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add explicit feedback for illegal operations in GPU mode #295

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36 changes: 18 additions & 18 deletions src/physx/articulation.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -359,41 +359,41 @@ PhysxArticulation::getLinkIncomingJointForces() {
}

Pose PhysxArticulation::getRootPose() {
// if (getRoot()->isUsingDirectGPUAPI()) {
// throw std::runtime_error("getting root pose is not supported in GPU simulation.");
// }
if (getRoot()->isUsingDirectGPUAPI()) {
logger::warn("getting root pose may yields unsynchronized CPU data in GPU simulation.");
}
Comment on lines +362 to +364
Comment on lines +362 to +364
return PxTransformToPose(mPxArticulation->getRootGlobalPose());
}
Vec3 PhysxArticulation::getRootLinearVelocity() {
// if (getRoot()->isUsingDirectGPUAPI()) {
// throw std::runtime_error("getting root velocity is not supported in GPU simulation.");
// }
if (getRoot()->isUsingDirectGPUAPI()) {
logger::warn("getting root linear velocity may yield unsynchronized CPU data in GPU simulation.");
}
Comment on lines +368 to +370
return PxVec3ToVec3(mPxArticulation->getRootLinearVelocity());
}
Vec3 PhysxArticulation::getRootAngularVelocity() {
// if (getRoot()->isUsingDirectGPUAPI()) {
// throw std::runtime_error("getting root velocity is not supported in GPU simulation.");
// }
if (getRoot()->isUsingDirectGPUAPI()) {
logger::warn("getting root angular velocity may yield unsynchronized CPU data in GPU simulation.");
}
Comment on lines +374 to +376
return PxVec3ToVec3(mPxArticulation->getRootAngularVelocity());
}

void PhysxArticulation::setRootPose(Pose const &pose) {
// if (getRoot()->isUsingDirectGPUAPI()) {
// throw std::runtime_error("setting root pose is not supported in GPU simulation.");
// }
if (getRoot()->isUsingDirectGPUAPI()) {
throw std::runtime_error("setting root pose is illegal in GPU simulation.");
}
Comment on lines +381 to +383
Comment on lines +381 to +383
mPxArticulation->setRootGlobalPose(PoseToPxTransform(pose));
syncPose();
}
void PhysxArticulation::setRootLinearVelocity(Vec3 const &v) {
// if (getRoot()->isUsingDirectGPUAPI()) {
// throw std::runtime_error("setting root velocity is not supported in GPU simulation.");
// }
if (getRoot()->isUsingDirectGPUAPI()) {
throw std::runtime_error("setting root linear velocity is illegal in GPU simulation.");
}
Comment on lines +388 to +390
Comment on lines +388 to +390
mPxArticulation->setRootLinearVelocity(Vec3ToPxVec3(v));
}
void PhysxArticulation::setRootAngularVelocity(Vec3 const &v) {
// if (getRoot()->isUsingDirectGPUAPI()) {
// throw std::runtime_error("setting root angular is not supported in GPU simulation.");
// }
if (getRoot()->isUsingDirectGPUAPI()) {
throw std::runtime_error("setting root angular velocity is illegal in GPU simulation.");
}
Comment on lines +394 to +396
Comment on lines +394 to +396
mPxArticulation->setRootAngularVelocity(Vec3ToPxVec3(v));
}

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