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27// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
28// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
29
30
31#ifndef PX_PHYSICS_NP_ARTICULATION_JOINT
32#define PX_PHYSICS_NP_ARTICULATION_JOINT
33
34#include "PxArticulationJoint.h"
35#include "ScbArticulationJoint.h"
36#include "NpArticulationTemplate.h"
37
38#if PX_ENABLE_DEBUG_VISUALIZATION
39#include "CmRenderOutput.h"
40#endif
41
42namespace physx
43{
44
45class NpScene;
46class NpArticulationLink;
47
48class PxArticulationJointImpl
49{
50//= ATTENTION! =====================================================================================
51// Changing the data layout of this class breaks the binary serialization format. See comments for
52// PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData
53// function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
54// accordingly.
55//==================================================================================================
56public:
57 Scb::ArticulationJoint mJoint;
58 NpArticulationLink* mParent;
59 NpArticulationLink* mChild;
60
61 PX_INLINE PxArticulationJointImpl(NpArticulationLink& parent,
62 const PxTransform& parentFrame,
63 NpArticulationLink& child,
64 const PxTransform& childFrame,
65 bool reducedCoordinate);
66
67// PX_SERIALIZATION
68 PX_INLINE PxArticulationJointImpl(const PxEMPTY) : mJoint(PxEmpty) {}
69 PX_INLINE void resolveReferences(PxDeserializationContext& context, PxArticulationJointBase& pxArticulationJoint);
70 static void getBinaryMetaData(PxOutputStream& stream);
71//~PX_SERIALIZATION
72
73 PX_INLINE NpScene* getOwnerScene() const; // the scene the user thinks the actor is in, or from which the actor is pending removal
74
75 PX_INLINE void release();
76
77 PX_INLINE const Scb::ArticulationJoint& getScbArticulationJoint() const { return mJoint; }
78 PX_INLINE Scb::ArticulationJoint& getScbArticulationJoint() { return mJoint; }
79
80 PX_INLINE PxArticulationLink& getParentArticulationLink() const;
81 PX_INLINE PxArticulationLink& getChildArticulationLink() const;
82
83 PX_INLINE PxTransform getParentPose() const;
84 PX_INLINE void setParentPose(const PxTransform&);
85
86 PX_INLINE PxTransform getChildPose() const;
87 PX_INLINE void setChildPose(const PxTransform&);
88
89 PX_INLINE const NpArticulationLink& getParent() const { return *mParent; }
90 PX_INLINE NpArticulationLink& getParent() { return *mParent; }
91
92 PX_INLINE const NpArticulationLink& getChild() const { return *mChild; }
93 PX_INLINE NpArticulationLink& getChild() { return *mChild; }
94};
95
96template <typename APIClass>
97class NpArticulationJointTemplate : public APIClass, public Ps::UserAllocated
98{
99//= ATTENTION! =====================================================================================
100// Changing the data layout of this class breaks the binary serialization format. See comments for
101// PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData
102// function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
103// accordingly.
104//==================================================================================================
105public:
106
107// PX_SERIALIZATION
108 NpArticulationJointTemplate(PxBaseFlags baseFlags) : APIClass(baseFlags), mImpl(PxEmpty) {}
109 void preExportDataReset() { mImpl.mJoint.preExportDataReset(); }
110//~PX_SERIALIZATION
111
112 NpArticulationJointTemplate(PxType concreteType, NpArticulationLink& parent, const PxTransform& parentFrame, NpArticulationLink& child, const PxTransform& childFrame);
113 virtual ~NpArticulationJointTemplate() {}
114
115 //---------------------------------------------------------------------------------
116 // Miscellaneous
117 //---------------------------------------------------------------------------------
118public:
119 void release();
120
121 PX_INLINE const Scb::ArticulationJoint& getScbArticulationJoint() const { return mImpl.getScbArticulationJoint(); }
122 PX_INLINE Scb::ArticulationJoint& getScbArticulationJoint() { return mImpl.getScbArticulationJoint(); }
123
124 virtual PxArticulationLink& getParentArticulationLink() const { return mImpl.getParentArticulationLink(); }
125 virtual PxArticulationLink& getChildArticulationLink() const { return mImpl.getChildArticulationLink(); }
126
127 virtual PxTransform getParentPose() const { return mImpl.getParentPose(); }
128 virtual void setParentPose(const PxTransform& t) { mImpl.setParentPose(t); }
129
130 virtual PxTransform getChildPose() const { return mImpl.getChildPose(); }
131 virtual void setChildPose(const PxTransform& t) { mImpl.setChildPose(t); }
132
133 PX_INLINE const NpArticulationLink& getParent() const { return mImpl.getParent(); }
134 PX_INLINE NpArticulationLink& getParent() { return mImpl.getParent(); }
135
136 PX_INLINE const NpArticulationLink& getChild() const { return mImpl.getChild(); }
137 PX_INLINE NpArticulationLink& getChild() { return mImpl.getChild(); }
138
139 virtual PxArticulationJointImpl* getImpl() { return &mImpl; }
140 virtual const PxArticulationJointImpl* getImpl() const { return &mImpl; }
141
142public:
143 NpScene* getOwnerScene() const { return mImpl.getOwnerScene(); }
144
145 PxArticulationJointImpl mImpl;
146};
147
148class NpArticulationJoint : public NpArticulationJointTemplate<PxArticulationJoint>
149{
150//= ATTENTION! =====================================================================================
151// Changing the data layout of this class breaks the binary serialization format. See comments for
152// PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData
153// function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
154// accordingly.
