DyArticulationTendon.h

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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
 
#ifndef PXD_ARTICULATION_TENDON_H
#define PXD_ARTICULATION_TENDON_H
 
#include "foundation/PxVec3.h"
#include "foundation/PxQuat.h"
#include "foundation/PxTransform.h"
#include "foundation/PxVecMath.h"
#include "foundation/PxUtilities.h"
#include "CmUtils.h"
#include "CmIDPool.h"
#include "solver/PxSolverDefs.h"
 
namespace physx
{
namespace Dy
{
 
    typedef PxU64 ArticulationAttachmentBitField;
 
#define DY_ARTICULATION_ATTACHMENT_NONE 0xffffffff
 
    struct ArticulationAttachment
    {
        PxVec3 relativeOffset;      //relative offset to the link
        PxReal lowLimit;
        PxReal highLimit;
        PxReal restLength;
        
        PxReal coefficient;
        PxU32 parent;   //parent index
        PxU32 myInd;
        PxU32 mConstraintInd;
        PxU16 linkInd;
        PxU16 childCount;
 
        ArticulationAttachmentBitField children;
    };
 
    class ArticulationTendon
    {
    public:
 
        ArticulationTendon() : mStiffness(0.f), mDamping(0.f), mOffset(0.f), mLimitStiffness(0.f)
        { 
        }
        PxReal                              mStiffness;
        PxReal                              mDamping;
        PxReal                              mOffset;
        PxReal                              mLimitStiffness;
    };
 
    class ArticulationSpatialTendon : public ArticulationTendon
    {
    public:
 
        ArticulationSpatialTendon()
        {
            mAttachments.reserve(64);
            mAttachments.forceSize_Unsafe(64);
            
        }
 
        PX_FORCE_INLINE ArticulationAttachment* getAttachments() { return mAttachments.begin(); }
 
        PX_FORCE_INLINE ArticulationAttachment& getAttachment(const PxU32 index) { return mAttachments[index]; }
 
        PX_FORCE_INLINE PxU32 getNumAttachments() { return mIDPool.getNumUsedID(); }
 
        PX_FORCE_INLINE PxU32 getNewID() 
        { 
            const PxU32 index = mIDPool.getNewID();
            if (mAttachments.capacity() <= index)
            {
                mAttachments.resize(index * 2 + 1);
            }
            return index;
        }
 
        PX_FORCE_INLINE void freeID(const PxU32 index)
        {
            mIDPool.freeID(index);
        }
 
        PX_FORCE_INLINE PxU32 getTendonIndex() { return mIndex; }
 
        PX_FORCE_INLINE void setTendonIndex(const PxU32 index) { mIndex = index; }
 
    private:
 
        PxArray<ArticulationAttachment>     mAttachments;
        Cm::IDPool                          mIDPool;
        PxU32                               mIndex;
    };
 
    class ArticulationTendonJoint
    {
    public:
        PxU16                           axis;
        PxU16                           startJointOffset;
        PxReal                          coefficient;
        PxReal                          recipCoefficient;
        PxU32                           mConstraintInd;
        PxU32                           parent; //parent index
        PxU16                           linkInd;
        PxU16                           childCount;
        ArticulationAttachmentBitField  children;
    };
 
    class ArticulationFixedTendon : public ArticulationTendon
    {
    public:
 
        ArticulationFixedTendon() :mLowLimit(PX_MAX_F32), mHighLimit(-PX_MAX_F32), mRestLength(0.f)
        {
            mTendonJoints.reserve(64);
            mTendonJoints.forceSize_Unsafe(64);
 
        }
 
 
        PX_FORCE_INLINE ArticulationTendonJoint* getTendonJoints() { return mTendonJoints.begin(); }
 
        PX_FORCE_INLINE ArticulationTendonJoint& getTendonJoint(const PxU32 index) { return mTendonJoints[index]; }
 
        PX_FORCE_INLINE PxU32 getNumJoints() { return mIDPool.getNumUsedID(); }
 
        PX_FORCE_INLINE PxU32 getNewID()
        {
            const PxU32 index = mIDPool.getNewID();
            if (mTendonJoints.capacity() <= index)
            {
                mTendonJoints.resize(index * 2 + 1);
            }
            return index;
        }
 
        PX_FORCE_INLINE void freeID(const PxU32 index)
        {
            mIDPool.freeID(index);
        }
 
        PX_FORCE_INLINE PxU32 getTendonIndex() { return mIndex; }
 
        PX_FORCE_INLINE void setTendonIndex(const PxU32 index) { mIndex = index; }
 
        PxReal                              mLowLimit;
        PxReal                              mHighLimit;
        PxReal                              mRestLength;
 
        PxReal                              mError;
 
    private:
        PxArray<ArticulationTendonJoint>    mTendonJoints;
 
        Cm::IDPool                          mIDPool;
        PxU32                               mIndex;
    };
 
 
}//namespace Dy
}//namespace physx
 
#endif