119 lines
5.0 KiB
C++
119 lines
5.0 KiB
C++
//
|
|
// Redistribution and use in source and binary forms, with or without
|
|
// modification, are permitted provided that the following conditions
|
|
// are met:
|
|
// * Redistributions of source code must retain the above copyright
|
|
// notice, this list of conditions and the following disclaimer.
|
|
// * Redistributions in binary form must reproduce the above copyright
|
|
// notice, this list of conditions and the following disclaimer in the
|
|
// documentation and/or other materials provided with the distribution.
|
|
// * Neither the name of NVIDIA CORPORATION nor the names of its
|
|
// contributors may be used to endorse or promote products derived
|
|
// from this software without specific prior written permission.
|
|
//
|
|
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
|
|
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
|
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
|
|
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
|
|
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
|
|
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
|
|
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
|
|
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
|
|
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
|
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
|
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
|
//
|
|
// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
|
|
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
|
|
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
|
|
|
|
#ifndef NP_FIXEDJOINTCONSTRAINT_H
|
|
#define NP_FIXEDJOINTCONSTRAINT_H
|
|
|
|
#include "extensions/PxFixedJoint.h"
|
|
|
|
#include "ExtJoint.h"
|
|
#include "CmUtils.h"
|
|
|
|
namespace physx
|
|
{
|
|
struct PxFixedJointGeneratedValues;
|
|
namespace Ext
|
|
{
|
|
|
|
struct FixedJointData : public JointData
|
|
{
|
|
//= ATTENTION! =====================================================================================
|
|
// Changing the data layout of this class breaks the binary serialization format. See comments for
|
|
// PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData
|
|
// function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
|
|
// accordingly.
|
|
//==================================================================================================
|
|
|
|
PxReal projectionLinearTolerance;
|
|
PxReal projectionAngularTolerance;
|
|
};
|
|
|
|
typedef Joint<PxFixedJoint, PxFixedJointGeneratedValues> FixedJointT;
|
|
|
|
class FixedJoint : public FixedJointT
|
|
{
|
|
//= ATTENTION! =====================================================================================
|
|
// Changing the data layout of this class breaks the binary serialization format. See comments for
|
|
// PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData
|
|
// function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
|
|
// accordingly.
|
|
//==================================================================================================
|
|
public:
|
|
// PX_SERIALIZATION
|
|
FixedJoint(PxBaseFlags baseFlags) : FixedJointT(baseFlags) {}
|
|
virtual void exportExtraData(PxSerializationContext& context) const;
|
|
void importExtraData(PxDeserializationContext& context);
|
|
void resolveReferences(PxDeserializationContext& context);
|
|
static FixedJoint* createObject(PxU8*& address, PxDeserializationContext& context);
|
|
static void getBinaryMetaData(PxOutputStream& stream);
|
|
//~PX_SERIALIZATION
|
|
|
|
// PxFixedJoint
|
|
virtual void setProjectionLinearTolerance(PxReal tolerance);
|
|
virtual PxReal getProjectionLinearTolerance() const;
|
|
virtual void setProjectionAngularTolerance(PxReal tolerance);
|
|
virtual PxReal getProjectionAngularTolerance() const;
|
|
//~PxFixedJoint
|
|
|
|
FixedJoint(const PxTolerancesScale& /*scale*/, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1) :
|
|
FixedJointT(PxJointConcreteType::eFIXED, PxBaseFlag::eOWNS_MEMORY | PxBaseFlag::eIS_RELEASABLE, actor0, localFrame0, actor1, localFrame1, sizeof(FixedJointData), "FixedJointData")
|
|
{
|
|
FixedJointData* data = static_cast<FixedJointData*>(mData);
|
|
|
|
data->projectionLinearTolerance = 1e10f;
|
|
data->projectionAngularTolerance = PxPi;
|
|
}
|
|
|
|
bool attach(PxPhysics &physics, PxRigidActor* actor0, PxRigidActor* actor1);
|
|
|
|
static const PxConstraintShaderTable& getConstraintShaderTable() { return sShaders; }
|
|
|
|
virtual PxConstraintSolverPrep getPrep() const { return sShaders.solverPrep; }
|
|
|
|
private:
|
|
|
|
static PxConstraintShaderTable sShaders;
|
|
|
|
PX_FORCE_INLINE FixedJointData& data() const
|
|
{
|
|
return *static_cast<FixedJointData*>(mData);
|
|
}
|
|
};
|
|
} // namespace Ext
|
|
|
|
namespace Ext
|
|
{
|
|
// global function to share the joint shaders with API capture
|
|
extern "C" const PxConstraintShaderTable* GetFixedJointShaderTable();
|
|
}
|
|
|
|
}
|
|
|
|
#endif
|