155//==================================================================================================
156public:
157// PX_SERIALIZATION
158 NpArticulationJoint(PxBaseFlags baseFlags) : NpArticulationJointTemplate(baseFlags) {}
159 virtual void resolveReferences(PxDeserializationContext& context);
160 static NpArticulationJoint* createObject(PxU8*& address, PxDeserializationContext& context);
161 static void getBinaryMetaData(PxOutputStream& stream);
162 void exportExtraData(PxSerializationContext&) {}
163 void importExtraData(PxDeserializationContext&) {}
164 virtual void requiresObjects(PxProcessPxBaseCallback&){}
165 virtual bool isSubordinate() const { return true; }
166//~PX_SERIALIZATION
167 NpArticulationJoint(NpArticulationLink& parent, const PxTransform& parentFrame, NpArticulationLink& child, const PxTransform& childFrame);
168 virtual ~NpArticulationJoint();
169
170 //---------------------------------------------------------------------------------
171 // PxArticulationJoint implementation
172 //---------------------------------------------------------------------------------
173
174 virtual void setTargetOrientation(const PxQuat&);
175 virtual PxQuat getTargetOrientation() const;
176
177 virtual void setTargetVelocity(const PxVec3&);
178 virtual PxVec3 getTargetVelocity() const;
179
180 virtual void setDriveType(PxArticulationJointDriveType::Enum driveType);
181 virtual PxArticulationJointDriveType::Enum getDriveType() const;
182
183 virtual void setStiffness(PxReal);
184 virtual PxReal getStiffness() const;
185
186 virtual void setDamping(PxReal);
187 virtual PxReal getDamping() const;
188
189 virtual void setInternalCompliance(PxReal);
190 virtual PxReal getInternalCompliance() const;
191
192 virtual void setExternalCompliance(PxReal);
193 virtual PxReal getExternalCompliance() const;
194
195 virtual void setSwingLimit(PxReal yLimit, PxReal zLimit);
196 virtual void getSwingLimit(PxReal &yLimit, PxReal &zLimit) const;
197
198 virtual void setTangentialStiffness(PxReal spring);
199 virtual PxReal getTangentialStiffness() const;
200
201 virtual void setTangentialDamping(PxReal damping);
202 virtual PxReal getTangentialDamping() const;
203
204 virtual void setSwingLimitEnabled(bool);
205 virtual bool getSwingLimitEnabled() const;
206
207 virtual void setSwingLimitContactDistance(PxReal contactDistance);
208 virtual PxReal getSwingLimitContactDistance() const;
209
210 virtual void setTwistLimit(PxReal lower, PxReal upper);
211 virtual void getTwistLimit(PxReal &lower, PxReal &upper) const;
212
213 virtual void setTwistLimitEnabled(bool);
214 virtual bool getTwistLimitEnabled() const;
215
216 virtual void setTwistLimitContactDistance(PxReal contactDistance);
217 virtual PxReal getTwistLimitContactDistance() const;
218
219 virtual void setJointType(PxArticulationJointType::Enum jointType);
220 virtual PxArticulationJointType::Enum getJointType() const;
221
222 virtual void setMotion(PxArticulationAxis::Enum axis, PxArticulationMotion::Enum motion);
223 virtual PxArticulationMotion::Enum getMotion(PxArticulationAxis::Enum axis) const;
224
225 virtual void setFrictionCoefficient(const PxReal coefficient);
226 virtual PxReal getFrictionCoefficient() const ;
227
228 //---------------------------------------------------------------------------------
229 // Miscellaneous
230 //---------------------------------------------------------------------------------
231 static PX_INLINE size_t getScbArticulationJointOffset()
232 {
