134 lines
5.9 KiB
C++
134 lines
5.9 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_PRISMATICJOINTCONSTRAINT_H
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#define NP_PRISMATICJOINTCONSTRAINT_H
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#include "common/PxTolerancesScale.h"
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#include "extensions/PxPrismaticJoint.h"
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#include "ExtJoint.h"
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#include "CmUtils.h"
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namespace physx
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{
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struct PxPrismaticJointGeneratedValues;
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namespace Ext
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{
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struct PrismaticJointData : 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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PxJointLinearLimitPair limit;
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PxReal projectionLinearTolerance;
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PxReal projectionAngularTolerance;
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PxPrismaticJointFlags jointFlags;
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// forestall compiler complaints about not being able to generate a constructor
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private:
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PrismaticJointData(const PxJointLinearLimitPair &pair):
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limit(pair) {}
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};
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typedef Joint<PxPrismaticJoint, PxPrismaticJointGeneratedValues> PrismaticJointT;
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class PrismaticJoint : public PrismaticJointT
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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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PrismaticJoint(PxBaseFlags baseFlags) : PrismaticJointT(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 PrismaticJoint* createObject(PxU8*& address, PxDeserializationContext& context);
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static void getBinaryMetaData(PxOutputStream& stream);
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//~PX_SERIALIZATION
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PrismaticJoint(const PxTolerancesScale& scale, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1) :
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PrismaticJointT(PxJointConcreteType::ePRISMATIC, PxBaseFlag::eOWNS_MEMORY | PxBaseFlag::eIS_RELEASABLE, actor0, localFrame0, actor1, localFrame1, sizeof(PrismaticJointData), "PrismaticJointData")
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{
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PrismaticJointData* data = static_cast<PrismaticJointData*>(mData);
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data->limit = PxJointLinearLimitPair(scale);
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data->projectionLinearTolerance = 1e10f;
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data->projectionAngularTolerance = PxPi;
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data->jointFlags = PxPrismaticJointFlags();
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}
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// PxPrismaticJoint
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virtual PxReal getPosition() const { return getRelativeTransform().p.x; }
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virtual PxReal getVelocity() const { return getRelativeLinearVelocity().x; }
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virtual void setLimit(const PxJointLinearLimitPair& limit);
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virtual PxJointLinearLimitPair getLimit() const;
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virtual void setPrismaticJointFlags(PxPrismaticJointFlags flags);
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virtual void setPrismaticJointFlag(PxPrismaticJointFlag::Enum flag, bool value);
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virtual PxPrismaticJointFlags getPrismaticJointFlags() const;
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virtual void setProjectionLinearTolerance(PxReal tolerance);
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virtual PxReal getProjectionLinearTolerance() const;
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virtual void setProjectionAngularTolerance(PxReal tolerance);
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virtual PxReal getProjectionAngularTolerance() const;
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//~PxPrismaticJoint
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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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PX_FORCE_INLINE PrismaticJointData& data() const
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{
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return *static_cast<PrismaticJointData*>(mData);
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}
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static PxConstraintShaderTable sShaders;
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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* GetPrismaticJointShaderTable();
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}
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}
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#endif
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