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Upgrade to PhysX 5.1.3

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This commit is contained in:
Wojtek Figat
2023-03-03 17:13:46 +01:00
parent 0112f70c05
commit a26d0d03eb
452 changed files with 58188 additions and 8646 deletions
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160
Source/ThirdParty/PhysX/PxConstraintDesc.h vendored
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@@ -1,4 +1,3 @@
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
@@ -11,7 +10,7 @@
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
@@ -23,12 +22,12 @@
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2008-2023 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#ifndef PX_PHYSICS_NX_CONSTRAINTDESC
#define PX_PHYSICS_NX_CONSTRAINTDESC
#ifndef PX_CONSTRAINT_DESC_H
#define PX_CONSTRAINT_DESC_H
/** \addtogroup physics
@{
@@ -52,15 +51,8 @@ namespace physx
{
#endif
class PxConstraintConnector;
class PxRigidActor;
class PxScene;
class PxConstraintConnector;
class PxRenderBuffer;
class PxDeletionListener;
/**
\brief constraint row flags
\brief Constraint row flags
These flags configure the post-processing of constraint rows and the behavior of the solver while solving constraints
*/
@@ -76,8 +68,8 @@ struct Px1DConstraintFlag
eKEEPBIAS = 1<<3, //!< whether to keep the error term when solving for velocity. Ignored if restitution generates bounce, or eSPRING is set.
eOUTPUT_FORCE = 1<<4, //!< whether to accumulate the force value from this constraint in the force total that is reported for the constraint and tested for breakage
eHAS_DRIVE_LIMIT = 1<<5, //!< whether the constraint has a drive force limit (which will be scaled by dt unless PxConstraintFlag::eLIMITS_ARE_FORCES is set)
eANGULAR_CONSTRAINT = 1 << 6,//!< Whether this is an angular or linear constraint
eDRIVE_ROW = 1 << 7
eANGULAR_CONSTRAINT = 1<<6, //!< whether this is an angular or linear constraint
eDRIVE_ROW = 1<<7 //!< whether the constraint's geometric error should drive the target velocity
};
};
@@ -85,7 +77,7 @@ typedef PxFlags<Px1DConstraintFlag::Type, PxU16> Px1DConstraintFlags;
PX_FLAGS_OPERATORS(Px1DConstraintFlag::Type, PxU16)
/**
\brief constraint type hints which the solver uses to optimize constraint handling
\brief Constraint type hints which the solver uses to optimize constraint handling
*/
struct PxConstraintSolveHint
{
@@ -104,7 +96,7 @@ struct PxConstraintSolveHint
};
/**
\brief A constraint
\brief A one-dimensional constraint
A constraint is expressed as a set of 1-dimensional constraint rows which define the required constraint
on the objects' velocities.
@@ -140,37 +132,36 @@ All constraints support limits on the minimum or maximum impulse applied.
PX_ALIGN_PREFIX(16)
struct Px1DConstraint
{
PxVec3 linear0; //!< linear component of velocity jacobian in world space
PxReal geometricError; //!< geometric error of the constraint along this axis
PxVec3 angular0; //!< angular component of velocity jacobian in world space
PxReal velocityTarget; //!< velocity target for the constraint along this axis
PxVec3 linear0; //!< linear component of velocity jacobian in world space
PxReal geometricError; //!< geometric error of the constraint along this axis
PxVec3 angular0; //!< angular component of velocity jacobian in world space
PxReal velocityTarget; //!< velocity target for the constraint along this axis
PxVec3 linear1; //!< linear component of velocity jacobian in world space
PxReal minImpulse; //!< minimum impulse the solver may apply to enforce this constraint
PxVec3 angular1; //!< angular component of velocity jacobian in world space
PxReal maxImpulse; //!< maximum impulse the solver may apply to enforce this constraint
PxVec3 linear1; //!< linear component of velocity jacobian in world space
PxReal minImpulse; //!< minimum impulse the solver may apply to enforce this constraint
PxVec3 angular1; //!< angular component of velocity jacobian in world space
PxReal maxImpulse; //!< maximum impulse the solver may apply to enforce this constraint
union
{
struct SpringModifiers
{
PxReal stiffness; //!< spring parameter, for spring constraints
PxReal damping; //!< damping parameter, for spring constraints
PxReal stiffness; //!< spring parameter, for spring constraints
PxReal damping; //!< damping parameter, for spring constraints
} spring;
struct RestitutionModifiers
{
PxReal restitution; //!< restitution parameter for determining additional "bounce"
PxReal velocityThreshold; //!< minimum impact velocity for bounce
PxReal restitution; //!< restitution parameter for determining additional "bounce"
PxReal velocityThreshold; //!< minimum impact velocity for bounce
} bounce;
} mods;
PxReal forInternalUse; //!< for internal use only
PxU16 flags; //!< a set of Px1DConstraintFlags
PxU16 solveHint; //!< constraint optimization hint, should be an element of PxConstraintSolveHint
}
PxReal forInternalUse; //!< for internal use only
PxU16 flags; //!< a set of Px1DConstraintFlags
PxU16 solveHint; //!< constraint optimization hint, should be an element of PxConstraintSolveHint
}
PX_ALIGN_SUFFIX(16);
/**
\brief Flags for determining which components of the constraint should be visualized.
