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// 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
#include "CmUtils.h"
#include "DySolverBody.h"
#include "PxsRigidBody.h"
#include "PxvDynamics.h"
using namespace physx;
// PT: TODO: SIMDify all this...
void Dy::copyToSolverBodyData(const PxVec3& linearVelocity, const PxVec3& angularVelocity, PxReal invMass, const PxVec3& invInertia, const PxTransform& globalPose,
PxReal maxDepenetrationVelocity, PxReal maxContactImpulse, PxU32 nodeIndex, PxReal reportThreshold, PxSolverBodyData& data, PxU32 lockFlags,
PxReal dt, bool gyroscopicForces)
{
data.nodeIndex = nodeIndex;
const PxVec3p safeSqrtInvInertia = computeSafeSqrtInertia(invInertia);
Cm::transformInertiaTensor(safeSqrtInvInertia, globalPose.q, data.sqrtInvInertia);
PxVec3 ang = angularVelocity;
PxVec3 lin = linearVelocity;
if (gyroscopicForces)
{
const PxVec3 localInertia = Cm::safeRecip<PxVec3>(invInertia);
const PxVec3 localAngVel = globalPose.q.rotateInv(ang);
const PxVec3 origMom = localInertia.multiply(localAngVel);
const PxVec3 torque = -localAngVel.cross(origMom);
PxVec3 newMom = origMom + torque * dt;
const PxReal denom = newMom.magnitude();
const PxReal ratio = denom > 0.f ? origMom.magnitude() / denom : 0.f;
newMom *= ratio;
const PxVec3 newDeltaAngVel = globalPose.q.rotate(invInertia.multiply(newMom) - localAngVel);
ang += newDeltaAngVel;
}
if (lockFlags)
{
if (lockFlags & PxRigidDynamicLockFlag::eLOCK_LINEAR_X)
data.linearVelocity.x = 0.f;
if (lockFlags & PxRigidDynamicLockFlag::eLOCK_LINEAR_Y)
data.linearVelocity.y = 0.f;
if (lockFlags & PxRigidDynamicLockFlag::eLOCK_LINEAR_Z)
data.linearVelocity.z = 0.f;
//KS - technically, we can zero the inertia columns and produce stiffer constraints. However, this can cause numerical issues with the
//joint solver, which is fixed by disabling joint preprocessing and setting minResponseThreshold to some reasonable value > 0. However, until
//this is handled automatically, it's probably better not to zero these inertia rows
if (lockFlags & PxRigidDynamicLockFlag::eLOCK_ANGULAR_X)
{
ang.x = 0.f;
//data.sqrtInvInertia.column0 = PxVec3(0.f);
}
if (lockFlags & PxRigidDynamicLockFlag::eLOCK_ANGULAR_Y)
{
ang.y = 0.f;
//data.sqrtInvInertia.column1 = PxVec3(0.f);
}
if (lockFlags & PxRigidDynamicLockFlag::eLOCK_ANGULAR_Z)
{
ang.z = 0.f;
//data.sqrtInvInertia.column2 = PxVec3(0.f);
}
}
PX_ASSERT(lin.isFinite());
PX_ASSERT(ang.isFinite());
data.angularVelocity = ang;
data.linearVelocity = lin;
data.invMass = invMass;
data.penBiasClamp = maxDepenetrationVelocity;
data.maxContactImpulse = maxContactImpulse;
data.body2World = globalPose;
data.reportThreshold = reportThreshold;
}