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use super::{
articulation_cache::{ArticulationCache, ArticulationCacheFlags},
articulation_link::ArticulationLink,
math::PxTransform,
math::*,
owner::Owner,
rigid_actor::RigidActor,
shape::CollisionLayers,
traits::{Class, UserData},
};
use std::{marker::PhantomData, ptr::drop_in_place};
#[rustfmt::skip]
use physx_sys::{
PxArticulationReducedCoordinate_applyCache_mut,
PxArticulationReducedCoordinate_commonInit,
PxArticulationReducedCoordinate_computeCoefficientMatrix,
PxArticulationReducedCoordinate_computeCoriolisAndCentrifugalForce,
PxArticulationReducedCoordinate_computeDenseJacobian,
PxArticulationReducedCoordinate_computeGeneralizedExternalForce,
PxArticulationReducedCoordinate_computeGeneralizedGravityForce,
PxArticulationReducedCoordinate_computeGeneralizedMassMatrix,
PxArticulationReducedCoordinate_computeJointAcceleration,
PxArticulationReducedCoordinate_computeJointForce,
PxArticulationReducedCoordinate_computeLambda,
PxArticulationReducedCoordinate_copyInternalStateToCache,
PxArticulationReducedCoordinate_createCache,
PxArticulationReducedCoordinate_getArticulationFlags,
PxArticulationReducedCoordinate_getCacheDataSize,
PxArticulationReducedCoordinate_getDofs,
PxArticulationReducedCoordinate_getLinks,
PxArticulationReducedCoordinate_getNbLinks,
PxArticulationReducedCoordinate_getRootGlobalPose,
PxArticulationReducedCoordinate_getSolverIterationCounts,
PxArticulationReducedCoordinate_packJointData,
PxArticulationReducedCoordinate_release_mut,
PxArticulationReducedCoordinate_setArticulationFlag_mut,
PxArticulationReducedCoordinate_setArticulationFlags_mut,
PxArticulationReducedCoordinate_setRootGlobalPose_mut,
PxArticulationReducedCoordinate_setSolverIterationCounts_mut,
PxArticulationReducedCoordinate_unpackJointData,
PxRigidBodyExt_computeMassPropertiesFromShapes,
PxRigidBodyExt_getVelocityAtPos,
};
pub use physx_sys::{
PxArticulationFlag as ArticulationFlag, PxArticulationFlags as ArticulationFlags,
};
#[repr(transparent)]
pub struct PxArticulationReducedCoordinate<U, Link: ArticulationLink> {
pub(crate) obj: physx_sys::PxArticulationReducedCoordinate,
phantom_user_data: PhantomData<(U, Link)>,
}
unsafe impl<U, Link: ArticulationLink> UserData for PxArticulationReducedCoordinate<U, Link> {
type UserData = U;
fn user_data_ptr(&self) -> &*mut std::ffi::c_void {
&self.obj.userData
}
fn user_data_ptr_mut(&mut self) -> &mut *mut std::ffi::c_void {
&mut self.obj.userData
}
}
impl<U, Link: ArticulationLink> Drop for PxArticulationReducedCoordinate<U, Link> {
fn drop(&mut self) {
unsafe {
for link in self.get_links_mut().drain(..).rev() {
drop_in_place(link as *mut _);
}
drop_in_place(self.get_user_data_mut() as *mut _);
PxArticulationReducedCoordinate_release_mut(self.as_mut_ptr());
}
}
}
unsafe impl<S, U, Link: ArticulationLink> Class<S> for PxArticulationReducedCoordinate<U, Link>
where
physx_sys::PxArticulationReducedCoordinate: Class<S>,
{
fn as_ptr(&self) -> *const S {
self.obj.as_ptr()
}
fn as_mut_ptr(&mut self) -> *mut S {
self.obj.as_mut_ptr()
}
}
unsafe impl<U: Send, Link: ArticulationLink + Send> Send
for PxArticulationReducedCoordinate<U, Link>
{
}
unsafe impl<U: Sync, Link: ArticulationLink + Send> Sync
for PxArticulationReducedCoordinate<U, Link>
{
}
impl<U, L: ArticulationLink> ArticulationReducedCoordinate
for PxArticulationReducedCoordinate<U, L>
{
type ArticulationLink = L;
}
pub trait ArticulationReducedCoordinate:
Class<physx_sys::PxArticulationReducedCoordinate> + UserData
{
type ArticulationLink: ArticulationLink;
unsafe fn from_raw(
ptr: *mut physx_sys::PxArticulationReducedCoordinate,
user_data: Self::UserData,
) -> Option<Owner<Self>> {
unsafe {