@@ -185,6 +176,9 @@ struct PxConstraintVisualizationFlag
};
};
/**
\brief Struct for specifying mass scaling for a pair of rigids
*/
PX_ALIGN_PREFIX(16)
struct PxConstraintInvMassScale
{
@@ -205,7 +199,8 @@ struct PxConstraintInvMassScale
}
PX_ALIGN_SUFFIX(16);
/** solver constraint generation shader
/**
\brief Solver constraint generation shader
This function is called by the constraint solver framework. The function must be reentrant, since it may be called simultaneously
from multiple threads, and should access only the arguments passed into it.
@@ -226,17 +221,18 @@ Developers writing custom constraints are encouraged to read the documentation i
\return the number of constraint rows written.
*/
typedef PxU32 (*PxConstraintSolverPrep)(Px1DConstraint* constraints,
PxVec3& bodyAWorldOffset,
PxVec3p& bodyAWorldOffset,
PxU32 maxConstraints,
PxConstraintInvMassScale& invMassScale,
const void* constantBlock,
const PxTransform& bodyAToWorld,
const PxTransform& bodyBToWorld,
bool useExtendedLimits,
PxVec3& cAtW,
PxVec3& cBtW);
PxVec3p& cAtW,
PxVec3p& cBtW);
/** solver constraint projection shader
/**
\brief Solver constraint projection shader
This function is called by the constraint post-solver framework. The function must be reentrant, since it may be called simultaneously
from multiple threads and should access only the arguments passed into it.
@@ -245,28 +241,30 @@ from multiple threads and should access only the arguments passed into it.
\param[out] bodyAToWorld The center of mass frame of the first constrained body (the identity if the actor is static or a NULL pointer was provided for it)
\param[out] bodyBToWorld The center of mass frame of the second constrained body (the identity if the actor is static or a NULL pointer was provided for it)
\param[in] projectToA True if the constraint should be projected by moving the second body towards the first, false if the converse
@deprecated
*/
typedef void (*PxConstraintProject)(const void* constantBlock,
typedef PX_DEPRECATED void (*PxConstraintProject)(const void* constantBlock,
PxTransform& bodyAToWorld,
PxTransform& bodyBToWorld,
bool projectToA);
/**
API used to visualize details about a constraint.
\brief API used to visualize details about a constraint.
*/
class PxConstraintVisualizer
{
protected:
virtual ~PxConstraintVisualizer(){}
public:
/** Visualize joint frames
/** \brief Visualize joint frames
\param[in] parent Parent transformation
\param[in] child Child transformation
*/
virtual void visualizeJointFrames(const PxTransform& parent, const PxTransform& child) = 0;
/** Visualize joint linear limit
/** \brief Visualize joint linear limit
\param[in] t0 Base transformation
\param[in] t1 End transformation
@@ -275,7 +273,7 @@ public:
*/
virtual void visualizeLinearLimit(const PxTransform& t0, const PxTransform& t1, PxReal value, bool active) = 0;
/** Visualize joint angular limit
/** \brief Visualize joint angular limit
\param[in] t0 Transformation for the visualization
\param[in] lower Lower limit angle
@@ -284,7 +282,7 @@ public:
*/
virtual void visualizeAngularLimit(const PxTransform& t0, PxReal lower, PxReal upper, bool active) = 0;
/** Visualize limit cone
/** \brief Visualize limit cone
\param[in] t Transformation for the visualization
\param[in] tanQSwingY Tangent of the quarter Y angle
@@ -293,7 +291,7 @@ public:
*/
virtual void visualizeLimitCone(const PxTransform& t, PxReal tanQSwingY, PxReal tanQSwingZ, bool active) = 0;
/** Visualize joint double cone
/** \brief Visualize joint double cone
\param[in] t Transformation for the visualization
\param[in] angle Limit angle
@@ -301,7 +299,7 @@ public:
*/
virtual void visualizeDoubleCone(const PxTransform& t, PxReal angle, bool active) = 0;
/** Visualize line
/** \brief Visualize line
\param[in] p0 Start position
\param[in] p1 End postion
@@ -310,7 +308,7 @@ public:
virtual void visualizeLine(const PxVec3& p0, const PxVec3& p1, PxU32 color) = 0;
};
/** solver constraint visualization function
/** \brief Solver constraint visualization function
This function is called by the constraint post-solver framework to visualize the constraint
@@ -328,20 +326,23 @@ typedef void (*PxConstraintVisualize)(PxConstraintVisualizer& visualizer,
const PxTransform& body1Transform,
PxU32 flags);
/**
\brief Flags for determining how PVD should serialize a constraint update
