157 lines
5.4 KiB
C++
157 lines
5.4 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 PX_PHYSICS_CONSTRAINT_SIM
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#define PX_PHYSICS_CONSTRAINT_SIM
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#include "PxSimulationEventCallback.h"
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#include "DyConstraint.h"
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namespace physx
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{
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namespace Sc
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{
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class Scene;
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class ConstraintInteraction;
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class ConstraintCore;
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class RigidCore;
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class BodySim;
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class RigidSim;
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class ConstraintSim : public Ps::UserAllocated
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{
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public:
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enum Enum
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{
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ePENDING_GROUP_UPDATE = (1<<0), // For constraint projection an island of the bodies connected by constraints is generated.
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// Schedule generation/update of the island this constraint is a part of.
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eBREAKABLE = (1<<1), // The constraint can break
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eCHECK_MAX_FORCE_EXCEEDED = (1<<2), // This constraint will get tested for breakage at the end of the sim step
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eBROKEN = (1<<3)
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};
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ConstraintSim(ConstraintCore& core,
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RigidCore* r0,
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RigidCore* r1,
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Scene& scene);
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~ConstraintSim();
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void preBodiesChange();
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void postBodiesChange(RigidCore* r0, RigidCore* r1);
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void checkMaxForceExceeded();
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void setBreakForceLL(PxReal linear, PxReal angular);
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PX_INLINE void setMinResponseThresholdLL(PxReal threshold);
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PX_INLINE void setAngularConstraintLinearCoefficientLL(PxReal coefficient);
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void setConstantsLL(void* addr);
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PX_INLINE const void* getConstantsLL() const;
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void postFlagChange(PxConstraintFlags oldFlags, PxConstraintFlags newFlags);
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PX_FORCE_INLINE const Dy::Constraint& getLowLevelConstraint() const { return mLowLevelConstraint; }
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PX_FORCE_INLINE Dy::Constraint& getLowLevelConstraint() { return mLowLevelConstraint; }
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PX_FORCE_INLINE ConstraintCore& getCore() const { return mCore; }
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PX_FORCE_INLINE BodySim* getBody(PxU32 i) const // for static actors or world attached constraints NULL is returned
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{
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return mBodies[i];
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}
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RigidSim& getRigid(PxU32 i);
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void getForce(PxVec3& force, PxVec3& torque);
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PX_FORCE_INLINE PxU8 readFlag(PxU8 flag) const { return PxU8(mFlags & flag); }
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PX_FORCE_INLINE void setFlag(PxU8 flag) { mFlags |= flag; }
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PX_FORCE_INLINE void clearFlag(PxU8 flag) { mFlags &= ~flag; }
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PX_FORCE_INLINE PxU32 isBroken() const { return PxU32(mFlags) & ConstraintSim::eBROKEN; }
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//------------------------------------ Projection trees -----------------------------------------
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private:
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PX_INLINE BodySim* getConstraintGroupBody();
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public:
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bool hasDynamicBody();
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void projectPose(BodySim* childBody, Ps::Array<BodySim*>& projectedBodies);
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PX_INLINE BodySim* getOtherBody(BodySim*);
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PX_INLINE BodySim* getAnyBody();
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bool needsProjection();
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//-----------------------------------------------------------------------------------------------
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void visualize(PxRenderBuffer &out);
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private:
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ConstraintSim& operator=(const ConstraintSim&);
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bool createLLConstraint();
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void destroyLLConstraint();
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private:
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Dy::Constraint mLowLevelConstraint;
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Scene& mScene;
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ConstraintCore& mCore;
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ConstraintInteraction* mInteraction;
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BodySim* mBodies[2];
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PxU8 mFlags;
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};
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} // namespace Sc
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PX_INLINE void Sc::ConstraintSim::setMinResponseThresholdLL(PxReal threshold)
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{
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mLowLevelConstraint.minResponseThreshold = threshold;
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}
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PX_INLINE const void* Sc::ConstraintSim::getConstantsLL() const
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{
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return mLowLevelConstraint.constantBlock;
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}
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PX_INLINE Sc::BodySim* Sc::ConstraintSim::getOtherBody(BodySim* b)
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{
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return (b == mBodies[0]) ? mBodies[1] : mBodies[0];
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}
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PX_INLINE Sc::BodySim* Sc::ConstraintSim::getAnyBody()
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{
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if (mBodies[0])
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return mBodies[0];
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else
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return mBodies[1];
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}
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}
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#endif
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