310 lines
8.2 KiB
C++
310 lines
8.2 KiB
C++
// This code contains NVIDIA Confidential Information and is disclosed to you
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// under a form of NVIDIA software license agreement provided separately to you.
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//
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// Notice
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// NVIDIA Corporation and its licensors retain all intellectual property and
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// proprietary rights in and to this software and related documentation and
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// any modifications thereto. Any use, reproduction, disclosure, or
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// distribution of this software and related documentation without an express
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// license agreement from NVIDIA Corporation is strictly prohibited.
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//
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// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
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// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
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// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
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// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
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//
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// Information and code furnished is believed to be accurate and reliable.
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// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
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// information or for any infringement of patents or other rights of third parties that may
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// result from its use. No license is granted by implication or otherwise under any patent
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// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
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// This code supersedes and replaces all information previously supplied.
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// NVIDIA Corporation products are not authorized for use as critical
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// components in life support devices or systems without express written approval of
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// NVIDIA Corporation.
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//
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// Copyright (c) 2008-2013 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef PX_EXTENSIONS_JOINT_LIMIT
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#define PX_EXTENSIONS_JOINT_LIMIT
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/** \addtogroup extensions
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@{
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*/
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#include "foundation/PxMath.h"
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#include "PxPhysX.h"
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#ifndef PX_DOXYGEN
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namespace physx
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{
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#endif
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/**
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\brief Describes the parameters for a joint limit.
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Limits are enabled or disabled by setting flags or other configuration parameters joints, see the
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documentation for specific joint types for details.
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@see
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*/
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class PxJointLimitParameters
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{
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public:
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/**
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\brief Controls the amount of bounce when the joint hits a limit.
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A restitution value of 1.0 causes the joint to bounce back with the velocity which it hit the limit.
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A value of zero causes the joint to stop dead.
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In situations where the joint has many locked DOFs (e.g. 5) the restitution may not be applied
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correctly. This is due to a limitation in the solver which causes the restitution velocity to become zero
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as the solver enforces constraints on the other DOFs.
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This limitation applies to both angular and linear limits, however it is generally most apparent with limited
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angular DOFs.
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Disabling joint projection and increasing the solver iteration count may improve this behavior to some extent.
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Also, combining soft joint limits with joint drives driving against those limits may affect stability.
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<b>Range:</b> [0,1]<br>
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<b>Default:</b> 0.0
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*/
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PxReal restitution;
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/**
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\brief if greater than zero, the limit is soft, i.e. a spring pulls the joint back to the limit
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<b>Range:</b> [0,inf)<br>
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<b>Default:</b> 0.0
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*/
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PxReal spring;
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/**
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\brief if spring is greater than zero, this is the damping of the limit spring
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<b>Range:</b> [0,inf)<br>
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<b>Default:</b> 0.0
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*/
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PxReal damping;
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/**
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\brief the distance inside the limit value at which the limit will be considered to be active by the
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solver. As this value is made larger, the limit becomes active more quickly. It thus becomes less
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likely to violate the extents of the limit, but more expensive.
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The contact distance should be less than the limit angle or distance, and in the case of a pair limit,
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less than half the distance between the upper and lower bounds. Exceeding this value will result in
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the limit being active all the time.
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Making this value too small can result in jitter around the limit.
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<b>Default:</b> 0.05f. For linear limits this is scaled by the tolerance length scale
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@see PxPhysics::getTolerancesScale()
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*/
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PxReal contactDistance;
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PxJointLimitParameters()
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: restitution(0)
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, spring(0)
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, damping(0)
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, contactDistance(0)
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{
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}
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/**
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\brief Returns true if the current settings are valid.
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\return true if the current settings are valid
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*/
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PX_INLINE bool isValid() const
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{
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return PxIsFinite(restitution) && restitution >= 0 && restitution <= 1 &&
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PxIsFinite(spring) && spring >= 0 &&
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PxIsFinite(damping) && damping >= 0 &&
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PxIsFinite(contactDistance);
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}
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protected:
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~PxJointLimitParameters() {}
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};
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/**
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\brief Describes a one-sided limit.
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<b>Platform:</b>
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*/
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class PxJointLimit : public PxJointLimitParameters
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{
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public:
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/**
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\brief the extent of the limit.