let articulation = (ptr as *mut Self).as_mut();
Owner::from_raw(articulation?.init_user_data(user_data))
}
}
fn get_user_data(&self) -> &Self::UserData {
unsafe { UserData::get_user_data(self) }
}
fn get_user_data_mut(&mut self) -> &mut Self::UserData {
unsafe { UserData::get_user_data_mut(self) }
}
#[inline]
fn common_init(&mut self) {
unsafe { PxArticulationReducedCoordinate_commonInit(self.as_ptr()) }
}
#[inline]
fn get_dofs(&self) -> usize {
unsafe { PxArticulationReducedCoordinate_getDofs(self.as_ptr()) as usize }
}
#[inline]
fn set_articulation_flag(&mut self, flag: ArticulationFlag, value: bool) {
unsafe {
PxArticulationReducedCoordinate_setArticulationFlag_mut(self.as_mut_ptr(), flag, value)
}
}
#[inline]
fn set_articulation_flags(&mut self, flags: ArticulationFlags) {
unsafe {
PxArticulationReducedCoordinate_setArticulationFlags_mut(self.as_mut_ptr(), flags)
}
}
#[inline]
fn get_articulation_flags(&self) -> ArticulationFlags {
unsafe { PxArticulationReducedCoordinate_getArticulationFlags(self.as_ptr()) }
}
#[inline]
fn get_nb_links(&self) -> u32 {
unsafe { PxArticulationReducedCoordinate_getNbLinks(self.as_ptr()) }
}
#[inline]
fn root_link(&self) -> Option<&Self::ArticulationLink> {
unsafe {
let mut root: *mut Self::ArticulationLink = std::ptr::null_mut();
PxArticulationReducedCoordinate_getLinks(
self.as_ptr(),
&mut root as *mut *mut Self::ArticulationLink
as *mut *mut physx_sys::PxArticulationLink,
1,
0,
);
root.as_ref()
}
}
fn set_root_global_pose(&mut self, pose: &PxTransform) {
self.common_init();
unsafe {
PxArticulationReducedCoordinate_setRootGlobalPose_mut(
self.as_mut_ptr(),
pose.as_ptr(),
true,
);
}
}
#[inline]
fn get_root_global_pose(&self) -> PxTransform {
unsafe { PxArticulationReducedCoordinate_getRootGlobalPose(self.as_ptr()).into() }
}
fn create_cache(&self) -> Option<ArticulationCache> {
unsafe {
let mut articulation_cache = ArticulationCache::from_raw(
PxArticulationReducedCoordinate_createCache(self.as_ptr()),
)?;
articulation_cache.compute_dof_information(self);
Some(articulation_cache)
}
}
fn get_cache_data_size(&self) -> u32 {
unsafe { PxArticulationReducedCoordinate_getCacheDataSize(self.as_ptr()) }
}
fn apply_cache(
&mut self,
cache: &mut ArticulationCache,
flags: ArticulationCacheFlags,
autowake: bool,
) {
unsafe {
PxArticulationReducedCoordinate_applyCache_mut(
self.as_mut_ptr(),
cache.as_mut_ptr(),
flags,
autowake,
)
}
}
fn copy_internal_state_to_cache(
&self,
cache: &mut ArticulationCache,
flags: ArticulationCacheFlags,
) {
unsafe {
PxArticulationReducedCoordinate_copyInternalStateToCache(
self.as_ptr(),
cache.as_mut_ptr(),
flags,
)
}
}
fn compute_generalized_gravity_force(&self, cache: &mut ArticulationCache) {
unsafe {
PxArticulationReducedCoordinate_computeGeneralizedGravityForce(
self.as_ptr(),
cache.as_mut_ptr(),
)
}
}
fn compute_coriolis_and_centrifugal_force(&self, cache: &mut ArticulationCache) {
unsafe {
PxArticulationReducedCoordinate_computeCoriolisAndCentrifugalForce(
self.as_ptr(),
cache.as_mut_ptr(),
)
}
}
fn compute_generalized_external_force(&self, cache: &mut ArticulationCache) {
unsafe {
PxArticulationReducedCoordinate_computeGeneralizedExternalForce(
self.as_ptr(),
cache.as_mut_ptr(),
)
}
}
fn compute_joint_acceleration(&self, cache: &mut ArticulationCache) {
unsafe {
PxArticulationReducedCoordinate_computeJointAcceleration(
self.as_ptr(),
cache.as_mut_ptr(),
)
}
}
fn compute_joint_force(&self, cache: &mut ArticulationCache) {
unsafe {
PxArticulationReducedCoordinate_computeJointForce(self.as_ptr(), cache.as_mut_ptr())
}
}
fn compute_dense_jacobian(&self, cache: &mut ArticulationCache) -> (u32, u32) {
let mut rows = 0;
let mut cols = 0;
unsafe {
PxArticulationReducedCoordinate_computeDenseJacobian(
