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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 PX_PHYSICS_NP_ARTICULATION_LINK
#define PX_PHYSICS_NP_ARTICULATION_LINK
#include "NpRigidBodyTemplate.h"
#include "PxArticulationLink.h"
#if PX_ENABLE_DEBUG_VISUALIZATION
#include "CmRenderOutput.h"
#endif
namespace physx
{
class NpArticulation;
class NpArticulationLink;
class NpArticulationJoint;
class PxConstraintVisualizer;
class NpArticulationLink;
typedef NpRigidBodyTemplate<PxArticulationLink> NpArticulationLinkT;
class NpArticulationLinkArray : public Ps::InlineArray<NpArticulationLink*, 4> //!!!AL TODO: check if default of 4 elements makes sense
{
//= 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.
//==================================================================================================
public:
// PX_SERIALIZATION
NpArticulationLinkArray(const PxEMPTY) : Ps::InlineArray<NpArticulationLink*, 4> (PxEmpty) {}
static void getBinaryMetaData(PxOutputStream& stream);
//~PX_SERIALIZATION
NpArticulationLinkArray() : Ps::InlineArray<NpArticulationLink*, 4>(PX_DEBUG_EXP("articulationLinkArray")) {}
};
class NpArticulationLink : public NpArticulationLinkT
{
//= 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.
//==================================================================================================
public:
// PX_SERIALIZATION
NpArticulationLink(PxBaseFlags baseFlags) : NpArticulationLinkT(baseFlags), mChildLinks(PxEmpty) {}
virtual void exportExtraData(PxSerializationContext& stream);
void importExtraData(PxDeserializationContext& context);
void registerReferences(PxSerializationContext& stream);
void resolveReferences(PxDeserializationContext& context);
virtual void requiresObjects(PxProcessPxBaseCallback& c);
virtual bool isSubordinate() const { return true; }
static NpArticulationLink* createObject(PxU8*& address, PxDeserializationContext& context);
static void getBinaryMetaData(PxOutputStream& stream);
//~PX_SERIALIZATION
virtual ~NpArticulationLink();
//---------------------------------------------------------------------------------
// PxArticulationLink implementation
//---------------------------------------------------------------------------------
virtual void release();
virtual PxActorType::Enum getType() const { return PxActorType::eARTICULATION_LINK; }
// Pose
virtual void setGlobalPose(const PxTransform& pose);
virtual void setGlobalPose(const PxTransform& pose, bool autowake);
virtual PxTransform getGlobalPose() const;
// Velocity
virtual void setLinearVelocity(const PxVec3&, bool autowake = true);
virtual void setAngularVelocity(const PxVec3&, bool autowake = true);
virtual PxArticulation& getArticulation() const;
virtual PxArticulationJoint* getInboundJoint() const;
virtual PxU32 getNbChildren() const;
virtual PxU32 getChildren(PxArticulationLink** userBuffer, PxU32 bufferSize, PxU32 startIndex) const;
virtual void setCMassLocalPose(const PxTransform& pose);
virtual void addForce(const PxVec3& force, PxForceMode::Enum mode = PxForceMode::eFORCE, bool autowake = true);
virtual void addTorque(const PxVec3& torque, PxForceMode::Enum mode = PxForceMode::eFORCE, bool autowake = true);
virtual void clearForce(PxForceMode::Enum mode = PxForceMode::eFORCE);
virtual void clearTorque(PxForceMode::Enum mode = PxForceMode::eFORCE);
//---------------------------------------------------------------------------------
// Miscellaneous
//---------------------------------------------------------------------------------
NpArticulationLink(const PxTransform& bodyPose, NpArticulation& root, NpArticulationLink* parent);
void releaseInternal();
PX_INLINE NpArticulation& getRoot() { return *mRoot; }
PX_INLINE NpArticulationLink* getParent() { return mParent; }
PX_INLINE void setInboundJoint(NpArticulationJoint& joint) { mInboundJoint = &joint; }
private:
PX_INLINE void addToChildList(NpArticulationLink& link) { mChildLinks.pushBack(&link); }
PX_INLINE void removeFromChildList(NpArticulationLink& link) { PX_ASSERT(mChildLinks.find(&link) != mChildLinks.end()); mChildLinks.findAndReplaceWithLast(&link); }
public:
PX_INLINE NpArticulationLink* const* getChildren() { return mChildLinks.empty() ? NULL : &mChildLinks.front(); }
#if PX_ENABLE_DEBUG_VISUALIZATION
public:
void visualize(Cm::RenderOutput& out, NpScene* scene);
void visualizeJoint(PxConstraintVisualizer& jointViz);
#endif
private:
NpArticulation* mRoot; //!!!AL TODO: Revisit: Could probably be avoided if registration and deregistration in root is handled differently
NpArticulationJoint* mInboundJoint;
NpArticulationLink* mParent; //!!!AL TODO: Revisit: Some memory waste but makes things faster
NpArticulationLinkArray mChildLinks;
};
}
#endif
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