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<title>NVIDIA(R) PhysX(R) SDK 3.4 API Reference: PxConstraintDesc.h Source File</title>
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<h1>PxConstraintDesc.h</h1><a href="PxConstraintDesc_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">// This code contains NVIDIA Confidential Information and is disclosed to you</span>
<a name="l00002"></a>00002 <span class="comment">// under a form of NVIDIA software license agreement provided separately to you.</span>
<a name="l00003"></a>00003 <span class="comment">//</span>
<a name="l00004"></a>00004 <span class="comment">// Notice</span>
<a name="l00005"></a>00005 <span class="comment">// NVIDIA Corporation and its licensors retain all intellectual property and</span>
<a name="l00006"></a>00006 <span class="comment">// proprietary rights in and to this software and related documentation and</span>
<a name="l00007"></a>00007 <span class="comment">// any modifications thereto. Any use, reproduction, disclosure, or</span>
<a name="l00008"></a>00008 <span class="comment">// distribution of this software and related documentation without an express</span>
<a name="l00009"></a>00009 <span class="comment">// license agreement from NVIDIA Corporation is strictly prohibited.</span>
<a name="l00010"></a>00010 <span class="comment">//</span>
<a name="l00011"></a>00011 <span class="comment">// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES</span>
<a name="l00012"></a>00012 <span class="comment">// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO</span>
<a name="l00013"></a>00013 <span class="comment">// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,</span>
<a name="l00014"></a>00014 <span class="comment">// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.</span>
<a name="l00015"></a>00015 <span class="comment">//</span>
<a name="l00016"></a>00016 <span class="comment">// Information and code furnished is believed to be accurate and reliable.</span>
<a name="l00017"></a>00017 <span class="comment">// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such</span>
<a name="l00018"></a>00018 <span class="comment">// information or for any infringement of patents or other rights of third parties that may</span>
<a name="l00019"></a>00019 <span class="comment">// result from its use. No license is granted by implication or otherwise under any patent</span>
<a name="l00020"></a>00020 <span class="comment">// or patent rights of NVIDIA Corporation. Details are subject to change without notice.</span>
<a name="l00021"></a>00021 <span class="comment">// This code supersedes and replaces all information previously supplied.</span>
<a name="l00022"></a>00022 <span class="comment">// NVIDIA Corporation products are not authorized for use as critical</span>
<a name="l00023"></a>00023 <span class="comment">// components in life support devices or systems without express written approval of</span>
<a name="l00024"></a>00024 <span class="comment">// NVIDIA Corporation.</span>
<a name="l00025"></a>00025 <span class="comment">//</span>
<a name="l00026"></a>00026 <span class="comment">// Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved.</span>
<a name="l00027"></a>00027 <span class="comment">// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.</span>
<a name="l00028"></a>00028 <span class="comment">// Copyright (c) 2001-2004 NovodeX AG. All rights reserved. </span>
<a name="l00029"></a>00029
<a name="l00030"></a>00030
<a name="l00031"></a>00031 <span class="preprocessor">#ifndef PX_PHYSICS_NX_CONSTRAINTDESC</span>
<a name="l00032"></a>00032 <span class="preprocessor"></span><span class="preprocessor">#define PX_PHYSICS_NX_CONSTRAINTDESC</span>
