135 lines
5.3 KiB
C++
135 lines
5.3 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_CONSTRAINTCORE
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#define PX_PHYSICS_CONSTRAINTCORE
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#include "CmPhysXCommon.h"
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#include "PxConstraintDesc.h"
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#include "PsAllocator.h"
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#include "PxConstraint.h"
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namespace physx
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{
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class PxConstraint;
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namespace Sc
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{
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class ConstraintCore;
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class ConstraintSim;
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class RigidCore;
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class ConstraintCore : public Ps::UserAllocated
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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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ConstraintCore(const PxEMPTY) : mFlags(PxEmpty), mConnector(NULL), mSim(NULL) {}
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PX_FORCE_INLINE void setConstraintFunctions(PxConstraintConnector& n,
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const PxConstraintShaderTable& shaders)
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{
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mConnector = &n;
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mSolverPrep = shaders.solverPrep;
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mProject = shaders.project;
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mVisualize = shaders.visualize;
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}
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static void getBinaryMetaData(PxOutputStream& stream);
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//~PX_SERIALIZATION
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ConstraintCore(PxConstraintConnector& connector, const PxConstraintShaderTable& shaders, PxU32 dataSize);
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~ConstraintCore();
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// The two-step protocol here allows us to unlink the constraint prior to deleting
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// the actors when synchronizing the scene, then set the bodies after new actors have been inserted
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void prepareForSetBodies();
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void setBodies(RigidCore* r0v, RigidCore* r1v);
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PxConstraint* getPxConstraint();
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const PxConstraint* getPxConstraint() const;
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PX_FORCE_INLINE PxConstraintConnector* getPxConnector() const { return mConnector; }
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PX_FORCE_INLINE PxConstraintFlags getFlags() const { return mFlags; }
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void setFlags(PxConstraintFlags flags);
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void getForce(PxVec3& force, PxVec3& torque) const;
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bool updateConstants(void* addr);
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void setBreakForce(PxReal linear, PxReal angular);
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void getBreakForce(PxReal& linear, PxReal& angular) const;
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void setMinResponseThreshold(PxReal threshold);
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PxReal getMinResponseThreshold() const { return mMinResponseThreshold; }
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void breakApart();
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PX_FORCE_INLINE PxConstraintVisualize getVisualize() const { return mVisualize; }
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PX_FORCE_INLINE PxConstraintProject getProject() const { return mProject; }
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PX_FORCE_INLINE PxConstraintSolverPrep getSolverPrep() const { return mSolverPrep; }
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PX_FORCE_INLINE PxU32 getConstantBlockSize() const { return mDataSize; }
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PX_FORCE_INLINE void setSim(ConstraintSim* sim)
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{
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PX_ASSERT((sim==0) ^ (mSim == 0));
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mSim = sim;
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}
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PX_FORCE_INLINE ConstraintSim* getSim() const { return mSim; }
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private:
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PxConstraintFlags mFlags;
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PxU16 mPaddingFromFlags; // PT: because flags are PxU16
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PxVec3 mAppliedForce;
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PxVec3 mAppliedTorque;
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PxConstraintConnector* mConnector;
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PxConstraintProject mProject;
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PxConstraintSolverPrep mSolverPrep;
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PxConstraintVisualize mVisualize;
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PxU32 mDataSize;
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PxReal mLinearBreakForce;
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PxReal mAngularBreakForce;
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PxReal mMinResponseThreshold;
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ConstraintSim* mSim;
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};
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} // namespace Sc
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}
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#endif
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