NVIDIA(R) PhysX(R) SDK 3.4 API Reference: PxConstraintDesc.h Source File

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+00024 // NVIDIA Corporation.
+00025 //
+00026 // Copyright (c) 2008-2016 NVIDIA Corporation. All rights reserved.
+00027 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
+00028 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
+00029 
+00030 
+00031 #ifndef PX_PHYSICS_NX_CONSTRAINTDESC
+00032 #define PX_PHYSICS_NX_CONSTRAINTDESC
+00033 
+00038 #include "PxPhysXConfig.h"
+00039 #include "foundation/PxFlags.h"
+00040 #include "foundation/PxVec3.h"
+00041 #include "common/PxBase.h"
+00042 
+00043 #if !PX_DOXYGEN
+00044 namespace physx { namespace pvdsdk {
+00045 #endif
+00046     class PvdDataStream;
+00047 #if !PX_DOXYGEN
+00048 }}
+00049 #endif
+00050 
+00051 #if !PX_DOXYGEN
+00052 namespace physx
+00053 {
+00054 #endif
+00055 
+00056 class PxConstraintConnector;
+00057 class PxRigidActor;
+00058 class PxScene;
+00059 class PxConstraintConnector;
+00060 class PxRenderBuffer;
+00061 class PxDeletionListener;
+00062 
+00069 struct Px1DConstraintFlag
+00070 {
+00071     PX_CUDA_CALLABLE Px1DConstraintFlag(){}
+00072 
+00073     enum Type
+00074     {
+00075         eSPRING                     = 1<<0,     
+00076         eACCELERATION_SPRING        = 1<<1,     
+00077         eRESTITUTION                = 1<<2,     
+00078         eKEEPBIAS                   = 1<<3,     
+00079         eOUTPUT_FORCE               = 1<<4,     
+00080         eHAS_DRIVE_LIMIT            = 1<<5      
+00081     };
+00082 };
+00083 
+00084 typedef PxFlags<Px1DConstraintFlag::Type, PxU16> Px1DConstraintFlags;
+00085 PX_FLAGS_OPERATORS(Px1DConstraintFlag::Type, PxU16)
+00086 
+00087 
+00091 struct PxConstraintSolveHint
+00092 {
+00093     enum Enum
+00094     {
+00095         eNONE               =   0,          
+00096         eACCELERATION1      =   256,        
+00097         eSLERP_SPRING       =   258,        
+00098         eACCELERATION2      =   512,        
+00099         eACCELERATION3      =   768,        
+00100         eEQUALITY           =   1024,       
+00101         eINEQUALITY         =   1025        
+00102     };
+00103 };
+00104 
+00141 PX_ALIGN_PREFIX(16)
+00142 struct Px1DConstraint
+00143 {
+00144     PxVec3              linear0;                
+00145     PxReal              geometricError;         
+00146     PxVec3              angular0;               
+00147     PxReal              velocityTarget;         
+00148 
+00149     PxVec3              linear1;                
+00150     PxReal              minImpulse;             
+00151     PxVec3              angular1;               
+00152     PxReal              maxImpulse;             
+00153 
+00154     union
+00155     {
+00156         struct SpringModifiers
+00157         {
+00158             PxReal      stiffness;              
+00159             PxReal      damping;                
+00160         } spring;
+00161         struct RestitutionModifiers
+00162         {
+00163             PxReal      restitution;            
+00164             PxReal      velocityThreshold;      
+00165         } bounce;
+00166     } mods;
+00167 
+00168     PxReal              forInternalUse;         
+00169     PxU16               flags;                  
+00170     PxU16               solveHint;              
+00171 } 
+00172 PX_ALIGN_SUFFIX(16);
+00173 
+00174 
+00180 struct PxConstraintVisualizationFlag
+00181 {
+00182     enum Enum
+00183     {
+00184         eLOCAL_FRAMES   = 1,    
+00185         eLIMITS         = 2     
+00186     };
+00187 };
+00188 
+00189 PX_ALIGN_PREFIX(16)
+00190 struct PxConstraintInvMassScale
+00191 {
+00192 //= ATTENTION! =====================================================================================
+00193 // Changing the data layout of this class breaks the binary serialization format.  See comments for 
+00194 // PX_BINARY_SERIAL_VERSION.  If a modification is required, please adjust the getBinaryMetaData 
+00195 // function.  If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
+00196 // accordingly.