<a name="l00033"></a>00033 <span class="preprocessor"></span>
<a name="l00038"></a>00038 <span class="preprocessor">#include "<a class="code" href="PxPhysXConfig_8h.html">PxPhysXConfig.h</a>"</span>
<a name="l00039"></a>00039 <span class="preprocessor">#include "<a class="code" href="PxFlags_8h.html">foundation/PxFlags.h</a>"</span>
<a name="l00040"></a>00040 <span class="preprocessor">#include "<a class="code" href="PxVec3_8h.html">foundation/PxVec3.h</a>"</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include "<a class="code" href="PxBase_8h.html">common/PxBase.h</a>"</span>
<a name="l00042"></a>00042
<a name="l00043"></a>00043 <span class="preprocessor">#if !PX_DOXYGEN</span>
<a name="l00044"></a>00044 <span class="preprocessor"></span><span class="keyword">namespace </span>physx { <span class="keyword">namespace </span>pvdsdk {
<a name="l00045"></a>00045 <span class="preprocessor">#endif</span>
<a name="l00046"></a>00046 <span class="preprocessor"></span> <span class="keyword">class </span>PvdDataStream;
<a name="l00047"></a>00047 <span class="preprocessor">#if !PX_DOXYGEN</span>
<a name="l00048"></a>00048 <span class="preprocessor"></span>}}
<a name="l00049"></a>00049 <span class="preprocessor">#endif</span>
<a name="l00050"></a>00050 <span class="preprocessor"></span>
<a name="l00051"></a>00051 <span class="preprocessor">#if !PX_DOXYGEN</span>
<a name="l00052"></a>00052 <span class="preprocessor"></span><span class="keyword">namespace </span>physx
<a name="l00053"></a>00053 {
<a name="l00054"></a>00054 <span class="preprocessor">#endif</span>
<a name="l00055"></a>00055 <span class="preprocessor"></span>
<a name="l00056"></a>00056 <span class="keyword">class </span><a class="code" href="classPxConstraintConnector.html" title="This class connects a custom constraint to the SDK.">PxConstraintConnector</a>;
<a name="l00057"></a>00057 <span class="keyword">class </span><a class="code" href="classPxRigidActor.html" title="PxRigidActor represents a base class shared between dynamic and static rigid bodies...">PxRigidActor</a>;
<a name="l00058"></a>00058 <span class="keyword">class </span><a class="code" href="classPxScene.html" title="A scene is a collection of bodies, particle systems and constraints which can interact...">PxScene</a>;
<a name="l00059"></a>00059 <span class="keyword">class </span><a class="code" href="classPxConstraintConnector.html" title="This class connects a custom constraint to the SDK.">PxConstraintConnector</a>;
<a name="l00060"></a>00060 <span class="keyword">class </span><a class="code" href="classPxRenderBuffer.html" title="Interface for points, lines, triangles, and text buffer.">PxRenderBuffer</a>;
<a name="l00061"></a>00061 <span class="keyword">class </span><a class="code" href="classPxDeletionListener.html" title="interface to get notification on object deletion">PxDeletionListener</a>;
<a name="l00062"></a>00062
<a name="l00069"></a><a class="code" href="structPx1DConstraintFlag.html">00069</a> <span class="keyword">struct </span><a class="code" href="structPx1DConstraintFlag.html" title="constraint row flags">Px1DConstraintFlag</a>
<a name="l00070"></a>00070 {
<a name="l00071"></a><a class="code" href="structPx1DConstraintFlag.html#7257c40cb8c4724bd3dc33b357f9ab84">00071</a> <a class="code" href="group__foundation.html#g6e444d58dbf1459261fadc9b79594f63">PX_CUDA_CALLABLE</a> <a class="code" href="structPx1DConstraintFlag.html#7257c40cb8c4724bd3dc33b357f9ab84">Px1DConstraintFlag</a>(){}
<a name="l00072"></a>00072
<a name="l00073"></a><a class="code" href="structPx1DConstraintFlag.html#0d9f59379f0d8eba3bace01f8bb88b76">00073</a> <span class="keyword">enum</span> <a class="code" href="structPx1DConstraintFlag.html#0d9f59379f0d8eba3bace01f8bb88b76">Type</a>