self.as_ptr(),
cache.as_mut_ptr(),
&mut rows,
&mut cols,
);
}
(cols, rows)
}
fn compute_coefficient_matrix(&self, cache: &mut ArticulationCache) {
unsafe {
PxArticulationReducedCoordinate_computeCoefficientMatrix(
self.as_ptr(),
cache.as_mut_ptr(),
)
}
}
fn compute_lambda(
&self,
cache: &mut ArticulationCache,
initial_state: &mut ArticulationCache,
joint_torques: &[f32],
max_iter: u32,
) -> bool {
unsafe {
PxArticulationReducedCoordinate_computeLambda(
self.as_ptr(),
cache.as_mut_ptr(),
initial_state.as_mut_ptr(),
joint_torques.as_ptr(),
max_iter,
)
}
}
fn compute_generalized_mass_matrix(&self, cache: &mut ArticulationCache) {
unsafe {
PxArticulationReducedCoordinate_computeGeneralizedMassMatrix(
self.as_ptr(),
cache.as_mut_ptr(),
);
}
}
fn pack_joint_data(&self, maximum: &[f32], reduced: &mut [f32]) {
unsafe {
PxArticulationReducedCoordinate_packJointData(
self.as_ptr(),
maximum.as_ptr(),
reduced.as_mut_ptr(),
)
}
}
fn unpack_joint_data(&self, reduced: &[f32], maximum: &mut [f32]) {
unsafe {
PxArticulationReducedCoordinate_unpackJointData(
self.as_ptr(),
reduced.as_ptr(),
maximum.as_mut_ptr(),
)
}
}
fn get_center_of_mass(&self) -> PxVec3 {
let links = self.get_links();
let nb_shapes = links
.iter()
.fold(0, |accum, link| accum + link.get_nb_shapes());
let mut shape_ptrs = Vec::with_capacity(nb_shapes as usize);
for link in links {
for shape in link.get_shapes() {
shape_ptrs.push(shape.as_ptr());
}
}
let props = unsafe {
PxRigidBodyExt_computeMassPropertiesFromShapes(shape_ptrs.as_ptr(), nb_shapes)
};
PxVec3::new(
props.centerOfMass.x,
props.centerOfMass.y,
props.centerOfMass.z,
)
}
fn get_center_of_mass_and_velocity(&self) -> (PxVec3, PxVec3) {
let center_of_mass = self.get_center_of_mass();
if let Some(body) = self.root_link() {
let com_vel = unsafe {
PxRigidBodyExt_getVelocityAtPos(
Class::<physx_sys::PxRigidBody>::as_ptr(body),
¢er_of_mass.into(),
)
.into()
};
(center_of_mass, com_vel)
} else {
(center_of_mass, PxVec3::new(0.0, 0.0, 0.0))
}
}
fn set_collision_filter(&mut self, this_layer: CollisionLayers, other_layer: CollisionLayers) {
let (a, b) = (
(self as *const _ as usize >> 32) as u32,
self as *const _ as usize as u32,
);
for link in self.get_links_mut() {
link.set_collision_filter(this_layer, other_layer, a, b);
}
}
fn set_query_filter(&mut self, this_layer: CollisionLayers) {
for link in self.get_links_mut() {
link.set_query_filter(this_layer);
}
}
fn set_solver_iteration_counts(&mut self, min_position_iters: u32, min_velocity_iters: u32) {
unsafe {
PxArticulationReducedCoordinate_setSolverIterationCounts_mut(
self.as_mut_ptr(),
min_position_iters,
min_velocity_iters,
);
}
}
fn get_solver_iteration_counts(&self) -> (u32, u32) {
unsafe {
let mut min_position_iters: u32 = 0;
let mut min_velocity_iters: u32 = 0;
PxArticulationReducedCoordinate_getSolverIterationCounts(
self.as_ptr(),
&mut min_position_iters as *mut u32,
&mut min_velocity_iters as *mut u32,
);
(min_position_iters, min_velocity_iters)
}
}
fn get_links(&self) -> Vec<&Self::ArticulationLink> {
unsafe {
let capacity = self.get_nb_links();
let mut buffer: Vec<&Self::ArticulationLink> = Vec::with_capacity(capacity as usize);
let len = PxArticulationReducedCoordinate_getLinks(
self.as_ptr(),
buffer.as_mut_ptr() as *mut *mut _,
capacity,
0,
);
buffer.set_len(len as usize);
buffer
}
}
fn get_links_mut(&mut self) -> Vec<&mut Self::ArticulationLink> {
unsafe {
let capacity = self.get_nb_links();
let mut buffer: Vec<&mut Self::ArticulationLink> =
Vec::with_capacity(capacity as usize);
let len = PxArticulationReducedCoordinate_getLinks(
self.as_ptr(),
buffer.as_mut_ptr() as *mut *mut _,
capacity,
0,
);
buffer.set_len(len as usize);
buffer
}
}
}