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Diffstat (limited to 'PhysX_3.4/Source/PhysXExtensions/src/ExtPrismaticJoint.h')
| -rw-r--r-- | PhysX_3.4/Source/PhysXExtensions/src/ExtPrismaticJoint.h | 155 |
1 files changed, 155 insertions, 0 deletions
diff --git a/PhysX_3.4/Source/PhysXExtensions/src/ExtPrismaticJoint.h b/PhysX_3.4/Source/PhysXExtensions/src/ExtPrismaticJoint.h new file mode 100644 index 00000000..79ce5f93 --- /dev/null +++ b/PhysX_3.4/Source/PhysXExtensions/src/ExtPrismaticJoint.h @@ -0,0 +1,155 @@ +// 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) 2008-2016 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 NP_PRISMATICJOINTCONSTRAINT_H +#define NP_PRISMATICJOINTCONSTRAINT_H + +#include "ExtJoint.h" +#include "PxPrismaticJoint.h" +#include "PxTolerancesScale.h" +#include "CmUtils.h" + +namespace physx +{ +struct PxPrismaticJointGeneratedValues; +namespace Ext +{ + struct PrismaticJointData : public JointData + { + //= 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. + //================================================================================================== + + PxJointLinearLimitPair limit; + PxReal projectionLinearTolerance; + PxReal projectionAngularTolerance; + + PxPrismaticJointFlags jointFlags; + // forestall compiler complaints about not being able to generate a constructor + private: + PrismaticJointData(const PxJointLinearLimitPair &pair): + limit(pair) {} + }; + + typedef Joint<PxPrismaticJoint, PxPrismaticJointGeneratedValues> PrismaticJointT; + + class PrismaticJoint : public PrismaticJointT + { + //= 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 + PrismaticJoint(PxBaseFlags baseFlags) : PrismaticJointT(baseFlags) {} + virtual void exportExtraData(PxSerializationContext& context); + void importExtraData(PxDeserializationContext& context); + void resolveReferences(PxDeserializationContext& context); + static PrismaticJoint* createObject(PxU8*& address, PxDeserializationContext& context); + static void getBinaryMetaData(PxOutputStream& stream); +//~PX_SERIALIZATION + virtual ~PrismaticJoint() + { + if(getBaseFlags()&PxBaseFlag::eOWNS_MEMORY) + PX_FREE(mData); + } + + PrismaticJoint(const PxTolerancesScale& scale, + PxRigidActor* actor0, const PxTransform& localFrame0, + PxRigidActor* actor1, const PxTransform& localFrame1) + : PrismaticJointT(PxJointConcreteType::ePRISMATIC, PxBaseFlag::eOWNS_MEMORY | PxBaseFlag::eIS_RELEASABLE) + { + PrismaticJointData* data = reinterpret_cast<PrismaticJointData*>(PX_ALLOC(sizeof(PrismaticJointData), "PrismaticJointData")); + Cm::markSerializedMem(data, sizeof(PrismaticJointData)); + mData = data; + + data->limit = PxJointLinearLimitPair(scale, -PX_MAX_F32/3, PX_MAX_F32/3); + data->projectionLinearTolerance = 1e10f; + data->projectionAngularTolerance = PxPi; + data->jointFlags = PxPrismaticJointFlags(); + + initCommonData(*data, actor0, localFrame0, actor1, localFrame1); + } + + PxReal getPosition() const { return getRelativeTransform().p.x; } + PxReal getVelocity() const { return getRelativeLinearVelocity().x; } + + + void setProjectionAngularTolerance(PxReal tolerance); + PxReal getProjectionAngularTolerance() const; + + void setProjectionLinearTolerance(PxReal tolerance); + PxReal getProjectionLinearTolerance() const; + + PxJointLinearLimitPair getLimit() const; + void setLimit(const PxJointLinearLimitPair& limit); + + PxPrismaticJointFlags getPrismaticJointFlags(void) const; + void setPrismaticJointFlags(PxPrismaticJointFlags flags); + void setPrismaticJointFlag(PxPrismaticJointFlag::Enum flag, bool value); + + bool attach(PxPhysics &physics, PxRigidActor* actor0, PxRigidActor* actor1); + + static const PxConstraintShaderTable& getConstraintShaderTable() { return sShaders; } + + virtual PxConstraintSolverPrep getPrep() const { return sShaders.solverPrep; } + + private: + PX_FORCE_INLINE PrismaticJointData& data() const + { + return *static_cast<PrismaticJointData*>(mData); + } + + static PxConstraintShaderTable sShaders; + }; +} // namespace Ext + +namespace Ext +{ + extern "C" PxU32 PrismaticJointSolverPrep(Px1DConstraint* constraints, + PxVec3& body0WorldOffset, + PxU32 maxConstraints, + PxConstraintInvMassScale& invMassScale, + const void* constantBlock, + const PxTransform& bA2w, + const PxTransform& bB2w); + + // global function to share the joint shaders with API capture + extern "C" const PxConstraintShaderTable* GetPrismaticJointShaderTable(); +} + +} + +#endif |