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//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
// * Neither the name of NVIDIA CORPORATION nor the names of its
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2018 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 PXV_DYNAMICS_H
#define PXV_DYNAMICS_H
#include "foundation/PxVec3.h"
#include "foundation/PxQuat.h"
#include "foundation/PxTransform.h"
#include "foundation/PxSimpleTypes.h"
#include "PsIntrinsics.h"
#include "PxRigidDynamic.h"
namespace physx
{
/*!
\file
Dynamics interface.
*/
/************************************************************************/
/* Atoms */
/************************************************************************/
class PxsContext;
class PxsRigidBody;
class PxShape;
class PxGeometry;
struct PxsShapeCore;
struct PxsRigidCore
{
//= 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.
//==================================================================================================
PxsRigidCore() : mFlags(0), mIdtBody2Actor(0), solverIterationCounts(0) {}
PxsRigidCore(const PxEMPTY) : mFlags(PxEmpty) {}
PX_ALIGN_PREFIX(16)
PxTransform body2World PX_ALIGN_SUFFIX(16);
PxRigidBodyFlags mFlags; // API body flags
PxU8 mIdtBody2Actor; // PT: true if PxsBodyCore::body2Actor is identity
PxU16 solverIterationCounts; //vel iters are in low word and pos iters in high word.
PX_FORCE_INLINE PxU32 isKinematic() const
{
return mFlags & PxRigidBodyFlag::eKINEMATIC;
}
PX_FORCE_INLINE PxU32 hasCCD() const
{
return mFlags & PxRigidBodyFlag::eENABLE_CCD;
}
PX_FORCE_INLINE PxU32 hasCCDFriction() const
{
return mFlags & PxRigidBodyFlag::eENABLE_CCD_FRICTION;
}
};
PX_COMPILE_TIME_ASSERT(sizeof(PxsRigidCore) == 32);
struct PxsBodyCore: public PxsRigidCore
{
//= 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.
//==================================================================================================
PxsBodyCore() : PxsRigidCore() {}
PxsBodyCore(const PxEMPTY) : PxsRigidCore(PxEmpty) {}
PX_FORCE_INLINE const PxTransform& getBody2Actor() const { return body2Actor; }
PX_FORCE_INLINE void setBody2Actor(const PxTransform& t)
{
mIdtBody2Actor = PxU8(t.p.isZero() && t.q.isIdentity());
body2Actor = t;
}
protected:
PxTransform body2Actor;
public:
PxReal ccdAdvanceCoefficient; //64
PxVec3 linearVelocity;
PxReal maxPenBias;
PxVec3 angularVelocity;
PxReal contactReportThreshold; //96
PxReal maxAngularVelocitySq;
PxReal maxLinearVelocitySq;
PxReal linearDamping;
PxReal angularDamping; //112
PxVec3 inverseInertia;
PxReal inverseMass; //128
PxReal maxContactImpulse;
PxReal sleepThreshold;
PxReal freezeThreshold;
PxReal wakeCounter; //144 this is authoritative wakeCounter
PxReal solverWakeCounter; //this is calculated by the solver when it performs sleepCheck. It is committed to wakeCounter in ScAfterIntegrationTask if the body is still awake.
PxU32 numCountedInteractions;
PxU32 numBodyInteractions; //Used by adaptive force to keep track of the total number of body interactions
PxU16 isFastMoving; //This could be a single bit but it's a u32 at the moment for simplicity's sake
PxRigidDynamicLockFlags lockFlags; //160 This could be a u8 but it is a u32 for simplicity's sake. All fits into 16 byte alignment
PX_FORCE_INLINE bool shouldCreateContactReports() const
{
const PxU32* binary = reinterpret_cast<const PxU32*>(&contactReportThreshold);
return *binary != 0x7f7fffff; // PX_MAX_REAL
}
};
PX_COMPILE_TIME_ASSERT(sizeof(PxsBodyCore) == 160);
}
#endif
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