82 lines
3.2 KiB
C
82 lines
3.2 KiB
C
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//
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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 PXDV_ARTICULATION_CORE_H
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#define PXDV_ARTICULATION_CORE_H
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#include "PxArticulationReducedCoordinate.h"
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namespace physx
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{
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namespace Dy
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{
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struct ArticulationCore
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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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PxU32 internalDriveIterations;
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PxU32 externalDriveIterations;
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PxU32 maxProjectionIterations;
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PxU16 solverIterationCounts; //KS - made a U16 so that it matches PxsRigidCore
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PxReal separationTolerance;
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PxReal sleepThreshold;
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PxReal freezeThreshold;
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PxReal wakeCounter;
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PxArticulationFlags flags;
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};
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struct ArticulationJointCoreDirtyFlag
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{
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enum Enum
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{
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eNONE = 0,
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eMOTION = 1 << 0,
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ePOSE = 1 << 1,
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eTARGETPOSE = 1 << 2,
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eTARGETVELOCITY = 1 << 3,
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eLIMIT = 1 << 4,
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eDRIVE = 1 << 5,
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eALL = eMOTION | ePOSE | eTARGETPOSE | eTARGETVELOCITY
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};
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};
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typedef PxFlags<ArticulationJointCoreDirtyFlag::Enum, PxU8> ArticulationJointCoreDirtyFlags;
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PX_FLAGS_OPERATORS(ArticulationJointCoreDirtyFlag::Enum, PxU8)
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}
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}
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#endif
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