1//
2// Redistribution and use in source and binary forms, with or without
3// modification, are permitted provided that the following conditions
4// are met:
5// * Redistributions of source code must retain the above copyright
6// notice, this list of conditions and the following disclaimer.
7// * Redistributions in binary form must reproduce the above copyright
8// notice, this list of conditions and the following disclaimer in the
9// documentation and/or other materials provided with the distribution.
10// * Neither the name of NVIDIA CORPORATION nor the names of its
11// contributors may be used to endorse or promote products derived
12// from this software without specific prior written permission.
13//
14// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
15// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
16// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
17// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
18// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
19// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
20// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
21// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
22// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
23// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
24// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
25//
26// Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved.
27// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
28// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
29
30#ifndef PX_PHYSICS_NP_ARTICULATION_LINK
31#define PX_PHYSICS_NP_ARTICULATION_LINK
32
33#include "NpRigidBodyTemplate.h"
34#include "PxArticulationLink.h"
35
36#if PX_ENABLE_DEBUG_VISUALIZATION
37#include "CmRenderOutput.h"
38#endif
39
40namespace physx
41{
42class NpArticulation;
43class NpArticulationLink;
44class NpArticulationJoint;
45class PxConstraintVisualizer;
46
47typedef NpRigidBodyTemplate<PxArticulationLink> NpArticulationLinkT;
48
49class NpArticulationLinkArray : public Ps::InlineArray<NpArticulationLink*, 4> //!!!AL TODO: check if default of 4 elements makes sense
50{
51//= ATTENTION! =====================================================================================
52// Changing the data layout of this class breaks the binary serialization format. See comments for
53// PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData
54// function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
55// accordingly.
56//==================================================================================================
57public:
58// PX_SERIALIZATION
59 NpArticulationLinkArray(const PxEMPTY) : Ps::InlineArray<NpArticulationLink*, 4> (PxEmpty) {}
60 static void getBinaryMetaData(PxOutputStream& stream);
61//~PX_SERIALIZATION
62 NpArticulationLinkArray() : Ps::InlineArray<NpArticulationLink*, 4>(PX_DEBUG_EXP("articulationLinkArray")) {}
63};
64
65class NpArticulationLink : public NpArticulationLinkT
66{
67//= ATTENTION! =====================================================================================
68// Changing the data layout of this class breaks the binary serialization format. See comments for
69// PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData
70// function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
71// accordingly.
72//==================================================================================================
73public:
74// PX_SERIALIZATION
75 NpArticulationLink(PxBaseFlags baseFlags) : NpArticulationLinkT(baseFlags), mChildLinks(PxEmpty) {}
76 void preExportDataReset() { NpArticulationLinkT::preExportDataReset(); }
77 virtual void exportExtraData(PxSerializationContext& context);
78 void importExtraData(PxDeserializationContext& context);
79 void resolveReferences(PxDeserializationContext& context);
80 virtual void requiresObjects(PxProcessPxBaseCallback& c);
81 virtual bool isSubordinate() const { return true; }
82 static NpArticulationLink* createObject(PxU8*& address, PxDeserializationContext& context);
83 static void getBinaryMetaData(PxOutputStream& stream);
84//~PX_SERIALIZATION
