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

00001 // This code contains NVIDIA Confidential Information and is disclosed to you
+00002 // under a form of NVIDIA software license agreement provided separately to you.
+00003 //
+00004 // Notice
+00005 // NVIDIA Corporation and its licensors retain all intellectual property and
+00006 // proprietary rights in and to this software and related documentation and
+00007 // any modifications thereto. Any use, reproduction, disclosure, or
+00008 // distribution of this software and related documentation without an express
+00009 // license agreement from NVIDIA Corporation is strictly prohibited.
+00010 //
+00011 // ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
+00012 // NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
+00013 // THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
+00014 // MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
+00015 //
+00016 // Information and code furnished is believed to be accurate and reliable.
+00017 // However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
+00018 // information or for any infringement of patents or other rights of third parties that may
+00019 // result from its use. No license is granted by implication or otherwise under any patent
+00020 // or patent rights of NVIDIA Corporation. Details are subject to change without notice.
+00021 // This code supersedes and replaces all information previously supplied.
+00022 // NVIDIA Corporation products are not authorized for use as critical
+00023 // components in life support devices or systems without express written approval of
+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_CONSTRAINT
+00032 #define PX_PHYSICS_NX_CONSTRAINT
+00033 
+00038 #include "PxPhysXConfig.h"
+00039 #include "PxConstraintDesc.h"
+00040 #include "common/PxBase.h"
+00041 
+00042 #if !PX_DOXYGEN
+00043 namespace physx
+00044 {
+00045 #endif
+00046 
+00047 class PxRigidActor;
+00048 class PxScene;
+00049 class PxConstraintConnector;
+00050 
+00063 struct PxConstraintFlag
+00064 {
+00065     enum Enum
+00066     {
+00067         eBROKEN                     = 1<<0,         
+00068         ePROJECT_TO_ACTOR0          = 1<<1,         
+00069         ePROJECT_TO_ACTOR1          = 1<<2,         
+00070         ePROJECTION                 = ePROJECT_TO_ACTOR0 | ePROJECT_TO_ACTOR1,  
+00071         eCOLLISION_ENABLED          = 1<<3,         
+00072         eVISUALIZATION              = 1<<4,         
+00073         eDRIVE_LIMITS_ARE_FORCES    = 1<<5,         
+00074         eIMPROVED_SLERP             = 1<<7,         
+00075         eDISABLE_PREPROCESSING      = 1<<8,         
+00076         eGPU_COMPATIBLE             = 1<<9          
+00077     };
+00078 };
+00079 
+00085 typedef PxFlags<PxConstraintFlag::Enum, PxU16> PxConstraintFlags;
+00086 PX_FLAGS_OPERATORS(PxConstraintFlag::Enum, PxU16)
+00087 
+00088 
+00089 struct PxConstraintShaderTable
+00090 {
+00091     enum
+00092     {
+00093         eMAX_SOLVERPRPEP_DATASIZE=400
+00094     };
+00095 
+00096     PxConstraintSolverPrep          solverPrep;                 
+00097     PxConstraintProject             project;                    
+00098     PxConstraintVisualize           visualize;                  
+00099     PxConstraintFlag::Enum          flag;                       
+00100 };
+00101 
+00102 
+00109 class PxConstraint : public PxBase
+00110 {
+00111 public:
+00112 
+00120     virtual void                release()                                                       = 0;
+00121 
+00129     virtual PxScene*            getScene()                                              const   = 0;
+00130 
+00140     virtual void                getActors(PxRigidActor*& actor0, PxRigidActor*& actor1) const   = 0;
+00141 
+00142 
+00152     virtual void                setActors(PxRigidActor* actor0, PxRigidActor* actor1)           = 0;
+00153 
+00158     virtual void                markDirty()                                                     = 0;
+00159 
+00170     virtual void                setFlags(PxConstraintFlags flags)                               = 0;
+00171 
+00179     virtual PxConstraintFlags   getFlags()                                              const   = 0;
+00180 
+00181 
+00191     virtual void                setFlag(PxConstraintFlag::Enum flag, bool value)                = 0;
+00192 
+00199     virtual void                getForce(PxVec3& linear, PxVec3& angular)               const   = 0;
+00200 
+00201 
+00212     virtual bool                isValid() const                                                 = 0;
+00213 
+00224     virtual void                setBreakForce(PxReal linear, PxReal angular)                = 0;
+00225 
+00233     virtual void                getBreakForce(PxReal& linear, PxReal& angular)      const   = 0;
+00234 
+00235 
+00250     virtual void                setMinResponseThreshold(PxReal threshold)                   = 0;
+00251 
+00258     virtual PxReal              getMinResponseThreshold()                           const   = 0;
+00259 
+00260 
+00271     virtual void*               getExternalReference(PxU32& typeID)                         = 0;
+00272 
+00281     virtual void                setConstraintFunctions(PxConstraintConnector& connector,
+00282                                                        const PxConstraintShaderTable& shaders)      = 0;
+00283 
+00284     virtual const char*         getConcreteTypeName() const { return "PxConstraint"; }
+00285 
+00286 protected:
+00287     PX_INLINE                   PxConstraint(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags) {}
+00288     PX_INLINE                   PxConstraint(PxBaseFlags baseFlags) : PxBase(baseFlags) {}
+00289     virtual                     ~PxConstraint() {}
+00290     virtual bool                isKindOf(const char* name) const { return !::strcmp("PxConstraint", name) || PxBase::isKindOf(name); }
+00291 
+00292 };
+00293 
+00294 #if !PX_DOXYGEN
+00295 } // namespace physx
+00296 #endif
+00297 
+00299 #endif
+