+00197 //==================================================================================================
+00198 
+00199     PxReal linear0;     
+00200     PxReal angular0;    
+00201     PxReal linear1;     
+00202     PxReal angular1;    
+00203 
+00204     PxConstraintInvMassScale(){}
+00205     PxConstraintInvMassScale(PxReal lin0, PxReal ang0, PxReal lin1, PxReal ang1) : linear0(lin0), angular0(ang0), linear1(lin1), angular1(ang1){}
+00206 }
+00207 PX_ALIGN_SUFFIX(16);
+00208 
+00227 typedef PxU32 (*PxConstraintSolverPrep)(Px1DConstraint* constraints,
+00228                                         PxVec3& bodyAWorldOffset,
+00229                                         PxU32 maxConstraints,
+00230                                         PxConstraintInvMassScale& invMassScale,
+00231                                         const void* constantBlock,
+00232                                         const PxTransform& bodyAToWorld,
+00233                                         const PxTransform& bodyBToWorld);
+00234 
+00246 typedef void (*PxConstraintProject)(const void* constantBlock,
+00247                                     PxTransform& bodyAToWorld,
+00248                                     PxTransform& bodyBToWorld,
+00249                                     bool projectToA);
+00250 
+00254 class PxConstraintVisualizer
+00255 {
+00256 protected:
+00257     virtual ~PxConstraintVisualizer(){}
+00258 public:
+00259     virtual void visualizeJointFrames( const PxTransform& parent, const PxTransform& child ) = 0;
+00260 
+00261     virtual void visualizeLinearLimit( const PxTransform& t0, const PxTransform& t1, PxReal value, bool active ) = 0;
+00262 
+00263     virtual void visualizeAngularLimit( const PxTransform& t0, PxReal lower, PxReal upper, bool active) = 0;
+00264 
+00265     virtual void visualizeLimitCone( const PxTransform& t, PxReal ySwing, PxReal zSwing, bool active) = 0;
+00266 
+00267     virtual void visualizeDoubleCone( const PxTransform& t, PxReal angle, bool active) = 0;
+00268 };
+00269 
+00282 typedef void (*PxConstraintVisualize)( PxConstraintVisualizer& visualizer,
+00283                                       const void* constantBlock,
+00284                                       const PxTransform& body0Transform,
+00285                                       const PxTransform& body1Transform,
+00286                                       PxU32 flags );
+00287 
+00288 
+00289 struct PxPvdUpdateType
+00290 {
+00291     enum Enum
+00292     {
+00293         CREATE_INSTANCE,
+00294         RELEASE_INSTANCE,
+00295         UPDATE_ALL_PROPERTIES,
+00296         UPDATE_SIM_PROPERTIES
+00297     };
+00298 };
+00299 
+00310 class PxConstraintConnector
+00311 {
+00312 public:
+00318     virtual void*           prepareData()                                                   = 0;
+00319 
+00324     virtual bool            updatePvdProperties(physx::pvdsdk::PvdDataStream& pvdConnection,
+00325                                                 const PxConstraint* c,
+00326                                                 PxPvdUpdateType::Enum updateType) const     = 0;
+00327 
+00340     virtual void            onConstraintRelease()                                           = 0;
+00341 
+00349     virtual void            onComShift(PxU32 actor)                                         = 0;
+00350 
+00363     virtual void            onOriginShift(const PxVec3& shift)                              = 0;
+00364 
+00377     virtual void*           getExternalReference(PxU32& typeID)                             = 0;
+00378 
+00379 
+00386     virtual PxBase* getSerializable()                                               = 0;
+00387 
+00391     virtual PxConstraintSolverPrep getPrep() const                                  = 0;
+00392 
+00396     virtual const void* getConstantBlock() const                                    = 0;
+00397 
+00398 
+00402     virtual ~PxConstraintConnector() {}
+00403 };
+00404 
+00405 #if !PX_DOXYGEN
+00406 } // namespace physx
+00407 #endif
+00408 
+00410 #endif
+