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28 | // Copyright (c) 2001-2004 NovodeX AG. All rights reserved. |
29 | |
30 | |
31 | #ifndef DV_ARTICULATION_JOINT_CORE_H |
32 | #define DV_ARTICULATION_JOINT_CORE_H |
33 | |
34 | #include "DyArticulationCore.h" |
35 | #include "PxArticulationJoint.h" |
36 | #include "solver/PxSolverDefs.h" |
37 | #include "PxArticulationJointReducedCoordinate.h" |
38 | |
39 | namespace physx |
40 | { |
41 | namespace Dy |
42 | { |
43 | struct ArticulationJointCoreBase |
44 | { |
45 | //= ATTENTION! ===================================================================================== |
46 | // Changing the data layout of this class breaks the binary serialization format. See comments for |
47 | // PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData |
48 | // function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION |
49 | // accordingly. |
50 | //================================================================================================== |
51 | public: |
52 | |
53 | PX_CUDA_CALLABLE bool setJointPose(PxQuat& relativeQuat) |
54 | { |
55 | if (dirtyFlag & ArticulationJointCoreDirtyFlag::ePOSE) |
56 | { |
57 | relativeQuat = (childPose.q * (parentPose.q.getConjugate())).getNormalized(); |
58 | |
59 | //ML: this way work in GPU |
60 | PxU8 flag = PxU8(ArticulationJointCoreDirtyFlag::ePOSE); |
61 | dirtyFlag &= ArticulationJointCoreDirtyFlags(~flag); |
62 | |
63 | return true; |
64 | } |
65 | |
66 | return false; |
67 | } |
68 | |
69 | PX_CUDA_CALLABLE PX_FORCE_INLINE void operator=(ArticulationJointCoreBase& other) |
70 | { |
71 | parentPose = other.parentPose; |
72 | childPose = other.childPose; |
73 | |
74 | dirtyFlag = other.dirtyFlag; |
75 | |
76 | //KS - temp place to put reduced coordinate limit and drive values |
77 | for(PxU32 i=0; i<PxArticulationAxis::eCOUNT; i++) |
78 | { |
79 | limits[i] = other.limits[i]; |
80 | drives[i] = other.drives[i]; |
81 | targetP[i] = other.targetP[i]; |
82 | targetV[i] = other.targetV[i]; |
83 | |
84 | dofIds[i] = other.dofIds[i]; |
85 | motion[i] = other.motion[i]; |
86 | } |
87 | |
88 | frictionCoefficient = other.frictionCoefficient; |
89 | maxJointVelocity = other.maxJointVelocity; |
90 | //relativeQuat = other.relativeQuat; |
91 | jointType = other.jointType; |
92 | jointOffset = other.jointOffset; //this is the dof offset for the joint in the cache |
93 | } |
94 | |
95 | // attachment points, don't change the order, otherwise it will break GPU code |
96 | PxTransform parentPose; //28 28 |
97 | PxTransform childPose; //28 56 |
98 | |
99 | //KS - temp place to put reduced coordinate limit and drive values |
100 | PxArticulationLimit limits[PxArticulationAxis::eCOUNT]; //48 104 |
101 | PxArticulationDrive drives[PxArticulationAxis::eCOUNT]; //96 200 |
102 | PxReal targetP[PxArticulationAxis::eCOUNT]; //24 224 |
103 | PxReal targetV[PxArticulationAxis::eCOUNT]; //24 248 |
104 | |
105 | // initial parent to child rotation. Could be |
106 | //PxQuat relativeQuat; //16 264 |
107 | PxReal frictionCoefficient; //4 268 |
108 | |
109 | PxU8 dofIds[PxArticulationAxis::eCOUNT]; //6 274 |
110 | PxU8 motion[PxArticulationAxis::eCOUNT]; //6 280 |
111 | |
112 | PxReal maxJointVelocity; //4 284 |
113 | |
114 | //Currently, jointOffset can't exceed 64*3 so we can use a PxU8 here! This brings mem footprint to exactly a multiple of 16 bytes |
115 | //this is the dof offset for the joint in the cache. |
116 | PxU8 jointOffset; //1 285 |
117 | ArticulationJointCoreDirtyFlags dirtyFlag; //1 286 |
118 | PxU8 jointType; //1 287 |
119 | PxU8 pad[1]; |
120 | |
121 | ArticulationJointCoreBase() { maxJointVelocity = 100.f; } |
122 | // PX_SERIALIZATION |
123 | ArticulationJointCoreBase(const PxEMPTY&) : dirtyFlag(PxEmpty) { PX_COMPILE_TIME_ASSERT(sizeof(PxArticulationMotions) == sizeof(PxU8)); } |
124 | //~PX_SERIALIZATION |
125 | }; |
126 | } |
127 | } |
128 | |
129 | #endif |
130 | |