| 1 | // |
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| 2 | // Redistribution and use in source and binary forms, with or without |
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| 3 | // modification, are permitted provided that the following conditions |
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| 4 | // are met: |
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| 5 | // * Redistributions of source code must retain the above copyright |
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| 6 | // notice, this list of conditions and the following disclaimer. |
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| 7 | // * Redistributions in binary form must reproduce the above copyright |
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| 8 | // notice, this list of conditions and the following disclaimer in the |
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| 9 | // documentation and/or other materials provided with the distribution. |
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| 10 | // * Neither the name of NVIDIA CORPORATION nor the names of its |
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| 11 | // contributors may be used to endorse or promote products derived |
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| 12 | // from this software without specific prior written permission. |
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| 13 | // |
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| 14 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY |
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| 15 | // EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 16 | // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR |
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| 17 | // PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR |
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| 18 | // CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, |
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| 19 | // EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, |
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| 20 | // PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR |
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| 21 | // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY |
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| 22 | // OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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| 23 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
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| 24 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
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| 25 | // |
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| 26 | // Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved. |
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| 27 | // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved. |
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| 28 | // Copyright (c) 2001-2004 NovodeX AG. All rights reserved. |
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| 29 | |
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| 30 | |
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| 31 | #ifndef PXD_FEATHERSTONE_ARTICULATION_LINK_H |
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| 32 | #define PXD_FEATHERSTONE_ARTICULATION_LINK_H |
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| 33 | |
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| 34 | #include "foundation/PxVec3.h" |
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| 35 | #include "foundation/PxQuat.h" |
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| 36 | #include "foundation/PxTransform.h" |
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| 37 | #include "PsVecMath.h" |
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| 38 | #include "CmUtils.h" |
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| 39 | #include "CmSpatialVector.h" |
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| 40 | #include "DyVArticulation.h" |
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| 41 | #include "DyFeatherstoneArticulationUtils.h" |
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| 42 | |
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| 43 | namespace physx |
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| 44 | { |
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| 45 | namespace Dy |
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| 46 | { |
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| 47 | |
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| 48 | class ArticulationLinkData |
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| 49 | { |
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| 50 | const static PxU32 MaxJointRows = 3; |
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| 51 | public: |
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| 52 | ArticulationLinkData() |
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| 53 | { |
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| 54 | maxPenBias = 0.f; |
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| 55 | } |
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| 56 | |
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| 57 | Cm::SpatialVectorF IsW[MaxJointRows];//stI is the transpose of Is |
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| 58 | PxVec3 childToBase; |
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| 59 | PxVec3 r; //vector from parent com to child com |
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| 60 | PxVec3 rw; //vector from parent com to child com |
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| 61 | PxReal qstZIc[MaxJointRows];//jointForce - stZIc |
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| 62 | PxReal maxPenBias; |
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| 63 | |
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| 64 | }; |
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| 65 | |
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| 66 | }//namespace Dy |
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| 67 | } |
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| 68 | |
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| 69 | #endif |
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| 70 | |
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