255 lines
15 KiB
C
255 lines
15 KiB
C
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2023 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_SOFT_BODY_EXT_H
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#define PX_SOFT_BODY_EXT_H
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/** \addtogroup extensions
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@{
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*/
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#include "foundation/PxTransform.h"
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#include "foundation/PxUserAllocated.h"
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#include "PxSoftBody.h"
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#include "PxSoftBodyFlag.h"
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#include "cudamanager/PxCudaContextManager.h"
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#include "cudamanager/PxCudaTypes.h"
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#if !PX_DOXYGEN
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namespace physx
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{
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#endif
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struct PxCookingParams;
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class PxSimpleTriangleMesh;
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class PxInsertionCallback;
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class PxSoftBodyMesh;
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/**
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\brief Utility functions for use with PxSoftBody and subclasses
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*/
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class PxSoftBodyExt
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{
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public:
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/**
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\brief Computes the SoftBody's vertex masses from the provided density and the volume of the tetrahedra
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The buffers affected by this operation can be obtained from the SoftBody using the methods getSimPositionInvMassBufferD() and getSimVelocityBufferD()
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The inverse mass is stored in the 4th component (the first three components are x, y, z coordinates) of the simulation mesh's position buffer.
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\param[in] softBody The soft body which will get its mass updated
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\param[in] density The density to used to calculate the mass from the body's volume
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\param[in] maxInvMassRatio Maximum allowed ratio defined as max(vertexMasses) / min(vertexMasses) where vertexMasses is a list of float values with a mass for every vertex in the simulation mesh
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\param[in] simPositionsPinned A pointer to a pinned host memory buffer containing positions and inverse masses for each vertex of the simulation mesh.
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@see PxSoftBody PxSoftBody::getSimPositionInvMassBufferD()
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*/
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static void updateMass(PxSoftBody& softBody, const PxReal density, const PxReal maxInvMassRatio, PxVec4* simPositionsPinned);
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/**
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\brief Computes the SoftBody's vertex masses such that the sum of all masses is equal to the provided mass
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The buffers affected by this operation can be obtained from the SoftBody using the methods getSimPositionInvMassBufferD()) and getSimVelocityBufferD()
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The inverse mass is stored in the 4th component (the first three components are x, y, z coordinates) of the simulation mesh's position buffer.
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\param[in] softBody The soft body which will get its mass updated
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\param[in] mass The SoftBody's mass
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\param[in] maxInvMassRatio Maximum allowed ratio defined as max(vertexMasses) / min(vertexMasses) where vertexMasses is a list of float values with a mass for every vertex in the simulation mesh
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\param[in] simPositionsPinned A pointer to a pinned host memory buffer containing positions and inverse masses for each vertex of the simulation mesh.
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@see PxSoftBody PxSoftBody::getSimPositionInvMassBufferD()
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*/
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static void setMass(PxSoftBody& softBody, const PxReal mass, const PxReal maxInvMassRatio, PxVec4* simPositionsPinned);
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/**
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\brief Transforms a SoftBody
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The buffers affected by this operation can be obtained from the SoftBody using the methods getSimPositionInvMassBufferD() and getSimVelocityBufferD()
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Applies a transformation to the simulation mesh's positions an velocities. Velocities only get rotated and scaled (translation is not applicable to direction vectors).
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It does not modify the body's mass.
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If the method is called multiple times, the transformation will compound with the ones previously applied.
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\param[in] softBody The soft body which is transformed
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\param[in] transform The transform to apply
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\param[in] scale A scaling factor
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\param[in] simPositionsPinned A pointer to a pinned host memory buffer containing positions and inverse masses for each vertex of the simulation mesh.
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\param[in] simVelocitiesPinned A pointer to a pinned host memory buffer containing velocities for each vertex of the simulation mesh.
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\param[in] collPositionsPinned A pointer to a pinned host memory buffer containing positions and inverse masses for each vertex of the collision mesh.
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\param[in] restPositionsPinned A pointer to a pinned host memory buffer containing rest positions of the collision mesh.
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@see PxSoftBody
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*/
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static void transform(PxSoftBody& softBody, const PxTransform& transform, const PxReal scale, PxVec4* simPositionsPinned, PxVec4* simVelocitiesPinned, PxVec4* collPositionsPinned, PxVec4* restPositionsPinned);
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/**
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\brief Updates the collision mesh's vertex positions to match the simulation mesh's transformation and scale.
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The buffer affected by this operation can be obtained from the SoftBody using the method getPositionInvMassBufferD()
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\param[in] softBody The soft body which will get its collision mesh vertices updated
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\param[in] simPositionsPinned A pointer to a pinned host memory buffer containing positions and inverse masses for each vertex of the simulation mesh.