<a name="l00074"></a>00074 {
<a name="l00075"></a><a class="code" href="structPx1DConstraintFlag.html#0d9f59379f0d8eba3bace01f8bb88b767316452fb92e4b83c1b26369f94e105e">00075</a> eSPRING = 1<<0,
<a name="l00076"></a><a class="code" href="structPx1DConstraintFlag.html#0d9f59379f0d8eba3bace01f8bb88b76b342ba9b86191665ad5712a97edf60ec">00076</a> eACCELERATION_SPRING = 1<<1,
<a name="l00077"></a><a class="code" href="structPx1DConstraintFlag.html#0d9f59379f0d8eba3bace01f8bb88b764584044b6824a4cb54860d7b0f2b52ad">00077</a> eRESTITUTION = 1<<2,
<a name="l00078"></a><a class="code" href="structPx1DConstraintFlag.html#0d9f59379f0d8eba3bace01f8bb88b76fe970d54ca9cd86c718284dd8b558583">00078</a> eKEEPBIAS = 1<<3,
<a name="l00079"></a><a class="code" href="structPx1DConstraintFlag.html#0d9f59379f0d8eba3bace01f8bb88b76338b74d70a422ba65220cdc82e5b353b">00079</a> eOUTPUT_FORCE = 1<<4,
<a name="l00080"></a><a class="code" href="structPx1DConstraintFlag.html#0d9f59379f0d8eba3bace01f8bb88b76ec86f2534814e03217b64f1a5f3141a3">00080</a> eHAS_DRIVE_LIMIT = 1<<5
<a name="l00081"></a>00081 };
<a name="l00082"></a>00082 };
<a name="l00083"></a>00083
<a name="l00084"></a><a class="code" href="group__physics.html#ga03d6d79255886721c3e1a946b5a805f">00084</a> <span class="keyword">typedef</span> <a class="code" href="classPxFlags.html" title="Container for bitfield flag variables associated with a specific enum type.">PxFlags<Px1DConstraintFlag::Type, PxU16></a> <a class="code" href="classPxFlags.html" title="Container for bitfield flag variables associated with a specific enum type.">Px1DConstraintFlags</a>;
<a name="l00085"></a>00085 <a class="code" href="group__foundation.html#g092f922a63fdc7a95ae4f4e24b3768c1">PX_FLAGS_OPERATORS</a>(<a class="code" href="structPx1DConstraintFlag.html#0d9f59379f0d8eba3bace01f8bb88b76">Px1DConstraintFlag::Type</a>, <a class="code" href="namespacephysx.html#9caf1cbcda071b6d2a9c069faa99da23">PxU16</a>)
<a name="l00086"></a>00086
<a name="l00087"></a>00087
<a name="l00091"></a><a class="code" href="structPxConstraintSolveHint.html">00091</a> struct <a class="code" href="structPxConstraintSolveHint.html" title="constraint type hints which the solver uses to optimize constraint handling">PxConstraintSolveHint</a>
<a name="l00092"></a>00092 {
<a name="l00093"></a><a class="code" href="structPxConstraintSolveHint.html#fa69114b7731ed70ff8db90bc171f97e">00093</a> <span class="keyword">enum</span> <a class="code" href="structPxConstraintSolveHint.html#fa69114b7731ed70ff8db90bc171f97e">Enum</a>
<a name="l00094"></a>00094 {
<a name="l00095"></a><a class="code" href="structPxConstraintSolveHint.html#fa69114b7731ed70ff8db90bc171f97ef766284eef4df1c7f5998017fbe767ef">00095</a> eNONE = 0,
<a name="l00096"></a><a class="code" href="structPxConstraintSolveHint.html#fa69114b7731ed70ff8db90bc171f97eeca50c5cd3b0370b5107ea949eb7e71a">00096</a> eACCELERATION1 = 256,
<a name="l00097"></a><a class="code" href="structPxConstraintSolveHint.html#fa69114b7731ed70ff8db90bc171f97e63b6c283f8624e8e14b8436a0ef69104">00097</a> eSLERP_SPRING = 258,
<a name="l00098"></a><a class="code" href="structPxConstraintSolveHint.html#fa69114b7731ed70ff8db90bc171f97e1a330b274784a4ff4cdbd38708576cfd">00098</a> eACCELERATION2 = 512,
<a name="l00099"></a><a class="code" href="structPxConstraintSolveHint.html#fa69114b7731ed70ff8db90bc171f97e92d8af80ba70bc7ef52230495aa23cc2">00099</a> eACCELERATION3 = 768,
<a name="l00100"></a><a class="code" href="structPxConstraintSolveHint.html#fa69114b7731ed70ff8db90bc171f97e73a17739d03a1de358235b02a69a944e">00100</a> eEQUALITY = 1024,
