281 lines
9.6 KiB
C
281 lines
9.6 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 PX_PHYSICS_NX_CONSTRAINT
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#define PX_PHYSICS_NX_CONSTRAINT
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/** \addtogroup physics
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@{
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*/
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#include "PxPhysXConfig.h"
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#include "PxConstraintDesc.h"
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#include "common/PxBase.h"
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#if !PX_DOXYGEN
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namespace physx
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{
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#endif
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class PxRigidActor;
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class PxScene;
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class PxConstraintConnector;
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/**
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\brief a table of function pointers for a constraint
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@see PxConstraint
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*/
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/**
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\brief constraint flags
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\note eBROKEN is a read only flag
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*/
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struct PxConstraintFlag
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{
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enum Enum
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{
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eBROKEN = 1<<0, //!< whether the constraint is broken
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ePROJECT_TO_ACTOR0 = 1<<1, //!< whether actor1 should get projected to actor0 for this constraint (note: projection of a static/kinematic actor to a dynamic actor will be ignored)
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ePROJECT_TO_ACTOR1 = 1<<2, //!< whether actor0 should get projected to actor1 for this constraint (note: projection of a static/kinematic actor to a dynamic actor will be ignored)
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ePROJECTION = ePROJECT_TO_ACTOR0 | ePROJECT_TO_ACTOR1, //!< whether the actors should get projected for this constraint (the direction will be chosen by PhysX)
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eCOLLISION_ENABLED = 1<<3, //!< whether contacts should be generated between the objects this constraint constrains
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eVISUALIZATION = 1<<4, //!< whether this constraint should be visualized, if constraint visualization is turned on
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eDRIVE_LIMITS_ARE_FORCES = 1<<5, //!< limits for drive strength are forces rather than impulses
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eIMPROVED_SLERP = 1<<7, //!< perform preprocessing for improved accuracy on D6 Slerp Drive (this flag will be removed in a future release when preprocessing is no longer required)
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eDISABLE_PREPROCESSING = 1<<8, //!< suppress constraint preprocessing, intended for use with rowResponseThreshold. May result in worse solver accuracy for ill-conditioned constraints.
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eENABLE_EXTENDED_LIMITS = 1<<9, //!< enables extended limit ranges for angular limits (e.g. limit values > PxPi or < -PxPi)
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eGPU_COMPATIBLE = 1<<10 //!< the constraint type is supported by gpu dynamic
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};
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};
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/**
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\brief constraint flags
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@see PxConstraintFlag
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*/
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typedef PxFlags<PxConstraintFlag::Enum, PxU16> PxConstraintFlags;
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PX_FLAGS_OPERATORS(PxConstraintFlag::Enum, PxU16)
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struct PxConstraintShaderTable
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{
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enum
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{
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eMAX_SOLVERPRPEP_DATASIZE=400
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};
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PxConstraintSolverPrep solverPrep; //!< solver constraint generation function
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PxConstraintProject project; //!< constraint projection function
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PxConstraintVisualize visualize; //!< constraint visualization function
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PxConstraintFlag::Enum flag; //!< gpu constraint
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};
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/**
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\brief A plugin class for implementing constraints
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@see PxPhysics.createConstraint
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*/
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class PxConstraint : public PxBase
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{
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public:
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/**
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\brief Releases a PxConstraint instance.
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\note This call does not wake up the connected rigid bodies.
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@see PxPhysics.createConstraint, PxBase.release()
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*/
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virtual void release() = 0;
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/**
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\brief Retrieves the scene which this constraint belongs to.
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\return Owner Scene. NULL if not part of a scene.
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@see PxScene
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*/
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virtual PxScene* getScene() const = 0;
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/**
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\brief Retrieves the actors for this constraint.
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\param[out] actor0 a reference to the pointer for the first actor
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\param[out] actor1 a reference to the pointer for the second actor
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@see PxActor
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*/
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virtual void getActors(PxRigidActor*& actor0, PxRigidActor*& actor1) const = 0;
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/**
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\brief Sets the actors for this constraint.
