133 lines
5.6 KiB
C++
133 lines
5.6 KiB
C++
//
|
|
// Redistribution and use in source and binary forms, with or without
|
|
// modification, are permitted provided that the following conditions
|
|
// are met:
|
|
// * Redistributions of source code must retain the above copyright
|
|
// notice, this list of conditions and the following disclaimer.
|
|
// * Redistributions in binary form must reproduce the above copyright
|
|
// notice, this list of conditions and the following disclaimer in the
|
|
// documentation and/or other materials provided with the distribution.
|
|
// * Neither the name of NVIDIA CORPORATION nor the names of its
|
|
// contributors may be used to endorse or promote products derived
|
|
// from this software without specific prior written permission.
|
|
//
|
|
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
|
|
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
|
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
|
|
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
|
|
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
|
|
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
|
|
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
|
|
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
|
|
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
|
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
|
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
|
//
|
|
// Copyright (c) 2008-2019 NVIDIA Corporation. All rights reserved.
|
|
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
|
|
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
|
|
|
|
|
|
#ifndef PX_PHYSICS_NP_CONSTRAINT
|
|
#define PX_PHYSICS_NP_CONSTRAINT
|
|
|
|
#include "PsUserAllocated.h"
|
|
#include "PxConstraint.h"
|
|
#include "ScbConstraint.h"
|
|
|
|
namespace physx
|
|
{
|
|
|
|
class NpScene;
|
|
class NpRigidDynamic;
|
|
|
|
namespace Scb
|
|
{
|
|
class RigidObject;
|
|
}
|
|
|
|
class NpConstraint : public PxConstraint, public Ps::UserAllocated
|
|
{
|
|
//= ATTENTION! =====================================================================================
|
|
// Changing the data layout of this class breaks the binary serialization format. See comments for
|
|
// PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData
|
|
// function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
|
|
// accordingly.
|
|
//==================================================================================================
|
|
public:
|
|
// PX_SERIALIZATION
|
|
NpConstraint(PxBaseFlags baseFlags) : PxConstraint(baseFlags), mConstraint(PxEmpty) {}
|
|
virtual void setConstraintFunctions(PxConstraintConnector& n,
|
|
const PxConstraintShaderTable &t);
|
|
static NpConstraint* createObject(PxU8*& address, PxDeserializationContext& context);
|
|
static void getBinaryMetaData(PxOutputStream& stream);
|
|
void preExportDataReset() {}
|
|
void exportExtraData(PxSerializationContext&) {}
|
|
void importExtraData(PxDeserializationContext&) {}
|
|
void resolveReferences(PxDeserializationContext& context);
|
|
virtual void requiresObjects(PxProcessPxBaseCallback&) {}
|
|
virtual bool isSubordinate() const { return true; }
|
|
//~PX_SERIALIZATION
|
|
NpConstraint(PxRigidActor* actor0, PxRigidActor* actor1, PxConstraintConnector& connector, const PxConstraintShaderTable& shaders, PxU32 dataSize);
|
|
~NpConstraint();
|
|
|
|
virtual void release();
|
|
|
|
virtual PxScene* getScene() const;
|
|
|
|
virtual void getActors(PxRigidActor*& actor0, PxRigidActor*& actor1) const;
|
|
virtual void setActors(PxRigidActor* actor0, PxRigidActor* actor1);
|
|
|
|
virtual PxConstraintFlags getFlags() const;
|
|
virtual void setFlags(PxConstraintFlags flags);
|
|
virtual void setFlag(PxConstraintFlag::Enum flag, bool value);
|
|
|
|
virtual void getForce(PxVec3& linear, PxVec3& angular) const;
|
|
|
|
virtual void markDirty();
|
|
|
|
virtual void setBreakForce(PxReal linear, PxReal angular);
|
|
virtual void getBreakForce(PxReal& linear, PxReal& angular) const;
|
|
|
|
virtual void setMinResponseThreshold(PxReal threshold);
|
|
virtual PxReal getMinResponseThreshold() const;
|
|
|
|
virtual bool isValid() const;
|
|
|
|
virtual void* getExternalReference(PxU32& typeID);
|
|
|
|
void initialize(const PxConstraintDesc&, Scb::Constraint*);
|
|
void updateConstants();
|
|
void comShift(PxRigidActor*);
|
|
void actorDeleted(PxRigidActor*);
|
|
|
|
|
|
|
|
NpScene* getNpScene() const;
|
|
|
|
NpScene* getSceneFromActors() const;
|
|
PX_FORCE_INLINE Scb::Constraint& getScbConstraint() { return mConstraint; }
|
|
PX_FORCE_INLINE const Scb::Constraint& getScbConstraint() const { return mConstraint; }
|
|
PX_FORCE_INLINE bool isDirty() const { return mIsDirty; }
|
|
|
|
|
|
static Scb::RigidObject* getScbRigidObject(PxRigidActor*);
|
|
private:
|
|
PX_FORCE_INLINE static NpScene* getSceneFromActors(const PxRigidActor* actor0, const PxRigidActor* actor1); // Returns the scene if both actors are in the scene, else NULL
|
|
|
|
PxRigidActor* mActor0;
|
|
PxRigidActor* mActor1;
|
|
Scb::Constraint mConstraint;
|
|
|
|
// this used to be stored in Scb, but that doesn't really work since Scb::Constraint's
|
|
// flags all get cleared on fetchResults. In any case, in order to support O(1)
|
|
// insert/remove this really wants to be an index into NpScene's dirty joint array
|
|
|
|
bool mIsDirty;
|
|
bool mPaddingFromBool[3]; // PT: because of mIsDirty
|
|
};
|
|
|
|
}
|
|
|
|
#endif
|