141 lines
5.8 KiB
C++
141 lines
5.8 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_DISTANCEJOINTCONSTRAINT_H
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#define NP_DISTANCEJOINTCONSTRAINT_H
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#include "common/PxTolerancesScale.h"
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#include "extensions/PxDistanceJoint.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 PxDistanceJointGeneratedValues;
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namespace Ext
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{
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struct DistanceJointData : public JointData
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{
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//= ATTENTION! =====================================================================================
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// Changing the data layout of this class breaks the binary serialization format. See comments for
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// PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData
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// function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
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// accordingly.
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//==================================================================================================
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PxReal minDistance;
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PxReal maxDistance;
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PxReal tolerance;
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PxReal stiffness;
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PxReal damping;
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PxDistanceJointFlags jointFlags;
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};
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typedef Joint<PxDistanceJoint, PxDistanceJointGeneratedValues> DistanceJointT;
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class DistanceJoint : public DistanceJointT
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{
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//= ATTENTION! =====================================================================================
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// Changing the data layout of this class breaks the binary serialization format. See comments for
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// PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData
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// function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
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// accordingly.
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//==================================================================================================
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public:
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// PX_SERIALIZATION
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DistanceJoint(PxBaseFlags baseFlags) : DistanceJointT(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 DistanceJoint* createObject(PxU8*& address, PxDeserializationContext& context);
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static void getBinaryMetaData(PxOutputStream& stream);
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//~PX_SERIALIZATION
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DistanceJoint(const PxTolerancesScale& scale, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1) :
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DistanceJointT(PxJointConcreteType::eDISTANCE, PxBaseFlag::eOWNS_MEMORY | PxBaseFlag::eIS_RELEASABLE, actor0, localFrame0, actor1, localFrame1, sizeof(DistanceJointData), "DistanceJointData")
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{
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DistanceJointData* data = static_cast<DistanceJointData*>(mData);
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data->stiffness = 0.0f;
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data->damping = 0.0f;
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data->minDistance = 0.0f;
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data->maxDistance = 0.0f;
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data->tolerance = 0.025f * scale.length;
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data->jointFlags = PxDistanceJointFlag::eMAX_DISTANCE_ENABLED;
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}
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// PxDistanceJoint
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virtual PxReal getDistance() const;
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virtual void setMinDistance(PxReal distance);
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virtual PxReal getMinDistance() const;
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virtual void setMaxDistance(PxReal distance);
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virtual PxReal getMaxDistance() const;
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virtual void setTolerance(PxReal tolerance);
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virtual PxReal getTolerance() const;
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virtual void setStiffness(PxReal spring);
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virtual PxReal getStiffness() const;
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virtual void setDamping(PxReal damping);
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virtual PxReal getDamping() const;
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virtual void setDistanceJointFlags(PxDistanceJointFlags flags);
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virtual void setDistanceJointFlag(PxDistanceJointFlag::Enum flag, bool value);
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virtual PxDistanceJointFlags getDistanceJointFlags() const;
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//~PxDistanceJoint
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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 DistanceJointData& data() const
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{
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return *static_cast<DistanceJointData*>(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* GetDistanceJointShaderTable();
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}
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}
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#endif
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