<a name="l00101"></a><a class="code" href="structPxConstraintSolveHint.html#fa69114b7731ed70ff8db90bc171f97e59ee4e2f181346d04cf16fb617962191">00101</a> eINEQUALITY = 1025
<a name="l00102"></a>00102 };
<a name="l00103"></a>00103 };
<a name="l00104"></a>00104
<a name="l00141"></a>00141 <a class="code" href="group__foundation.html#ga645944027e6f4e405de626910e82d8d">PX_ALIGN_PREFIX</a>(16)
<a name="l00142"></a><a class="code" href="structPx1DConstraint.html">00142</a> struct <a class="code" href="structPx1DConstraint.html" title="A constraint.">Px1DConstraint</a>
<a name="l00143"></a>00143 {
<a name="l00144"></a><a class="code" href="structPx1DConstraint.html#c56cab2d459ade70824f04821404889c">00144</a> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a> linear0;
<a name="l00145"></a><a class="code" href="structPx1DConstraint.html#e3ad7c8d4370c7b26634bd8e5046ba9a">00145</a> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> geometricError;
<a name="l00146"></a><a class="code" href="structPx1DConstraint.html#faf3f8a6b645f3b48c123ab94016b1c2">00146</a> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a> angular0;
<a name="l00147"></a><a class="code" href="structPx1DConstraint.html#467f316062f0cb43f525bfbda8debfa5">00147</a> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> velocityTarget;
<a name="l00148"></a>00148
<a name="l00149"></a><a class="code" href="structPx1DConstraint.html#9523a9ebd2707f8d442ca4a0bf4da573">00149</a> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a> linear1;
<a name="l00150"></a><a class="code" href="structPx1DConstraint.html#c551561bbc886a7da26567e4f9cf4ce4">00150</a> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> minImpulse;
<a name="l00151"></a><a class="code" href="structPx1DConstraint.html#b7a1efaff54cb4d2fd6e3e7cc01a2503">00151</a> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a> angular1;
<a name="l00152"></a><a class="code" href="structPx1DConstraint.html#d4a0113d0c4cf939f9abc3df65120848">00152</a> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> maxImpulse;
<a name="l00153"></a>00153
<a name="l00154"></a>00154 <span class="keyword">union</span>
<a name="l00155"></a>00155 {
<a name="l00156"></a>00156 <span class="keyword">struct </span>SpringModifiers
<a name="l00157"></a>00157 {
<a name="l00158"></a><a class="code" href="structPx1DConstraint.html#5bbb41ebffef415b52f7ee3b17b24e9e">00158</a> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> stiffness;
<a name="l00159"></a><a class="code" href="structPx1DConstraint.html#c5dc79c3d9b9f4c81ffb4ec77941fb40">00159</a> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> damping;
<a name="l00160"></a>00160 } spring;
<a name="l00161"></a>00161 <span class="keyword">struct </span>RestitutionModifiers
<a name="l00162"></a>00162 {
<a name="l00163"></a><a class="code" href="structPx1DConstraint.html#913d1b17c7ed6bb8ae18e5fd6135c103">00163</a> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> restitution;
<a name="l00164"></a><a class="code" href="structPx1DConstraint.html#01a90f96995025e7d3216c50b4506c0b">00164</a> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> velocityThreshold;
<a name="l00165"></a>00165 } bounce;
<a name="l00166"></a>00166 } mods;
<a name="l00167"></a>00167
<a name="l00168"></a><a class="code" href="structPx1DConstraint.html#fe3ef2ec367fddacd4cbb925efd1f8be">00168</a> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> forInternalUse;
<a name="l00169"></a><a class="code" href="structPx1DConstraint.html#4fa4372a941804afe9cb779e5fdabd34">00169</a> <a class="code" href="namespacephysx.html#9caf1cbcda071b6d2a9c069faa99da23">PxU16</a> flags;
