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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_CONSTRAINT
#define PX_PHYSICS_NP_CONSTRAINT
#include "PsUserAllocated.h"
#include "PxConstraint.h"
#include "ScbConstraint.h"
namespace physx
{
class NpScene;
class NpRigidDynamic;
namespace Scb
{
class RigidObject;
}
class NpConstraint : public PxConstraint, public Ps::UserAllocated
{
//= 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
NpConstraint(PxBaseFlags baseFlags) : PxConstraint(baseFlags), mConstraint(PxEmpty) {}
virtual void setConstraintFunctions(PxConstraintConnector& n,
const PxConstraintShaderTable &t);
static NpConstraint* createObject(PxU8*& address, PxDeserializationContext& context);
static void getBinaryMetaData(PxOutputStream& stream);
void exportExtraData(PxSerializationContext&) {}
void importExtraData(PxDeserializationContext&) { }
void resolveReferences(PxDeserializationContext& context);
virtual void requiresObjects(PxProcessPxBaseCallback&){}
virtual bool isSubordinate() const { return true; }
//~PX_SERIALIZATION
NpConstraint(PxRigidActor* actor0, PxRigidActor* actor1, PxConstraintConnector& connector, const PxConstraintShaderTable& shaders, PxU32 dataSize);
~NpConstraint();
virtual void release();
virtual PxScene* getScene() const;
virtual void getActors(PxRigidActor*& actor0, PxRigidActor*& actor1) const;
virtual void setActors(PxRigidActor* actor0, PxRigidActor* actor1);
virtual PxConstraintFlags getFlags() const;
virtual void setFlags(PxConstraintFlags flags);
virtual void setFlag(PxConstraintFlag::Enum flag, bool value);
virtual void getForce(PxVec3& linear, PxVec3& angular) const;
virtual void markDirty();
virtual void setBreakForce(PxReal linear, PxReal angular);
virtual void getBreakForce(PxReal& linear, PxReal& angular) const;
virtual void setMinResponseThreshold(PxReal threshold);
virtual PxReal getMinResponseThreshold() const;
virtual bool isValid() const;
virtual void* getExternalReference(PxU32& typeID);
void initialize(const PxConstraintDesc&, Scb::Constraint*);
void updateConstants();
void comShift(PxRigidActor*);
void actorDeleted(PxRigidActor*);
NpScene* getNpScene() const;
NpScene* getSceneFromActors() const;
PX_FORCE_INLINE Scb::Constraint& getScbConstraint() { return mConstraint; }
PX_FORCE_INLINE const Scb::Constraint& getScbConstraint() const { return mConstraint; }
PX_FORCE_INLINE bool isDirty() const { return mIsDirty; }
static Scb::RigidObject* getScbRigidObject(PxRigidActor*);
private:
PX_FORCE_INLINE static NpScene* getSceneFromActors(const PxRigidActor* actor0, const PxRigidActor* actor1); // Returns the scene if both actors are in the scene, else NULL
PxRigidActor* mActor0;
PxRigidActor* mActor1;
Scb::Constraint mConstraint;
// this used to be stored in Scb, but that doesn't really work since Scb::Constraint's
// flags all get cleared on fetchResults. In any case, in order to support O(1)
// insert/remove this really wants to be an index into NpScene's dirty joint array
bool mIsDirty;
bool mPaddingFromBool[3]; // PT: because of mIsDirty
};
}
#endif
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