73 lines
2.8 KiB
C++
73 lines
2.8 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 DY_SOLVERCONSTRAINTTYPES_H
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#define DY_SOLVERCONSTRAINTTYPES_H
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#include "foundation/PxSimpleTypes.h"
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#include "PxvConfig.h"
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namespace physx
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{
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enum SolverConstraintType
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{
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DY_SC_TYPE_NONE = 0,
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DY_SC_TYPE_RB_CONTACT, // RB-only contact
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DY_SC_TYPE_RB_1D, // RB-only 1D constraint
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DY_SC_TYPE_EXT_CONTACT, // contact involving articulations
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DY_SC_TYPE_EXT_1D, // 1D constraint involving articulations
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DY_SC_TYPE_STATIC_CONTACT, // RB-only contact where body b is static
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DY_SC_TYPE_NOFRICTION_RB_CONTACT, //RB-only contact with no friction patch
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DY_SC_TYPE_BLOCK_RB_CONTACT,
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DY_SC_TYPE_BLOCK_STATIC_RB_CONTACT,
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DY_SC_TYPE_BLOCK_1D,
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DY_SC_TYPE_FRICTION,
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DY_SC_TYPE_STATIC_FRICTION,
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DY_SC_TYPE_EXT_FRICTION,
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DY_SC_TYPE_BLOCK_FRICTION,
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DY_SC_TYPE_BLOCK_STATIC_FRICTION,
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DY_SC_CONSTRAINT_TYPE_COUNT //Count of the number of different constraint types in the solver
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};
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enum SolverConstraintFlags
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{
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DY_SC_FLAG_OUTPUT_FORCE = (1<<1),
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DY_SC_FLAG_KEEP_BIAS = (1<<2),
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DY_SC_FLAG_ROT_EQ = (1<<3),
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DY_SC_FLAG_ORTHO_TARGET = (1<<4),
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DY_SC_FLAG_SPRING = (1<<5),
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DY_SC_FLAG_INEQUALITY = (1<<6)
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};
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}
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#endif //DY_SOLVERCONSTRAINTTYPES_H
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