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\param[in] collPositionsPinned A pointer to a pinned host memory buffer containing positions and inverse masses for each vertex of the collision mesh.
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@see PxSoftBody
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*/
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static void updateEmbeddedCollisionMesh(PxSoftBody& softBody, PxVec4* simPositionsPinned, PxVec4* collPositionsPinned);
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/**
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\brief Uploads prepared SoftBody data to the GPU. It ensures that the embedded collision mesh matches the simulation mesh's transformation and scale.
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\param[in] softBody The soft body which will perform the data upload
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\param[in] flags Specifies which buffers the data transfer should include
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\param[in] simPositionsPinned A pointer to a pinned host memory buffer containing positions and inverse masses for each vertex of the simulation mesh.
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\param[in] simVelocitiesPinned A pointer to a pinned host memory buffer containing velocities for each vertex of the simulation mesh.
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\param[in] collPositionsPinned A pointer to a pinned host memory buffer containing positions and inverse masses for each vertex of the collision mesh.
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\param[in] restPositionsPinned A pointer to a pinned host memory buffer containing rest positions of the collision mesh.
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\param[in] stream A cuda stream to perform the copies.
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@see PxSoftBody
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@deprecated Use copyToDevice() instead.
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*/
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PX_DEPRECATED static void commit(PxSoftBody& softBody, PxSoftBodyDataFlags flags, PxVec4* simPositionsPinned, PxVec4* simVelocitiesPinned, PxVec4* collPositionsPinned, PxVec4* restPositionsPinned, CUstream stream = CUstream(0));
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/**
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\brief Uploads prepared SoftBody data to the GPU. It ensures that the embedded collision mesh matches the simulation mesh's transformation and scale.
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\param[in] softBody The soft body which will perform the data upload
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\param[in] flags Specifies which buffers the data transfer should include
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\param[in] simPositionsPinned A pointer to a pinned host memory buffer containing positions and inverse masses for each vertex of the simulation mesh.
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\param[in] simVelocitiesPinned A pointer to a pinned host memory buffer containing velocities for each vertex of the simulation mesh.
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\param[in] collPositionsPinned A pointer to a pinned host memory buffer containing positions and inverse masses for each vertex of the collision mesh.
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\param[in] restPositionsPinned A pointer to a pinned host memory buffer containing rest positions of the collision mesh.
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\param[in] stream A cuda stream to perform the copies.
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@see PxSoftBody
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*/
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static void copyToDevice(PxSoftBody& softBody, PxSoftBodyDataFlags flags, PxVec4* simPositionsPinned, PxVec4* simVelocitiesPinned, PxVec4* collPositionsPinned, PxVec4* restPositionsPinned, CUstream stream = CUstream(0));
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/**
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\brief Creates a full SoftBody mesh matching the shape given as input. Uses a voxel mesh for FEM simulation and a surface-matching mesh for collision detection.
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\param[in] params Cooking params instance required for mesh processing
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\param[in] surfaceMesh Input triangle mesh that represents the surface of the SoftBody
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\param[in] numVoxelsAlongLongestAABBAxis The number of voxels along the longest bounding box axis
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\param[in] insertionCallback The insertion interface from PxPhysics
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\param[in] validate If set to true the input triangle mesh will get analyzed to find possible deficiencies
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\return SoftBody mesh if cooking was successful, NULL otherwise
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@see PxSoftBodyMesh
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*/
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static PxSoftBodyMesh* createSoftBodyMesh(const PxCookingParams& params, const PxSimpleTriangleMesh& surfaceMesh, PxU32 numVoxelsAlongLongestAABBAxis, PxInsertionCallback& insertionCallback, const bool validate = true);
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/**
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\brief Creates a full SoftBody mesh matching the shape given as input. Uses the same surface-matching mesh for collision detection and FEM simulation.
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\param[in] params Cooking params instance required for mesh processing
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\param[in] surfaceMesh Input triangle mesh that represents the surface of the SoftBody
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\param[in] insertionCallback The insertion interface from PxPhysics
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\param[in] maxWeightRatioInTet Upper limit for the ratio of node weights that are adjacent to the same tetrahedron. The closer to one (while remaining larger than one), the more stable the simulation.