<a name="l00170"></a><a class="code" href="structPx1DConstraint.html#6c9b5b544322e92ba2c072f159770cd4">00170</a> <a class="code" href="namespacephysx.html#9caf1cbcda071b6d2a9c069faa99da23">PxU16</a> solveHint;
<a name="l00171"></a>00171 }
<a name="l00172"></a>00172 <a class="code" href="group__foundation.html#g7160eeaa47f99f991d9b1f113b398143">PX_ALIGN_SUFFIX</a>(16);
<a name="l00173"></a>00173
<a name="l00174"></a>00174
<a name="l00180"></a><a class="code" href="structPxConstraintVisualizationFlag.html">00180</a> <span class="keyword">struct </span><a class="code" href="structPxConstraintVisualizationFlag.html" title="Flags for determining which components of the constraint should be visualized.">PxConstraintVisualizationFlag</a>
<a name="l00181"></a>00181 {
<a name="l00182"></a><a class="code" href="structPxConstraintVisualizationFlag.html#6896ce95dcc5f3a691b561c6ae3a6c3b">00182</a> <span class="keyword">enum</span> <a class="code" href="structPxConstraintVisualizationFlag.html#6896ce95dcc5f3a691b561c6ae3a6c3b">Enum</a>
<a name="l00183"></a>00183 {
<a name="l00184"></a><a class="code" href="structPxConstraintVisualizationFlag.html#6896ce95dcc5f3a691b561c6ae3a6c3bd6cbcec686244113170adf566b1c50f6">00184</a> eLOCAL_FRAMES = 1,
<a name="l00185"></a><a class="code" href="structPxConstraintVisualizationFlag.html#6896ce95dcc5f3a691b561c6ae3a6c3bc0031dd6a0c8f69c8d1adb369c40b79e">00185</a> eLIMITS = 2
<a name="l00186"></a>00186 };
<a name="l00187"></a>00187 };
<a name="l00188"></a>00188
<a name="l00189"></a>00189 <a class="code" href="group__foundation.html#ga645944027e6f4e405de626910e82d8d">PX_ALIGN_PREFIX</a>(16)
<a name="l00190"></a><a class="code" href="structPxConstraintInvMassScale.html">00190</a> struct <a class="code" href="structPxConstraintInvMassScale.html">PxConstraintInvMassScale</a>
<a name="l00191"></a>00191 {
<a name="l00192"></a>00192 <span class="comment">//= ATTENTION! =====================================================================================</span>
<a name="l00193"></a>00193 <span class="comment">// Changing the data layout of this class breaks the binary serialization format. See comments for </span>
<a name="l00194"></a>00194 <span class="comment">// PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData </span>
<a name="l00195"></a>00195 <span class="comment">// function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION</span>
<a name="l00196"></a>00196 <span class="comment">// accordingly.</span>
<a name="l00197"></a>00197 <span class="comment">//==================================================================================================</span>
<a name="l00198"></a>00198
<a name="l00199"></a><a class="code" href="structPxConstraintInvMassScale.html#ccf60e3a08768821ba0d5d08022ad1c6">00199</a> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> linear0;
<a name="l00200"></a><a class="code" href="structPxConstraintInvMassScale.html#21b735d9ea167a97b1196dac0994aeaa">00200</a> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> angular0;
<a name="l00201"></a><a class="code" href="structPxConstraintInvMassScale.html#ec4a528a9abf04ff5a197caadf4420ba">00201</a> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> linear1;
<a name="l00202"></a><a class="code" href="structPxConstraintInvMassScale.html#98ca9fd97433a912c8ad5b592a2a2cfa">00202</a> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> angular1;
<a name="l00203"></a>00203
<a name="l00204"></a><a class="code" href="structPxConstraintInvMassScale.html#92d334aba103ace81f47efdf17e10e6b">00204</a> <a class="code" href="structPxConstraintInvMassScale.html#92d334aba103ace81f47efdf17e10e6b">PxConstraintInvMassScale</a>(){}
