124 lines
4.5 KiB
C++
124 lines
4.5 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) 2008-2019 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 NP_CONTACTJOINTCONSTRAINT_H
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#define NP_CONTACTJOINTCONSTRAINT_H
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#include "common/PxTolerancesScale.h"
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#include "extensions/PxContactJoint.h"
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#include "ExtJoint.h"
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#include "PsUserAllocated.h"
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#include "CmUtils.h"
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namespace physx
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{
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struct PxContactJointGeneratedValues;
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namespace Ext
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{
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struct ContactJointData : public JointData
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{
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PxVec3 contact;
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PxVec3 normal;
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PxReal penetration;
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PxReal restitution;
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PxReal bounceThreshold;
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};
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typedef Joint<PxContactJoint, PxContactJointGeneratedValues> ContactJointT;
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class ContactJoint : public ContactJointT
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{
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public:
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// PX_SERIALIZATION
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ContactJoint(PxBaseFlags baseFlags) : ContactJointT(baseFlags) {}
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virtual void exportExtraData(PxSerializationContext& context);
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void importExtraData(PxDeserializationContext& context);
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void resolveReferences(PxDeserializationContext& context);
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static ContactJoint* createObject(PxU8*& address, PxDeserializationContext& context);
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static void getBinaryMetaData(PxOutputStream& stream);
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//~PX_SERIALIZATION
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ContactJoint(const PxTolerancesScale& scale, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1) :
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ContactJointT(PxJointConcreteType::eCONTACT, PxBaseFlag::eOWNS_MEMORY | PxBaseFlag::eIS_RELEASABLE, actor0, localFrame0, actor1, localFrame1, sizeof(ContactJointData), "ContactJointData")
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{
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PX_UNUSED(scale);
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ContactJointData* data = static_cast<ContactJointData*>(mData);
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data->contact = PxVec3(0.f);
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data->normal = PxVec3(0.f);
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data->penetration = 0.f;
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data->restitution = 0.f;
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data->bounceThreshold = 0.f;
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}
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// PxContactJoint
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virtual PxVec3 getContact() const;
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virtual void setContact(const PxVec3& contact);
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virtual PxVec3 getContactNormal() const;
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virtual void setContactNormal(const PxVec3& normal);
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virtual PxReal getPenetration() const;
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virtual void setPenetration(const PxReal penetration);
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virtual PxReal getResititution() const;
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virtual void setResititution(const PxReal resititution);
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virtual PxReal getBounceThreshold() const;
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virtual void setBounceThreshold(const PxReal bounceThreshold);
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virtual void computeJacobians(PxJacobianRow* jacobian) const;
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virtual PxU32 getNbJacobianRows() const;
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//~PxContactJoint
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bool attach(PxPhysics &physics, PxRigidActor* actor0, PxRigidActor* actor1);
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static const PxConstraintShaderTable& getConstraintShaderTable() { return sShaders; }
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virtual PxConstraintSolverPrep getPrep()const { return sShaders.solverPrep; }
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private:
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static PxConstraintShaderTable sShaders;
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PX_FORCE_INLINE ContactJointData& data() const
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{
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return *static_cast<ContactJointData*>(mData);
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}
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};
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}// namespace Ext
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namespace Ext
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{
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// global function to share the joint shaders with API capture
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extern "C" const PxConstraintShaderTable* GetContactJointShaderTable();
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}
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}//physx
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#endif
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