PxvDynamics.h

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#ifndef PXV_DYNAMICS_H
#define PXV_DYNAMICS_H
 
#include "foundation/PxVec3.h"
#include "foundation/PxQuat.h"
#include "foundation/PxTransform.h"
#include "foundation/PxSimpleTypes.h"
#include "foundation/PxIntrinsics.h"
#include "PxRigidDynamic.h"
 
namespace physx
{
 
struct PxsRigidCore
{
//= ATTENTION! =====================================================================================
// Changing the data layout of this class breaks the binary serialization format.  See comments for 
// PX_BINARY_SERIAL_VERSION.  If a modification is required, please adjust the getBinaryMetaData 
// function.  If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
// accordingly.
//==================================================================================================
 
    PxsRigidCore() : mFlags(0), solverIterationCounts(0)    {}
    PxsRigidCore(const PxEMPTY) : mFlags(PxEmpty)           {}
 
    PX_ALIGN_PREFIX(16)
    PxTransform         body2World PX_ALIGN_SUFFIX(16);
    PxRigidBodyFlags    mFlags;                 // API body flags
    PxU16               solverIterationCounts;  // vel iters are in low word and pos iters in high word.
 
    PX_FORCE_INLINE PxU32 isKinematic()         const   { return mFlags & PxRigidBodyFlag::eKINEMATIC;              }
    PX_FORCE_INLINE PxU32 hasCCD()              const   { return mFlags & PxRigidBodyFlag::eENABLE_CCD;             }
    PX_FORCE_INLINE PxU32 hasCCDFriction()      const   { return mFlags & PxRigidBodyFlag::eENABLE_CCD_FRICTION;    }
    PX_FORCE_INLINE PxU32 hasIdtBody2Actor()    const   { return mFlags & PxRigidBodyFlag::eRESERVED;               }
};
PX_COMPILE_TIME_ASSERT(sizeof(PxsRigidCore) == 32);
 
#define PXV_CONTACT_REPORT_DISABLED PX_MAX_F32
 
struct PxsBodyCore : public PxsRigidCore
{
//= ATTENTION! =====================================================================================
// Changing the data layout of this class breaks the binary serialization format.  See comments for 
// PX_BINARY_SERIAL_VERSION.  If a modification is required, please adjust the getBinaryMetaData 
// function.  If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
// accordingly.
//==================================================================================================
 
    PxsBodyCore() : PxsRigidCore() { kinematicLink = PxU8(0); }
    PxsBodyCore(const PxEMPTY) : PxsRigidCore(PxEmpty)      {}
 
    PX_FORCE_INLINE const PxTransform& getBody2Actor()  const   { return body2Actor;    }
    PX_FORCE_INLINE void setBody2Actor(const PxTransform& t)
    {
        if(t.p.isZero() && t.q.isIdentity())
            mFlags.raise(PxRigidBodyFlag::eRESERVED);
        else
            mFlags.clear(PxRigidBodyFlag::eRESERVED);
 
        body2Actor = t;
    }
    protected:
    PxTransform             body2Actor;
    public:
    PxReal                  ccdAdvanceCoefficient;  //64
 
    PxVec3                  linearVelocity;
    PxReal                  maxPenBias;
 
    PxVec3                  angularVelocity;
    PxReal                  contactReportThreshold; //96
    
    PxReal                  maxAngularVelocitySq;
    PxReal                  maxLinearVelocitySq;
    PxReal                  linearDamping;
    PxReal                  angularDamping;         //112
 
    PxVec3                  inverseInertia;
    PxReal                  inverseMass;            //128
    
    PxReal                  maxContactImpulse;          
    PxReal                  sleepThreshold;
    union
    {
        PxReal              freezeThreshold;
        PxReal              cfmScale;
    };
        
    PxReal                  wakeCounter;            //144 this is authoritative wakeCounter
 
    PxReal                  solverWakeCounter;      //this is calculated by the solver when it performs sleepCheck. It is committed to wakeCounter in ScAfterIntegrationTask if the body is still awake.
    PxU32                   numCountedInteractions;
    PxReal                  offsetSlop;             //Slop value used to snap contact line of action back in-line with the COM
    PxU8                    isFastMoving;           //This could be a single bit but it's a u8 at the moment for simplicity's sake
    PxU8                    disableGravity;         //This could be a single bit but it's a u8 at the moment for simplicity's sake
    PxRigidDynamicLockFlags lockFlags;              //This is u8. 
    PxU8                    kinematicLink;          //160 This indicates whether the articulation link is kinematic link. All fits into 16 byte alignment
    
    // PT: moved from Sc::BodyCore ctor - we don't want to duplicate all this in immediate mode
    PX_FORCE_INLINE void    init(   const PxTransform& bodyPose,
                                    const PxVec3& inverseInertia_, PxReal inverseMass_,
                                    PxReal wakeCounter_, PxReal scaleSpeed,
                                    PxReal linearDamping_, PxReal angularDamping_,
                                    PxReal maxLinearVelocitySq_, PxReal maxAngularVelocitySq_,
                                    PxActorType::Enum type)
    {
        PX_ASSERT(bodyPose.p.isFinite());
        PX_ASSERT(bodyPose.q.isFinite());
 
        // PT: TODO: unify naming convention
 
        // From PxsRigidCore
        body2World              = bodyPose;
        mFlags                  = PxRigidBodyFlags();
        solverIterationCounts   = (1 << 8) | 4;
 
        setBody2Actor(PxTransform(PxIdentity));
 
        ccdAdvanceCoefficient   = 0.15f;
        linearVelocity          = PxVec3(0.0f);
        maxPenBias              = -1e32f;//-PX_MAX_F32;
        angularVelocity         = PxVec3(0.0f);
        contactReportThreshold  = PXV_CONTACT_REPORT_DISABLED;
        maxAngularVelocitySq    = maxAngularVelocitySq_;
        maxLinearVelocitySq     = maxLinearVelocitySq_;
        linearDamping           = linearDamping_;
        angularDamping          = angularDamping_;
        inverseInertia          = inverseInertia_;
        inverseMass             = inverseMass_;
        maxContactImpulse       = 1e32f;// PX_MAX_F32;
        sleepThreshold          = 5e-5f * scaleSpeed * scaleSpeed;
        if(type == PxActorType::eARTICULATION_LINK)
            cfmScale            = 0.025f;
        else
            freezeThreshold     = 2.5e-5f * scaleSpeed * scaleSpeed;
        wakeCounter             = wakeCounter_;
        offsetSlop              = 0.f;
        // PT: this one is not initialized?
        //solverWakeCounter
        // PT: these are initialized in BodySim ctor
        //numCountedInteractions;
        //numBodyInteractions;
        isFastMoving            = false;
        disableGravity          = false;
        lockFlags               = PxRigidDynamicLockFlags(0);
    }
};
 
PX_COMPILE_TIME_ASSERT(sizeof(PxsBodyCore) == 160);
 
}
 
#endif