<a name="l00205"></a><a class="code" href="structPxConstraintInvMassScale.html#2e4ecc88663176de20ab55eb2cd9c1df">00205</a> <a class="code" href="structPxConstraintInvMassScale.html#2e4ecc88663176de20ab55eb2cd9c1df">PxConstraintInvMassScale</a>(<a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> lin0, <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> ang0, <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> lin1, <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> ang1) : linear0(lin0), angular0(ang0), linear1(lin1), angular1(ang1){}
<a name="l00206"></a>00206 }
<a name="l00207"></a>00207 <a class="code" href="group__foundation.html#g7160eeaa47f99f991d9b1f113b398143">PX_ALIGN_SUFFIX</a>(16);
<a name="l00208"></a>00208
<a name="l00227"></a><a class="code" href="group__physics.html#g538ba0a5410c612bc666bb10d44bcb7a">00227</a> <span class="keyword">typedef</span> <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> (*<a class="code" href="group__physics.html#g538ba0a5410c612bc666bb10d44bcb7a">PxConstraintSolverPrep</a>)(<a class="code" href="structPx1DConstraint.html" title="A constraint.">Px1DConstraint</a>* constraints,
<a name="l00228"></a>00228 <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& bodyAWorldOffset,
<a name="l00229"></a>00229 <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> maxConstraints,
<a name="l00230"></a>00230 <a class="code" href="structPxConstraintInvMassScale.html">PxConstraintInvMassScale</a>& invMassScale,
<a name="l00231"></a>00231 <span class="keyword">const</span> <span class="keywordtype">void</span>* constantBlock,
<a name="l00232"></a>00232 <span class="keyword">const</span> <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a>& bodyAToWorld,
<a name="l00233"></a>00233 <span class="keyword">const</span> <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a>& bodyBToWorld);
<a name="l00234"></a>00234
<a name="l00246"></a><a class="code" href="group__physics.html#g26f16746e25ee96e354e4ee05d6b359e">00246</a> <span class="keyword">typedef</span> void (*<a class="code" href="group__physics.html#g26f16746e25ee96e354e4ee05d6b359e">PxConstraintProject</a>)(<span class="keyword">const</span> <span class="keywordtype">void</span>* constantBlock,
<a name="l00247"></a>00247 <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a>& bodyAToWorld,
<a name="l00248"></a>00248 <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a>& bodyBToWorld,
<a name="l00249"></a>00249 <span class="keywordtype">bool</span> projectToA);
<a name="l00250"></a>00250
<a name="l00254"></a><a class="code" href="classPxConstraintVisualizer.html">00254</a> <span class="keyword">class </span><a class="code" href="classPxConstraintVisualizer.html">PxConstraintVisualizer</a>
<a name="l00255"></a>00255 {
<a name="l00256"></a>00256 <span class="keyword">protected</span>:
<a name="l00257"></a><a class="code" href="classPxConstraintVisualizer.html#575b179f6376a302feeee663e5e74ee0">00257</a> <span class="keyword">virtual</span> <a class="code" href="classPxConstraintVisualizer.html#575b179f6376a302feeee663e5e74ee0">~PxConstraintVisualizer</a>(){}
<a name="l00258"></a>00258 <span class="keyword">public</span>:
<a name="l00259"></a>00259 <span class="keyword">virtual</span> <span class="keywordtype">void</span> visualizeJointFrames( <span class="keyword">const</span> <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a>& parent, <span class="keyword">const</span> <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a>& child ) = 0;
<a name="l00260"></a>00260