85 virtual ~NpArticulationLink();
86
87 //---------------------------------------------------------------------------------
88 // PxArticulationLink implementation
89 //---------------------------------------------------------------------------------
90 virtual void release();
91
92
93 virtual PxActorType::Enum getType() const { return PxActorType::eARTICULATION_LINK; }
94
95 // Pose
96 virtual void setGlobalPose(const PxTransform& pose);
97 virtual void setGlobalPose(const PxTransform& pose, bool autowake);
98 virtual PxTransform getGlobalPose() const;
99
100 //damping
101 virtual void setLinearDamping(PxReal linDamp);
102 virtual PxReal getLinearDamping() const;
103
104 virtual void setAngularDamping(PxReal angDamp);
105 virtual PxReal getAngularDamping() const;
106
107 // Velocity
108 virtual void setLinearVelocity(const PxVec3&, bool autowake = true);
109 virtual void setAngularVelocity(const PxVec3&, bool autowake = true);
110 virtual void setMaxAngularVelocity(PxReal);
111 virtual PxReal getMaxAngularVelocity() const;
112 virtual void setMaxLinearVelocity(PxReal);
113 virtual PxReal getMaxLinearVelocity() const;
114
115 virtual PxArticulationBase& getArticulation() const;
116 virtual PxArticulationJointBase* getInboundJoint() const;
117 virtual PxU32 getInboundJointDof() const;
118
119 virtual PxU32 getNbChildren() const;
120 virtual PxU32 getChildren(PxArticulationLink** userBuffer, PxU32 bufferSize, PxU32 startIndex) const;
121 virtual PxU32 getLinkIndex() const;
122 virtual void setCMassLocalPose(const PxTransform& pose);
123
124 virtual void addForce(const PxVec3& force, PxForceMode::Enum mode = PxForceMode::eFORCE, bool autowake = true);
125 virtual void addTorque(const PxVec3& torque, PxForceMode::Enum mode = PxForceMode::eFORCE, bool autowake = true);
126 virtual void setForceAndTorque(const PxVec3& force, const PxVec3& torque, PxForceMode::Enum mode = PxForceMode::eFORCE);
127 virtual void clearForce(PxForceMode::Enum mode = PxForceMode::eFORCE);
128 virtual void clearTorque(PxForceMode::Enum mode = PxForceMode::eFORCE);
129
130 //---------------------------------------------------------------------------------
131 // Miscellaneous
132 //---------------------------------------------------------------------------------
133 NpArticulationLink(const PxTransform& bodyPose, PxArticulationBase& root, NpArticulationLink* parent);
134
135 void releaseInternal();
136
137 PX_INLINE PxArticulationBase& getRoot() { return *mRoot; }
138 PX_INLINE NpArticulationLink* getParent() { return mParent; }
139
140 PX_INLINE void setInboundJoint(PxArticulationJointBase& joint) { mInboundJoint = &joint; }
141
142 void setGlobalPoseInternal(const PxTransform& pose, bool autowake);
143 void setLLIndex(const PxU32 index) { mLLIndex = index; }
144 void setInboundJointDof(const PxU32 index) { mInboundJointDof = index; }
145
146 static PX_FORCE_INLINE size_t getScbBodyOffset() { return PX_OFFSET_OF_RT(NpArticulationLink, mBody); }
147private:
148 PX_INLINE void addToChildList(NpArticulationLink& link) { mChildLinks.pushBack(a: &link); }
149 PX_INLINE void removeFromChildList(NpArticulationLink& link) { PX_ASSERT(mChildLinks.find(&link) != mChildLinks.end()); mChildLinks.findAndReplaceWithLast(a: &link); }
150
151public:
152 PX_INLINE NpArticulationLink* const* getChildren() { return mChildLinks.empty() ? NULL : &mChildLinks.front(); }
153 void setKinematicLink(const bool value);
154
155#if PX_ENABLE_DEBUG_VISUALIZATION
156public:
157 void visualize(Cm::RenderOutput& out, NpScene* scene);
158 void visualizeJoint(PxConstraintVisualizer& jointViz);
159#endif
160
161private:
162 PxArticulationBase* mRoot; //!!!AL TODO: Revisit: Could probably be avoided if registration and deregistration in root is handled differently
163 PxArticulationJointBase* mInboundJoint;
164 NpArticulationLink* mParent; //!!!AL TODO: Revisit: Some memory waste but makes things faster
165 NpArticulationLinkArray mChildLinks;
166 PxU32 mLLIndex;
167 PxU32 mInboundJointDof;
168};
169
170}
171
172#endif
173

source code of qtquick3dphysics/src/3rdparty/PhysX/source/physx/src/NpArticulationLink.h