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+// This code contains NVIDIA Confidential Information and is disclosed to you
+// under a form of NVIDIA software license agreement provided separately to you.
+//
+// Notice
+// NVIDIA Corporation and its licensors retain all intellectual property and
+// proprietary rights in and to this software and related documentation and
+// any modifications thereto. Any use, reproduction, disclosure, or
+// distribution of this software and related documentation without an express
+// license agreement from NVIDIA Corporation is strictly prohibited.
+//
+// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
+// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
+// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
+// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+//
+// Information and code furnished is believed to be accurate and reliable.
+// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
+// information or for any infringement of patents or other rights of third parties that may
+// result from its use. No license is granted by implication or otherwise under any patent
+// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
+// This code supersedes and replaces all information previously supplied.
+// NVIDIA Corporation products are not authorized for use as critical
+// components in life support devices or systems without express written approval of
+// NVIDIA Corporation.
+//
+// Copyright (c) 2008-2017 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_FOUNDATION_PX_FOUNDATION_H
+#define PX_FOUNDATION_PX_FOUNDATION_H
+
+/** \addtogroup foundation
+ @{
+*/
+
+#include "foundation/Px.h"
+#include "foundation/PxErrors.h"
+
+#if !PX_DOXYGEN
+namespace physx
+{
+#endif
+
+/**
+\brief Foundation SDK singleton class.
+
+You need to have an instance of this class to instance the higher level SDKs.
+*/
+class PX_FOUNDATION_API PxFoundation
+{
+ public:
+ /**
+ \brief Destroys the instance it is called on.
+
+ The operation will fail, if there are still modules referencing the foundation object. Release all dependent modules
+ prior
+ to calling this method.
+
+ @see PxCreateFoundation()
+ */
+ virtual void release() = 0;
+
+ /**
+ retrieves error callback
+ */
+ virtual PxErrorCallback& getErrorCallback() = 0;
+
+ /**
+ Sets mask of errors to report.
+ */
+ virtual void setErrorLevel(PxErrorCode::Enum mask = PxErrorCode::eMASK_ALL) = 0;
+
+ /**
+ Retrieves mask of errors to be reported.
+ */
+ virtual PxErrorCode::Enum getErrorLevel() const = 0;
+
+ /**
+ Retrieves the allocator this object was created with.
+ */
+ virtual PxAllocatorCallback& getAllocatorCallback() = 0;
+
+ /**
+ Retrieves if allocation names are being passed to allocator callback.
+ */
+ virtual bool getReportAllocationNames() const = 0;
+
+ /**
+ Set if allocation names are being passed to allocator callback.
+ \details Enabled by default in debug and checked build, disabled by default in profile and release build.
+ */
+ virtual void setReportAllocationNames(bool value) = 0;
+
+ protected:
+ virtual ~PxFoundation()
+ {
+ }
+};
+
+#if !PX_DOXYGEN
+} // namespace physx
+#endif
+
+/**
+\brief Creates an instance of the foundation class
+
+The foundation class is needed to initialize higher level SDKs. There may be only one instance per process.
+Calling this method after an instance has been created already will result in an error message and NULL will be
+returned.
+
+\param version Version number we are expecting (should be PX_FOUNDATION_VERSION)
+\param allocator User supplied interface for allocating memory(see #PxAllocatorCallback)
+\param errorCallback User supplied interface for reporting errors and displaying messages(see #PxErrorCallback)
+\return Foundation instance on success, NULL if operation failed
+
+@see PxFoundation
+*/
+
+PX_C_EXPORT PX_FOUNDATION_API physx::PxFoundation* PX_CALL_CONV
+PxCreateFoundation(physx::PxU32 version, physx::PxAllocatorCallback& allocator, physx::PxErrorCallback& errorCallback);
+/**
+\brief Retrieves the Foundation SDK after it has been created.
+
+\note The behavior of this method is undefined if the foundation instance has not been created already.
+
+@see PxCreateFoundation()
+*/
+PX_C_EXPORT PX_FOUNDATION_API physx::PxFoundation& PX_CALL_CONV PxGetFoundation();
+
+namespace physx
+{
+class PxProfilerCallback;
+}
+
+/**
+\brief Get the callback that will be used for all profiling.
+*/
+PX_C_EXPORT PX_FOUNDATION_API physx::PxProfilerCallback* PX_CALL_CONV PxGetProfilerCallback();
+
+/**
+\brief Set the callback that will be used for all profiling.
+*/
+PX_C_EXPORT PX_FOUNDATION_API void PX_CALL_CONV PxSetProfilerCallback(physx::PxProfilerCallback* profiler);
+
+/** @} */
+#endif // PX_FOUNDATION_PX_FOUNDATION_H