@see PxConstraintConnector::updatePvdProperties, PvdSceneClient::updateConstraint
*/
struct PxPvdUpdateType
{
enum Enum
{
CREATE_INSTANCE,
RELEASE_INSTANCE,
UPDATE_ALL_PROPERTIES,
UPDATE_SIM_PROPERTIES
CREATE_INSTANCE, //!< triggers createPvdInstance call, creates an instance of a constraint
RELEASE_INSTANCE, //!< triggers releasePvdInstance call, releases an instance of a constraint
UPDATE_ALL_PROPERTIES, //!< triggers updatePvdProperties call, updates all properties of a constraint
UPDATE_SIM_PROPERTIES //!< triggers simUpdate call, updates all simulation properties of a constraint
};
};
/**
/**
\brief This class connects a custom constraint to the SDK
This class connects a custom constraint to the SDK, and functions are called by the SDK
@@ -352,40 +353,50 @@ the custom constraint's internal implementation
class PxConstraintConnector
{
public:
/**
/** \brief Pre-simulation data preparation
when the constraint is marked dirty, this function is called at the start of the simulation
step for the SDK to copy the constraint data block.
*/
virtual void* prepareData() = 0;
virtual void* prepareData() = 0;
/**
this function is called by the SDK to update PVD's view of it
\brief this function is called by the SDK to update PVD's view of it
*/
virtual bool updatePvdProperties(physx::pvdsdk::PvdDataStream& pvdConnection,
const PxConstraint* c,
PxPvdUpdateType::Enum updateType) const = 0;
virtual bool updatePvdProperties(physx::pvdsdk::PvdDataStream& pvdConnection,
const PxConstraint* c,
PxPvdUpdateType::Enum updateType) const = 0;
/**
\brief this function is called by the SDK to update OmniPVD's view of it
*/
virtual void updateOmniPvdProperties() const = 0;
/**
\brief Constraint release callback
/**
When the SDK deletes a PxConstraint object this function is called by the SDK. In general
custom constraints should not be deleted directly by applications: rather, the constraint
should respond to a release() request by calling PxConstraint::release(), then wait for
this call to release its own resources, so that even if the release() call occurs during
a simulation step, the deletion of the constraint is buffered until that step completes.
this call to release its own resources.
This function is also called when a PxConstraint object is deleted on cleanup due to
destruction of the PxPhysics object.
*/
virtual void onConstraintRelease() = 0;
virtual void onConstraintRelease() = 0;
/**
\brief Center-of-mass shift callback
/**
This function is called by the SDK when the CoM of one of the actors is moved. Since the
API specifies constraint positions relative to actors, and the constraint shader functions
are supplied with coordinates relative to bodies, some synchronization is usually required
when the application moves an object's center of mass.
*/
virtual void onComShift(PxU32 actor) = 0;
virtual void onComShift(PxU32 actor) = 0;
/**
\brief Origin shift callback
This function is called by the SDK when the scene origin gets shifted and allows to adjust
custom data which contains world space transforms.
@@ -396,7 +407,7 @@ public:
@see PxScene.shiftOrigin()
*/
virtual void onOriginShift(const PxVec3& shift) = 0;
virtual void onOriginShift(const PxVec3& shift) = 0;
/**
\brief Fetches external data for a constraint.
@@ -410,29 +421,34 @@ public:
@see PxConstraintInfo PxSimulationEventCallback.onConstraintBreak()
*/
virtual void* getExternalReference(PxU32& typeID) = 0;
virtual void* getExternalReference(PxU32& typeID) = 0;
/**
\brief Obtain a reference to a PxBase interface if the constraint has one.
If the constraint does not implement the PxBase interface, it should return NULL.
*/
virtual PxBase* getSerializable() = 0;
virtual PxBase* getSerializable() = 0;
/**
\brief Obtain the shader function pointer used to prep rows for this constraint
*/
virtual PxConstraintSolverPrep getPrep() const = 0;
virtual PxConstraintSolverPrep getPrep() const = 0;
/**
\brief Obtain the pointer to the constraint's constant data
*/
virtual const void* getConstantBlock() const = 0;
virtual const void* getConstantBlock() const = 0;
/**
\brief Let the connector know it has been connected to a constraint.
*/
virtual void connectToConstraint(PxConstraint*) {}
/**
\brief virtual destructor
*/
virtual ~PxConstraintConnector() {}
virtual ~PxConstraintConnector() {}
};
#if !PX_DOXYGEN