<a name="l00261"></a>00261 <span class="keyword">virtual</span> <span class="keywordtype">void</span> visualizeLinearLimit( <span class="keyword">const</span> <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a>& t0, <span class="keyword">const</span> <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a>& t1, <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> value, <span class="keywordtype">bool</span> active ) = 0;
<a name="l00262"></a>00262
<a name="l00263"></a>00263 <span class="keyword">virtual</span> <span class="keywordtype">void</span> visualizeAngularLimit( <span class="keyword">const</span> <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a>& t0, <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> lower, <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> upper, <span class="keywordtype">bool</span> active) = 0;
<a name="l00264"></a>00264
<a name="l00265"></a>00265 <span class="keyword">virtual</span> <span class="keywordtype">void</span> visualizeLimitCone( <span class="keyword">const</span> <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a>& t, <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> ySwing, <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> zSwing, <span class="keywordtype">bool</span> active) = 0;
<a name="l00266"></a>00266
<a name="l00267"></a>00267 <span class="keyword">virtual</span> <span class="keywordtype">void</span> visualizeDoubleCone( <span class="keyword">const</span> <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a>& t, <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> angle, <span class="keywordtype">bool</span> active) = 0;
<a name="l00268"></a>00268
<a name="l00269"></a>00269 <span class="keyword">virtual</span> <span class="keywordtype">void</span> visualizeLine(<span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& p0, <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& p1, <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> color) = 0;
<a name="l00270"></a>00270 };
<a name="l00271"></a>00271
<a name="l00284"></a><a class="code" href="group__physics.html#gcb8cd04ba92e7016abe9e14053e22373">00284</a> <span class="keyword">typedef</span> void (*<a class="code" href="group__physics.html#gcb8cd04ba92e7016abe9e14053e22373">PxConstraintVisualize</a>)( <a class="code" href="classPxConstraintVisualizer.html">PxConstraintVisualizer</a>& visualizer,
<a name="l00285"></a>00285 <span class="keyword">const</span> <span class="keywordtype">void</span>* constantBlock,
<a name="l00286"></a>00286 <span class="keyword">const</span> <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a>& body0Transform,
<a name="l00287"></a>00287 <span class="keyword">const</span> <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a>& body1Transform,
<a name="l00288"></a>00288 <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> flags );
<a name="l00289"></a>00289
<a name="l00290"></a>00290
<a name="l00291"></a><a class="code" href="structPxPvdUpdateType.html">00291</a> <span class="keyword">struct </span><a class="code" href="structPxPvdUpdateType.html">PxPvdUpdateType</a>
<a name="l00292"></a>00292 {
<a name="l00293"></a><a class="code" href="structPxPvdUpdateType.html#534206ee246bcbd046d6eb314ebf821e">00293</a> <span class="keyword">enum</span> <a class="code" href="structPxPvdUpdateType.html#534206ee246bcbd046d6eb314ebf821e">Enum</a>
<a name="l00294"></a>00294 {
<a name="l00295"></a><a class="code" href="structPxPvdUpdateType.html#534206ee246bcbd046d6eb314ebf821e0eecad415d479a0d09a5fb95cd746e0b">00295</a> CREATE_INSTANCE,
<a name="l00296"></a><a class="code" href="structPxPvdUpdateType.html#534206ee246bcbd046d6eb314ebf821ef20c7f1d72fa509cffbdd5b10c96f0f7">00296</a> RELEASE_INSTANCE,
<a name="l00297"></a><a class="code" href="structPxPvdUpdateType.html#534206ee246bcbd046d6eb314ebf821e350ca0e808fcd0443ac8f13d7fb46c79">00297</a> UPDATE_ALL_PROPERTIES,
