleepThreshold);
PxReal getSleepThreshold() const { return mCore.sleepThreshold; }
void setSettlingThreshold(const PxReal settlingThreshold);
PxReal getSettlingThreshold() const { return mCore.settlingThreshold; }
void setSettlingDamping(const PxReal linearDamping);
PxReal getSettlingDamping() const { return mCore.settlingDamping; }
void setSelfCollisionFilterDistance(const PxReal selfCollisionFilterDistance);
PxReal getSelfCollisionFilterDistance() const { return mCore.selfCollisionFilterDistance; }
void setWakeCounter(const PxReal v);
void setWakeCounterInternal(const PxReal v);
PxReal getWakeCounter() const { return mCore.wakeCounter; }
//---------------------------------------------------------------------------------
// PxDeformableBody API
//---------------------------------------------------------------------------------
void setVolumeFlags(PxDeformableVolumeFlags flags);
PxDeformableVolumeFlags getVolumeFlags() const { return mCore.volumeFlags; }
void setSelfCollisionStressTolerance(const PxReal selfCollisionStressTolerance);
PxReal getSelfCollisionStressTolerance() const { return mCore.selfCollisionStressTolerance; }
void setKinematicTargets(const PxVec4* positions);
PxU32 getGpuIndex() const;
PxU32 addRigidAttachment(Sc::BodyCore* core, PxU32 vertId, const PxVec3& actorSpacePose, bool doConversion);
void removeRigidAttachment(Sc::BodyCore* core, PxU32 handle);
void addTetRigidFilter(Sc::BodyCore* core, PxU32 tetIdx);
void removeTetRigidFilter(Sc::BodyCore* core, PxU32 tetIdx);
PxU32 addTetRigidAttachment(Sc::BodyCore* core, PxU32 tetIdx, const PxVec4& barycentric, const PxVec3& actorSpacePose,
bool doConversion);
void addSoftBodyFilter(Sc::DeformableVolumeCore& core, PxU32 tetIdx0, PxU32 tetIdx1);
void removeSoftBodyFilter(Sc::DeformableVolumeCore& core, PxU32 tetIdx0, PxU32 tetIdx1);
void addSoftBodyFilters(Sc::DeformableVolumeCore& core, PxU32* tetIndices0, PxU32* tetIndices1, PxU32 tetIndicesSize);
void removeSoftBodyFilters(Sc::DeformableVolumeCore& core, PxU32* tetIndices0, PxU32* tetIndices1, PxU32 tetIndicesSize);
PxU32 addSoftBodyAttachment(Sc::DeformableVolumeCore& core, PxU32 tetIdx0, const PxVec4& triBarycentric0, PxU32 tetIdx1, const PxVec4& tetBarycentric1,
bool doConversion);
void removeSoftBodyAttachment(Sc::DeformableVolumeCore& core, PxU32 handle);
void addClothFilter(Sc::DeformableSurfaceCore& core, PxU32 triIdx, PxU32 tetIdx);
void removeClothFilter(Sc::DeformableSurfaceCore& core, PxU32 triIdx, PxU32 tetIdx);
PxU32 addClothAttachment(Sc::DeformableSurfaceCore& core, PxU32 triIdx, const PxVec4& triBarycentric, PxU32 tetIdx, const PxVec4& tetBarycentric,
bool doConversion);
void removeClothAttachment(Sc::DeformableSurfaceCore& core, PxU32 handle);
//---------------------------------------------------------------------------------
// Internal API
//---------------------------------------------------------------------------------
void addMaterial(const PxU16 handle);
void clearMaterials();
PxActor* getPxActor() const;
void attachShapeCore(ShapeCore* shapeCore);
void attachSimulationMesh(PxTetrahedronMesh* simulationMesh, PxDeformableVolumeAuxData* simulationState);
void onShapeChange(ShapeCore& shape, ShapeChangeNotifyFlags notifyFlags);
PX_FORCE_INLINE PxU64& getGpuMemStat() { return mGpuMemStat; }
DeformableVolumeSim* getSim() const;
PX_FORCE_INLINE const Dy::DeformableVolumeCore& getCore() const { return mCore; }
PX_FORCE_INLINE Dy::DeformableVolumeCore& getCore() { return mCore; }
private:
Dy::DeformableVolumeCore mCore;
PxU64 mGpuMemStat;
};
} // namespace Sc
} // namespace physx
#endif // PX_SUPPORT_GPU_PHYSX
#endif // SC_DEFORMABLE_VOLUME_CORE_H