Revision control
++ // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
++ // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
++ // SPDX-FileCopyrightText: Copyright (c) 2008-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
++ // SPDX-License-Identifier: Apache-2.0
++
++ #ifndef PXV_DYNAMICS_H
++ #define PXV_DYNAMICS_H
++
++ #include "foundation/PxVec3.h"
++ #include "foundation/PxQuat.h"
++ #include "foundation/PxTransform.h"
++ #include "foundation/PxSimpleTypes.h"
++ #include "foundation/PxIntrinsics.h"
++ #include "PxRigidDynamic.h"
++
++ namespace physx
++ {
++
++ /*!
++ \file
++ Dynamics interface.
++ */
++
++ struct PxsRigidCore
++ {
++ PxsRigidCore() : mFlags(0), solverIterationCounts(0) {}
++ PxsRigidCore(const PxEMPTY) : mFlags(PxEmpty) {}
++
++ PX_ALIGN_PREFIX(16)
++ PxTransform body2World PX_ALIGN_SUFFIX(16);
++ PxRigidBodyFlags mFlags; // API body flags
++ PxU16 solverIterationCounts; // vel iters are in low word and pos iters in high word.
++
++ PX_FORCE_INLINE PxU32 isKinematic() const { return mFlags & PxRigidBodyFlag::eKINEMATIC; }
++ PX_FORCE_INLINE PxU32 hasCCD() const { return mFlags & PxRigidBodyFlag::eENABLE_CCD; }
++ PX_FORCE_INLINE PxU32 hasCCDFriction() const { return mFlags & PxRigidBodyFlag::eENABLE_CCD_FRICTION; }
++ PX_FORCE_INLINE PxU32 hasIdtBody2Actor() const { return mFlags & PxRigidBodyFlag::eRESERVED; }
++ };
++ PX_COMPILE_TIME_ASSERT(sizeof(PxsRigidCore) == 32);
++
++ #define PXV_CONTACT_REPORT_DISABLED PX_MAX_F32
++
++ // PxsBodyCore::maxContactImpulse default: values at or above this sentinel mean "no body-level cap".
++ // Compare with < rather than testing equality: the public API documents the default as PX_MAX_F32,
++ // and older serialized bodies may carry either value.
++ #define PXV_NO_MAX_CONTACT_IMPULSE 1e32f
++
++ struct PxsBodyCore : public PxsRigidCore
++ {
++ PxsBodyCore() : PxsRigidCore() { fixedBaseLink = PxU8(0); }
++ PxsBodyCore(const PxEMPTY) : PxsRigidCore(PxEmpty) {}
++
++ PX_FORCE_INLINE const PxTransform& getBody2Actor() const { return body2Actor; }
++ PX_FORCE_INLINE void setBody2Actor(const PxTransform& t)
++ {
++ if(t.p.isZero() && t.q.isIdentity())
++ mFlags.raise(PxRigidBodyFlag::eRESERVED);
++ else
++ mFlags.clear(PxRigidBodyFlag::eRESERVED);
++
++ body2Actor = t;
++ }
++ protected:
++ PxTransform body2Actor;
++ public:
++ PxReal ccdAdvanceCoefficient; //64
++
++ PxVec3 linearVelocity;
++ PxReal maxPenBias;
++
++ PxVec3 angularVelocity;
++ PxReal contactReportThreshold; //96
++
++ PxReal maxAngularVelocitySq;
++ PxReal maxLinearVelocitySq;
++ PxReal linearDamping;
++ PxReal angularDamping; //112
++
++ PxVec3 inverseInertia;
++ PxReal inverseMass; //128
++
++ PxReal maxContactImpulse;
++ PxReal sleepThreshold;
++ union
++ {
++ PxReal freezeThreshold;
++ PxReal cfmScale;
++ };
++
++ PxReal wakeCounter; //144 this is authoritative wakeCounter
++
++ PxReal solverWakeCounter; //this is calculated by the solver when it performs sleepCheck. It is committed to wakeCounter in ScAfterIntegrationTask if the body is still awake.
++ PxU32 numCountedInteractions;
++ PxReal offsetSlop; //Slop value used to snap contact line of action back in-line with the COM
++ PxU8 isFastMoving; //This could be a single bit but it's a u8 at the moment for simplicity's sake
++ PxU8 disableGravity; //This could be a single bit but it's a u8 at the moment for simplicity's sake
++ PxRigidDynamicLockFlags lockFlags; //This is u8.
++ PxU8 fixedBaseLink; //160 This indicates whether the articulation link has PxArticulationFlag::eFIX_BASE. All fits into 16 byte alignment
++
++ // PT: moved from Sc::BodyCore ctor - we don't want to duplicate all this in immediate mode
++ PX_FORCE_INLINE void init( const PxTransform& bodyPose,
++ const PxVec3& inverseInertia_, PxReal inverseMass_,
++ PxReal wakeCounter_, PxReal scaleSpeed,
++ PxReal linearDamping_, PxReal angularDamping_,
++ PxReal maxLinearVelocitySq_, PxReal maxAngularVelocitySq_,
++ PxActorType::Enum type)
++ {
++ PX_ASSERT(bodyPose.p.isFinite());
++ PX_ASSERT(bodyPose.q.isFinite());
++
++ // PT: TODO: unify naming convention
++
++ // From PxsRigidCore
++ body2World = bodyPose;
++ mFlags = PxRigidBodyFlags();
++ solverIterationCounts = (1 << 8) | 4;
++
++ setBody2Actor(PxTransform(PxIdentity));
++
++ ccdAdvanceCoefficient = 0.15f;
++ linearVelocity = PxVec3(0.0f);
++ maxPenBias = -1e32f;//-PX_MAX_F32;
++ angularVelocity = PxVec3(0.0f);
++ contactReportThreshold = PXV_CONTACT_REPORT_DISABLED;
++ maxAngularVelocitySq = maxAngularVelocitySq_;
++ maxLinearVelocitySq = maxLinearVelocitySq_;
++ linearDamping = linearDamping_;
++ angularDamping = angularDamping_;
++ inverseInertia = inverseInertia_;
++ inverseMass = inverseMass_;
++ maxContactImpulse = PXV_NO_MAX_CONTACT_IMPULSE;
++ sleepThreshold = 5e-5f * scaleSpeed * scaleSpeed;
++ if(type == PxActorType::eARTICULATION_LINK)
++ cfmScale = 0.025f;
++ else
++ freezeThreshold = 2.5e-5f * scaleSpeed * scaleSpeed;
++ wakeCounter = wakeCounter_;
++ offsetSlop = 0.f;
++ // PT: this one is not initialized?
++ //solverWakeCounter
++ // PT: these are initialized in BodySim ctor
++ //numCountedInteractions;
++ //numBodyInteractions;
++ isFastMoving = false;
++ disableGravity = false;
++ lockFlags = PxRigidDynamicLockFlags(0);
++ }
++ };
++
++ PX_COMPILE_TIME_ASSERT(sizeof(PxsBodyCore) == 160);
++
++ }
++
++ #endif