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\param[in] validate If set to true the input triangle mesh will get analyzed to find possible deficiencies
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\return SoftBody mesh if cooking was successful, NULL otherwise
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@see PxSoftBodyMesh
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*/
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static PxSoftBodyMesh* createSoftBodyMeshNoVoxels(const PxCookingParams& params, const PxSimpleTriangleMesh& surfaceMesh, PxInsertionCallback& insertionCallback, PxReal maxWeightRatioInTet = 1.5f, const bool validate = true);
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/**
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\brief Creates a SoftBody instance from a SoftBody mesh
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\param[in] softBodyMesh The SoftBody mesh
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\param[in] transform The transform that defines initial position and orientation of the SoftBody
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\param[in] material The material
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\param[in] cudaContextManager A cuda context manager
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\param[in] density The density used to compute the mass properties
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\param[in] solverIterationCount The number of iterations the solver should apply during simulation
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\param[in] femParams Additional parameters to specify e. g. damping
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\param[in] scale The scaling of the SoftBody
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\return SoftBody instance
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@see PxSoftBodyMesh, PxSoftBody
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*/
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static PxSoftBody* createSoftBodyFromMesh(PxSoftBodyMesh* softBodyMesh, const PxTransform& transform,
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const PxFEMSoftBodyMaterial& material, PxCudaContextManager& cudaContextManager, PxReal density = 100.0f, PxU32 solverIterationCount = 30,
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const PxFEMParameters& femParams = PxFEMParameters(), PxReal scale = 1.0f);
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/**
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\brief Creates a SoftBody instance with a box shape
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\param[in] transform The transform that defines initial position and orientation of the SoftBody
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\param[in] boxDimensions The dimensions (side lengths) of the box shape
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\param[in] material The material
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\param[in] cudaContextManager A cuda context manager
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\param[in] maxEdgeLength The maximal length of a triangle edge. Subdivision will get applied until the edge length criteria is matched. -1 means no subdivision is applied.
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\param[in] density The density used to compute the mass properties
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\param[in] solverIterationCount The number of iterations the solver should apply during simulation
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\param[in] femParams Additional parameters to specify e. g. damping
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\param[in] numVoxelsAlongLongestAABBAxis The number of voxels to use for the simulation mesh along the longest bounding box dimension
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\param[in] scale The scaling of the SoftBody
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\return SoftBody instance
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@see PxSoftBodyMesh, PxSoftBody
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*/
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static PxSoftBody* createSoftBodyBox(const PxTransform& transform, const PxVec3& boxDimensions, const PxFEMSoftBodyMaterial& material,
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PxCudaContextManager& cudaContextManager, PxReal maxEdgeLength = -1.0f, PxReal density = 100.0f, PxU32 solverIterationCount = 30,
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const PxFEMParameters& femParams = PxFEMParameters(), PxU32 numVoxelsAlongLongestAABBAxis = 10, PxReal scale = 1.0f);
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/**
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\brief allocates and initializes pinned host memory buffers from an actor with shape.
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\param[in] softBody A PxSoftBody that has a valid shape attached to it.
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\param[in] cudaContextManager The PxCudaContextManager of the scene this soft body will be simulated in
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\param[in] simPositionInvMassPinned A reference to a pointer for the return value of the simPositionInvMassPinned buffer, will be set by this function.
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\param[in] simVelocityPinned A reference to a pointer for the return value of the simVelocityPinned buffer, will be set by this function.
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\param[in] collPositionInvMassPinned A reference to a pointer for the return value of the collPositionInvMassPinned buffer, will be set by this function.
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\param[in] restPositionPinned A reference to a pointer for the return value of the restPositionPinned buffer, will be set by this function.
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@see PxSoftBody
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*/
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static void allocateAndInitializeHostMirror(PxSoftBody& softBody, PxCudaContextManager* cudaContextManager, PxVec4*& simPositionInvMassPinned, PxVec4*& simVelocityPinned, PxVec4*& collPositionInvMassPinned, PxVec4*& restPositionPinned);
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/**
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\brief Given a set of points and a set of tetrahedra, it finds the equilibrium state of the softbody. Every input point is either fixed or can move freely.
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\param[in] verticesOriginal Mesh vertex positions in undeformed original state.
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\param[in] verticesDeformed Mesh vertex positions in new deformed state. Only fixed vertices must have their final location, all other locations will get updated by the method.
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\param[in] nbVertices The number of vertices.
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\param[in] tetrahedra The tetrahedra.
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\param[in] nbTetraheda The number of tetrahedra.
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\param[in] vertexIsFixed Optional input that specifies which vertex is fixed and which one can move to relax the tension. If not provided, vertices from verticesOriginal which have a .w value of 0 will be considered fixed.
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\param[in] numIterations The number of stress relaxation iterations to run.
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*/
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static void relaxSoftBodyMesh(const PxVec4* verticesOriginal, PxVec4* verticesDeformed, PxU32 nbVertices, const PxU32* tetrahedra, PxU32 nbTetraheda, const bool* vertexIsFixed = NULL, PxU32 numIterations = 200);
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};
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#if !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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