233 return PX_OFFSET_OF_RT(NpArticulationJoint, mImpl.mJoint);
234 }
235};
236
237PX_INLINE PxArticulationLink& PxArticulationJointImpl::getParentArticulationLink() const
238{
239 return *mParent;
240}
241
242PX_INLINE PxArticulationLink& PxArticulationJointImpl::getChildArticulationLink() const
243{
244 return *mChild;
245}
246
247PX_INLINE PxTransform PxArticulationJointImpl::getParentPose() const
248{
249 NP_READ_CHECK(getOwnerScene());
250 return mParent->getCMassLocalPose().transform(src: mJoint.getParentPose());
251}
252
253PX_INLINE void PxArticulationJointImpl::setParentPose(const PxTransform& t)
254{
255 PX_CHECK_AND_RETURN(t.isSane(), "NpArticulationJoint::setParentPose t is not valid.");
256
257 NP_WRITE_CHECK(getOwnerScene());
258 if (mParent == NULL)
259 return;
260
261 mJoint.setParentPose(mParent->getCMassLocalPose().transformInv(src: t.getNormalized()));
262}
263
264PX_INLINE PxTransform PxArticulationJointImpl::getChildPose() const
265{
266 NP_READ_CHECK(getOwnerScene());
267
268 return mChild->getCMassLocalPose().transform(src: mJoint.getChildPose());
269}
270
271PX_INLINE void PxArticulationJointImpl::setChildPose(const PxTransform& t)
272{
273 PX_CHECK_AND_RETURN(t.isSane(), "NpArticulationJoint::setChildPose t is not valid.");
274
275 NP_WRITE_CHECK(getOwnerScene());
276
277 mJoint.setChildPose(mChild->getCMassLocalPose().transformInv(src: t.getNormalized()));
278}
279
280PX_INLINE NpScene* PxArticulationJointImpl::getOwnerScene() const
281{
282 return mJoint.getScbScene() ? static_cast<NpScene *>(mJoint.getScbScene()->getPxScene()) : NULL;
283}
284
285PX_INLINE PxArticulationJointImpl::PxArticulationJointImpl(NpArticulationLink& parent,
286 const PxTransform& parentFrame,
287 NpArticulationLink& child,
288 const PxTransform& childFrame,
289 bool reducedCoordinate)
290 : mJoint(parentFrame, childFrame, reducedCoordinate)
291 , mParent(&parent)
292 , mChild(&child)
293{
294 PxArticulationImpl* impl = parent.getRoot().getImpl();
295 mJoint.setScArticulation(&impl->getScbArticulation());
296}
297
298PX_INLINE void PxArticulationJointImpl::release()
299{
300 if (mJoint.getScbSceneForAPI())
301 mJoint.getScbSceneForAPI()->removeArticulationJoint(mJoint);
302
303 mJoint.destroy();
304}
305
306PX_INLINE void PxArticulationJointImpl::resolveReferences(PxDeserializationContext& context, PxArticulationJointBase& pxArticulationJoint)
307{
308 context.translatePxBase(base&: mParent);
309 context.translatePxBase(base&: mChild);
310 getScbArticulationJoint().getScArticulationJoint().setRoot(&pxArticulationJoint);
311 //articulation backlink can't be set yet, because articulation wasn't constructed yet
312 //see NpArticulationTemplate<APIClass>::resolveReferences
313}
314
315template <typename APIClass>
316void NpArticulationJointTemplate<APIClass>::release()
317{
318 NpPhysics::getInstance().notifyDeletionListenersUserRelease(b: this, NULL);
319 mImpl.release();
320}
321
322template <typename APIClass>
323NpArticulationJointTemplate<APIClass>::NpArticulationJointTemplate(
324 PxType concreteType,
325 NpArticulationLink& parent,
326 const PxTransform& parentFrame,
327 NpArticulationLink& child,
328 const PxTransform& childFrame)
329 : APIClass(concreteType, PxBaseFlag::eOWNS_MEMORY),
330 mImpl(parent, parentFrame, child, childFrame, concreteType == PxConcreteType::eARTICULATION_JOINT_REDUCED_COORDINATE)
331{
332 mImpl.getScbArticulationJoint().getScArticulationJoint().setRoot(this);
333}
334
335}
336
337#endif
338

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