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\param[in] actor0 a reference to the pointer for the first actor
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\param[in] actor1 a reference to the pointer for the second actor
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@see PxActor
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*/
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virtual void setActors(PxRigidActor* actor0, PxRigidActor* actor1) = 0;
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/**
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\brief Notify the scene that the constraint shader data has been updated by the application
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*/
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virtual void markDirty() = 0;
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/**
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\brief Set the flags for this constraint
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\param[in] flags the new constraint flags
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default: PxConstraintFlag::eDRIVE_LIMITS_ARE_FORCES
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@see PxConstraintFlags
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*/
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virtual void setFlags(PxConstraintFlags flags) = 0;
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/**
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\brief Retrieve the flags for this constraint
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\return the constraint flags
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@see PxConstraintFlags
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*/
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virtual PxConstraintFlags getFlags() const = 0;
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/**
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\brief Set a flag for this constraint
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\param[in] flag the constraint flag
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\param[in] value the new value of the flag
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@see PxConstraintFlags
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*/
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virtual void setFlag(PxConstraintFlag::Enum flag, bool value) = 0;
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/**
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\brief Retrieve the constraint force most recently applied to maintain this constraint.
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\param[out] linear the constraint force
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\param[out] angular the constraint torque
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*/
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virtual void getForce(PxVec3& linear, PxVec3& angular) const = 0;
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/**
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\brief whether the constraint is valid.
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A constraint is valid if it has at least one dynamic rigid body or articulation link. A constraint that
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is not valid may not be inserted into a scene, and therefore a static actor to which an invalid constraint
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is attached may not be inserted into a scene.
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Invalid constraints arise only when an actor to which the constraint is attached has been deleted.
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*/
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virtual bool isValid() const = 0;
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/**
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\brief Set the break force and torque thresholds for this constraint.
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If either the force or torque measured at the constraint exceed these thresholds the constraint will break.
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\param[in] linear the linear break threshold
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\param[in] angular the angular break threshold
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*/
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virtual void setBreakForce(PxReal linear, PxReal angular) = 0;
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/**
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\brief Retrieve the constraint break force and torque thresholds
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\param[out] linear the linear break threshold
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\param[out] angular the angular break threshold
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*/
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virtual void getBreakForce(PxReal& linear, PxReal& angular) const = 0;
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/**
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\brief Set the minimum response threshold for a constraint row
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When using mass modification for a joint or infinite inertia for a jointed body, very stiff solver constraints can be generated which
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can destabilize simulation. Setting this value to a small positive value (e.g. 1e-8) will cause constraint rows to be ignored if very
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large changes in impulses will generate only small changes in velocity. When setting this value, also set
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PxConstraintFlag::eDISABLE_PREPROCESSING. The solver accuracy for this joint may be reduced.
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\param[in] threshold the minimum response threshold
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@see PxConstraintFlag::eDISABLE_PREPROCESSING
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*/
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virtual void setMinResponseThreshold(PxReal threshold) = 0;
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/**
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\brief Retrieve the constraint break force and torque thresholds
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\return the minimum response threshold for a constraint row
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*/
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virtual PxReal getMinResponseThreshold() const = 0;
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/**
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\brief Fetch external owner of the constraint.
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Provides a reference to the external owner of a constraint and a unique owner type ID.
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\param[out] typeID Unique type identifier of the external object.
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\return Reference to the external object which owns the constraint.
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@see PxConstraintConnector.getExternalReference()
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*/
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virtual void* getExternalReference(PxU32& typeID) = 0;
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/**
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\brief Set the constraint functions for this constraint
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\param[in] connector the constraint connector object by which the SDK communicates with the constraint.
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\param[in] shaders the shader table for the constraint
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@see PxConstraintConnector PxConstraintSolverPrep PxConstraintProject PxConstraintVisualize
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*/
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virtual void setConstraintFunctions(PxConstraintConnector& connector,
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const PxConstraintShaderTable& shaders) = 0;
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virtual const char* getConcreteTypeName() const { return "PxConstraint"; }
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protected:
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PX_INLINE PxConstraint(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags) {}
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PX_INLINE PxConstraint(PxBaseFlags baseFlags) : PxBase(baseFlags) {}
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virtual ~PxConstraint() {}
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virtual bool isKindOf(const char* name) const { return !::strcmp("PxConstraint", name) || PxBase::isKindOf(name); }
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};
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#if !PX_DOXYGEN
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} // namespace physx
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#endif
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/** @} */
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#endif
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