<a name="l00298"></a><a class="code" href="structPxPvdUpdateType.html#534206ee246bcbd046d6eb314ebf821e773108482e1b98ff5517a5f3f020f5a4">00298</a> UPDATE_SIM_PROPERTIES
<a name="l00299"></a>00299 };
<a name="l00300"></a>00300 };
<a name="l00301"></a>00301
<a name="l00312"></a><a class="code" href="classPxConstraintConnector.html">00312</a> <span class="keyword">class </span><a class="code" href="classPxConstraintConnector.html" title="This class connects a custom constraint to the SDK.">PxConstraintConnector</a>
<a name="l00313"></a>00313 {
<a name="l00314"></a>00314 <span class="keyword">public</span>:
<a name="l00320"></a>00320 <span class="keyword">virtual</span> <span class="keywordtype">void</span>* prepareData() = 0;
<a name="l00321"></a>00321
<a name="l00326"></a>00326 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> updatePvdProperties(physx::pvdsdk::PvdDataStream& pvdConnection,
<a name="l00327"></a>00327 <span class="keyword">const</span> <a class="code" href="classPxConstraint.html" title="A plugin class for implementing constraints.">PxConstraint</a>* c,
<a name="l00328"></a>00328 <a class="code" href="structPxPvdUpdateType.html#534206ee246bcbd046d6eb314ebf821e">PxPvdUpdateType::Enum</a> updateType) <span class="keyword">const</span> = 0;
<a name="l00329"></a>00329
<a name="l00342"></a>00342 <span class="keyword">virtual</span> <span class="keywordtype">void</span> onConstraintRelease() = 0;
<a name="l00343"></a>00343
<a name="l00351"></a>00351 <span class="keyword">virtual</span> <span class="keywordtype">void</span> onComShift(<a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> actor) = 0;
<a name="l00352"></a>00352
<a name="l00365"></a>00365 <span class="keyword">virtual</span> <span class="keywordtype">void</span> onOriginShift(<span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& shift) = 0;
<a name="l00366"></a>00366
<a name="l00379"></a>00379 <span class="keyword">virtual</span> <span class="keywordtype">void</span>* getExternalReference(<a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a>& typeID) = 0;
<a name="l00380"></a>00380
<a name="l00381"></a>00381
<a name="l00388"></a>00388 <span class="keyword">virtual</span> <a class="code" href="classPxBase.html" title="Base class for objects that can be members of a PxCollection.">PxBase</a>* getSerializable() = 0;
<a name="l00389"></a>00389
<a name="l00393"></a>00393 <span class="keyword">virtual</span> <a class="code" href="group__physics.html#g538ba0a5410c612bc666bb10d44bcb7a">PxConstraintSolverPrep</a> getPrep() <span class="keyword">const</span> = 0;
<a name="l00394"></a>00394
<a name="l00398"></a>00398 <span class="keyword">virtual</span> <span class="keyword">const</span> <span class="keywordtype">void</span>* getConstantBlock() <span class="keyword">const</span> = 0;
<a name="l00399"></a>00399
<a name="l00400"></a>00400
<a name="l00404"></a><a class="code" href="classPxConstraintConnector.html#71f8ff017c14b26c81b06be700f015f1">00404</a> <span class="keyword">virtual</span> <a class="code" href="classPxConstraintConnector.html#71f8ff017c14b26c81b06be700f015f1" title="virtual destructor">~PxConstraintConnector</a>() {}
<a name="l00405"></a>00405 };
<a name="l00406"></a>00406
<a name="l00407"></a>00407 <span class="preprocessor">#if !PX_DOXYGEN</span>
<a name="l00408"></a>00408 <span class="preprocessor"></span>} <span class="comment">// namespace physx</span>
<a name="l00409"></a>00409 <span class="preprocessor">#endif</span>
<a name="l00410"></a>00410 <span class="preprocessor"></span>
<a name="l00412"></a>00412 <span class="preprocessor">#endif</span>
</pre></div></div>
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