131 lines
5.6 KiB
C++
131 lines
5.6 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_SPHERICALJOINTCONSTRAINT_H
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#define NP_SPHERICALJOINTCONSTRAINT_H
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#include "extensions/PxSphericalJoint.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 PxSphericalJointGeneratedValues;
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namespace Ext
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{
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struct SphericalJointData: 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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PxJointLimitCone limit;
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PxReal projectionLinearTolerance;
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PxSphericalJointFlags 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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SphericalJointData(const PxJointLimitCone &cone):
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limit(cone) {}
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};
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typedef Joint<PxSphericalJoint, PxSphericalJointGeneratedValues> SphericalJointT;
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class SphericalJoint : public SphericalJointT
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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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SphericalJoint(PxBaseFlags baseFlags) : SphericalJointT(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 SphericalJoint* createObject(PxU8*& address, PxDeserializationContext& context);
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static void getBinaryMetaData(PxOutputStream& stream);
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//~PX_SERIALIZATION
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SphericalJoint(const PxTolerancesScale& /*scale*/, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1) :
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SphericalJointT(PxJointConcreteType::eSPHERICAL, PxBaseFlag::eOWNS_MEMORY | PxBaseFlag::eIS_RELEASABLE, actor0, localFrame0, actor1, localFrame1, sizeof(SphericalJointData), "SphericalJointData")
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{
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SphericalJointData* data = static_cast<SphericalJointData*>(mData);
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data->projectionLinearTolerance = 1e10f;
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data->limit = PxJointLimitCone(PxPi/2, PxPi/2);
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data->jointFlags = PxSphericalJointFlags();
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}
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// PxSphericalJoint
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virtual void setLimitCone(const PxJointLimitCone &limit);
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virtual PxJointLimitCone getLimitCone() const;
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virtual void setSphericalJointFlags(PxSphericalJointFlags flags);
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virtual void setSphericalJointFlag(PxSphericalJointFlag::Enum flag, bool value);
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virtual PxSphericalJointFlags getSphericalJointFlags(void) const;
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virtual void setProjectionLinearTolerance(PxReal distance);
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virtual PxReal getProjectionLinearTolerance() const;
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virtual PxReal getSwingYAngle() const;
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virtual PxReal getSwingZAngle() const;
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//~PxSphericalJoint
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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 SphericalJointData& data() const
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{
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return *static_cast<SphericalJointData*>(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* GetSphericalJointShaderTable();
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}
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}
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#endif
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