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) 2008-2021 NVIDIA Corporation. All rights reserved.
+ // Copyright (c) 2008-2026 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
-
- #include "PsFoundation.h"
-
- #include "ScPhysics.h"
- #include "ScBodyCore.h"
#include "ScConstraintCore.h"
+ #include "ScPhysics.h"
#include "ScConstraintSim.h"
using namespace physx;
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
- Sc::ConstraintCore::ConstraintCore(PxConstraintConnector& connector, const PxConstraintShaderTable& shaders, PxU32 dataSize)
- : mFlags(PxConstraintFlag::eDRIVE_LIMITS_ARE_FORCES)
- , mAppliedForce(PxVec3(0))
- , mAppliedTorque(PxVec3(0))
- , mConnector(&connector)
- , mProject(shaders.project)
- , mSolverPrep(shaders.solverPrep)
- , mVisualize(shaders.visualize)
- , mDataSize(dataSize)
- , mLinearBreakForce(PX_MAX_F32)
- , mAngularBreakForce(PX_MAX_F32)
- , mMinResponseThreshold(0)
- , mSim(NULL)
- {
- }
-
- ///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
-
- Sc::ConstraintCore::~ConstraintCore()
+ Sc::ConstraintCore::ConstraintCore(PxConstraintConnector& connector, const PxConstraintShaderTable& shaders, PxU32 dataSize) :
+ mFlags (PxConstraintFlag::eDRIVE_LIMITS_ARE_FORCES),
+ mIsDirty (1),
+ mAppliedForce (PxVec3(0.0f)),
+ mAppliedTorque (PxVec3(0.0f)),
+ mConnector (&connector),
+ mSolverPrep (shaders.solverPrep),
+ mVisualize (shaders.visualize),
+ mDataSize (dataSize),
+ mLinearBreakForce (PX_MAX_F32),
+ mAngularBreakForce (PX_MAX_F32),
+ mMinResponseThreshold (0.0f),
+ mSim (NULL)
{
}
void Sc::ConstraintCore::setFlags(PxConstraintFlags flags)
{
PxConstraintFlags old = mFlags;
- flags = flags | (old & PxConstraintFlag::eGPU_COMPATIBLE);
+ flags = flags | (old & PxConstraintFlag::eGPU_COMPATIBLE); // eGPU_COMPATIBLE is for internal use only and should keep its initial state
if(flags != old)
- {
+ {
mFlags = flags;
- if(getSim())
- getSim()->postFlagChange(old, flags);
+ if(mSim)
+ mSim->postFlagChange(old, flags);
}
}
void Sc::ConstraintCore::getForce(PxVec3& force, PxVec3& torque) const
{
if(!mSim)
{
- force = PxVec3(0,0,0);
- torque = PxVec3(0,0,0);
+ force = PxVec3(0.0f);
+ torque = PxVec3(0.0f);
}
else
mSim->getForce(force, torque);
-
}
void Sc::ConstraintCore::setBodies(RigidCore* r0v, RigidCore* r1v)
{
if(mSim)
- mSim->postBodiesChange(r0v, r1v);
- }
-
- bool Sc::ConstraintCore::updateConstants(void* addr)
- {
- if (getSim())
- {
- getSim()->setConstantsLL(addr);
- return true;
- }
- return false;
+ mSim->setBodies(r0v, r1v);
}
void Sc::ConstraintCore::setBreakForce(PxReal linear, PxReal angular)
{
mLinearBreakForce = linear;
mAngularBreakForce = angular;
- if (getSim())
- getSim()->setBreakForceLL(linear, angular);
- }
-
- void Sc::ConstraintCore::getBreakForce(PxReal& linear, PxReal& angular) const
- {
- linear = mLinearBreakForce;
- angular = mAngularBreakForce;
+ if(mSim)
+ mSim->setBreakForceLL(linear, angular);
}
void Sc::ConstraintCore::setMinResponseThreshold(PxReal threshold)
{
mMinResponseThreshold = threshold;
- if (getSim())
- getSim()->setMinResponseThresholdLL(threshold);
+ if(mSim)
+ mSim->setMinResponseThresholdLL(threshold);
}
PxConstraint* Sc::ConstraintCore::getPxConstraint()
{
return gOffsetTable.convertScConstraint2Px(this);
}
const PxConstraint* Sc::ConstraintCore::getPxConstraint() const
{
return gOffsetTable.convertScConstraint2Px(this);
}
void Sc::ConstraintCore::breakApart()
{
// TODO: probably want to do something with the interaction here
// as well as remove the constraint from LL.
mFlags |= PxConstraintFlag::eBROKEN;
}
- void Sc::ConstraintCore::prepareForSetBodies()
- {
- if(mSim)
- mSim->preBodiesChange();
- }