155 lines
6.5 KiB
C++
155 lines
6.5 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_REVOLUTEJOINTCONSTRAINT_H
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#define NP_REVOLUTEJOINTCONSTRAINT_H
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#include "extensions/PxRevoluteJoint.h"
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#include "ExtJoint.h"
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#include "PsIntrinsics.h"
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#include "CmUtils.h"
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namespace physx
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{
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class PxConstraintSolverPrepKernel;
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class PxConstraintProjectionKernel;
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struct PxRevoluteJointGeneratedValues;
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namespace Ext
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{
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struct RevoluteJointData : 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 driveVelocity;
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PxReal driveForceLimit;
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PxReal driveGearRatio;
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PxJointAngularLimitPair limit;
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PxReal projectionLinearTolerance;
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PxReal projectionAngularTolerance;
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PxRevoluteJointFlags 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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RevoluteJointData(const PxJointAngularLimitPair &pair):
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limit(pair) {}
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};
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typedef Joint<PxRevoluteJoint, PxRevoluteJointGeneratedValues> RevoluteJointT;
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class RevoluteJoint : public RevoluteJointT
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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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RevoluteJoint(PxBaseFlags baseFlags) : RevoluteJointT(baseFlags) {}
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void resolveReferences(PxDeserializationContext& context);
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virtual void exportExtraData(PxSerializationContext& context);
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void importExtraData(PxDeserializationContext& context);
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static RevoluteJoint* createObject(PxU8*& address, PxDeserializationContext& context);
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static void getBinaryMetaData(PxOutputStream& stream);
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//~PX_SERIALIZATION
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RevoluteJoint(const PxTolerancesScale& /*scale*/, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1) :
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RevoluteJointT(PxJointConcreteType::eREVOLUTE, PxBaseFlag::eOWNS_MEMORY | PxBaseFlag::eIS_RELEASABLE, actor0, localFrame0, actor1, localFrame1, sizeof(RevoluteJointData), "RevoluteJointData")
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{
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RevoluteJointData* data = static_cast<RevoluteJointData*>(mData);
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data->projectionLinearTolerance = 1e10f;
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data->projectionAngularTolerance = PxPi;
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data->driveForceLimit = PX_MAX_F32;
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data->driveVelocity = 0.0f;
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data->driveGearRatio = 1.0f;
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data->limit = PxJointAngularLimitPair(-PxPi/2, PxPi/2);
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data->jointFlags = PxRevoluteJointFlags();
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}
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// PxRevoluteJoint
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virtual PxReal getAngle() const;
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virtual PxReal getVelocity() const;
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virtual void setLimit(const PxJointAngularLimitPair& limit);
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virtual PxJointAngularLimitPair getLimit() const;
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virtual void setDriveVelocity(PxReal velocity, bool autowake = true);
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virtual PxReal getDriveVelocity() const;
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virtual void setDriveForceLimit(PxReal forceLimit);
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virtual PxReal getDriveForceLimit() const;
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virtual void setDriveGearRatio(PxReal gearRatio);
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virtual PxReal getDriveGearRatio() const;
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virtual void setRevoluteJointFlags(PxRevoluteJointFlags flags);
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virtual void setRevoluteJointFlag(PxRevoluteJointFlag::Enum flag, bool value);
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virtual PxRevoluteJointFlags getRevoluteJointFlags() const;
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virtual void setProjectionLinearTolerance(PxReal distance);
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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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//~PxRevoluteJoint
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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 RevoluteJointData& data() const
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{
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return *static_cast<RevoluteJointData*>(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* GetRevoluteJointShaderTable();
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}
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}
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#endif
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