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<b>Range:</b> [0, inf) <br>
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<b>Default:</b> PX_MAX_F32
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*/
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PxReal value;
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/**
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\param[in] limitValue the extent of the limit
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\param[in] limitContactDistance the distance from the limit at which the limit constraint becomes
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active.
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@see PxJointLimitParameters
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*/
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PxJointLimit(PxReal limitValue, PxReal limitContactDistance)
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: value(limitValue)
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{
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contactDistance = limitContactDistance;
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}
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/**
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\brief Returns true if the limit.
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\return true if the current settings are valid
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*/
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PX_INLINE bool isValid() const
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{
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return PxJointLimitParameters::isValid() &&
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PxIsFinite(value);
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}
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};
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/**
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\brief Describes a two-sided limit.
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<b>Platform:</b>
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*/
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class PxJointLimitPair : public PxJointLimitParameters
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{
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public:
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/**
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\brief the range of the limit. The upper limit must be now lower than the
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lower limit, and if they are equal the limited degree of freedom will be treated as locked.
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<b>Unit:</b> Angular: Radians
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<b>Range:</b> See the joint on which the limit is used for details<br>
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<b>Default:</b> 0.0
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*/
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PxReal upper, lower;
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/**
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\brief Construct a joint limit pair. The lower value must be less than the upper value. For
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good behavior the breadth of the limit should be more than twice the limit contact distance
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\param[in] lowerLimit the lower value of the limit
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\param[in] upperLimit the upper value of the limit
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\param[in] limitContactDistance the distance from the upper or lower limit at which the limit constraint becomes
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active.
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@see PxJointLimitParameters
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*/
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PxJointLimitPair(PxReal lowerLimit, PxReal upperLimit, PxReal limitContactDistance)
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: upper(upperLimit)
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, lower(lowerLimit)
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{
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contactDistance = limitContactDistance;
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}
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/**
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\brief Returns true if the limit is valid.
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\return true if the current settings are valid
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*/
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PX_INLINE bool isValid() const
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{
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return PxJointLimitParameters::isValid() &&
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PxIsFinite(upper) && PxIsFinite(lower) && upper >= lower &&
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PxIsFinite(contactDistance) && contactDistance <= upper - lower;
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}
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};
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/**
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\brief Describes an elliptical conical joint limit. Note that very small or highly elliptical limit cones may
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result in jitter.
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<b>Platform:</b>
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@see PxD6Joint PxSphericalJoint
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*/
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class PxJointLimitCone : public PxJointLimitParameters
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{
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public:
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/**
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\brief the maximum angle from the Y axis of the constraint frame.
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<b>Unit:</b> Angular: Radians
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<b>Range:</b> Angular: (0,PI)<br>
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<b>Default:</b> PI/2
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*/
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PxReal yAngle;
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/**
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\brief the maximum angle from the Z-axis of the constraint frame.
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<b>Unit:</b> Angular: Radians
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<b>Range:</b> Angular: (0,PI)<br>
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<b>Default:</b> PI/2
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*/
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PxReal zAngle;
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/**
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\brief Construct a cone limit pair.
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\param[in] yLimitAngle the limit angle from the Y-axis of the constraint frame
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\param[in] zLimitAngle the limit angle from the Z-axis of the constraint frame
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\param[in] limitContactDistance the distance from the upper or lower limit at which the limit constraint becomes
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active.
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@see PxJointLimitParameters
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*/
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PxJointLimitCone(PxReal yLimitAngle, PxReal zLimitAngle, PxReal limitContactDistance):
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yAngle(yLimitAngle),
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zAngle(zLimitAngle)
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{
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contactDistance = limitContactDistance;
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}
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/**
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\brief Returns true if the limit is valid.
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\return true if the current settings are valid
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*/
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PX_INLINE bool isValid() const
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{
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return PxJointLimitParameters::isValid() &&
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PxIsFinite(yAngle) && yAngle>0 && yAngle<PxPi &&
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PxIsFinite(zAngle) && zAngle>0 && zAngle<PxPi;
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}
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};
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#ifndef PX_DOXYGEN
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} // namespace physx
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#endif
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/** @} */
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#endif
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