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// 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) 2008-2018 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 PXC_RIGIDBODY_H
#define PXC_RIGIDBODY_H
#include "foundation/PxVec3.h"
#include "foundation/PxTransform.h"
#include "PxvDynamics.h"
#include "CmSpatialVector.h"
namespace physx
{
class PxsContactManager;
struct PxsCCDPair;
struct PxsCCDBody;
#define PX_INTERNAL_LOCK_FLAG_START 7
PX_ALIGN_PREFIX(16)
class PxcRigidBody
{
public:
enum PxcRigidBodyFlag
{
eFROZEN = 1 << 0, //This flag indicates that the stabilization is enabled and the body is
//"frozen". By "frozen", we mean that the body's transform is unchanged
//from the previous frame. This permits various optimizations.
eFREEZE_THIS_FRAME = 1 << 1,
eUNFREEZE_THIS_FRAME = 1 << 2,
eACTIVATE_THIS_FRAME = 1 << 3,
eDEACTIVATE_THIS_FRAME = 1 << 4,
eDISABLE_GRAVITY = 1 << 5,
eSPECULATIVE_CCD = 1 << 6,
//KS - copied here for GPU simulation to avoid needing to pass another set of flags around.
eLOCK_LINEAR_X = 1 << (PX_INTERNAL_LOCK_FLAG_START),
eLOCK_LINEAR_Y = 1 << (PX_INTERNAL_LOCK_FLAG_START + 1),
eLOCK_LINEAR_Z = 1 << (PX_INTERNAL_LOCK_FLAG_START + 2),
eLOCK_ANGULAR_X = 1 << (PX_INTERNAL_LOCK_FLAG_START + 3),
eLOCK_ANGULAR_Y = 1 << (PX_INTERNAL_LOCK_FLAG_START + 4),
eLOCK_ANGULAR_Z = 1 << (PX_INTERNAL_LOCK_FLAG_START + 5)
};
PX_FORCE_INLINE PxcRigidBody(PxsBodyCore* core)
: mLastTransform(core->body2World),
mCCD(NULL),
mCore(core)
{
}
void adjustCCDLastTransform();
protected:
~PxcRigidBody()
{
}
public:
PxTransform mLastTransform; //28 (28)
PxU16 mInternalFlags; //30 (30)
PxU16 solverIterationCounts; //32 (32)
PxsCCDBody* mCCD; //36 (40) // only valid during CCD
PxsBodyCore* mCore; //40 (48)
#if !PX_P64_FAMILY
PxU32 alignmentPad[2]; //48 (48)
#endif
PxVec3 sleepLinVelAcc; //60 (60)
PxReal freezeCount; //64 (64)
PxVec3 sleepAngVelAcc; //76 (76)
PxReal accelScale; //80 (80)
}
PX_ALIGN_SUFFIX(16);
PX_COMPILE_TIME_ASSERT(0 == (sizeof(PxcRigidBody) & 0x0f));
}
#endif //PXC_RIGIDBODY_H
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