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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 NP_SPHERICALJOINTCONSTRAINT_H
#define NP_SPHERICALJOINTCONSTRAINT_H
#include "ExtJoint.h"
#include "PxSphericalJoint.h"
#include "CmUtils.h"
namespace physx
{
struct PxSphericalJointGeneratedValues;
namespace Ext
{
struct SphericalJointData: public JointData
{
//= 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.
//==================================================================================================
PxJointLimitCone limit;
PxReal tanQYLimit;
PxReal tanQZLimit;
PxReal tanQPad;
PxReal projectionLinearTolerance;
PxSphericalJointFlags jointFlags;
// forestall compiler complaints about not being able to generate a constructor
private:
SphericalJointData(const PxJointLimitCone &cone):
limit(cone) {}
};
typedef Joint<PxSphericalJoint, PxSphericalJointGeneratedValues> SphericalJointT;
class SphericalJoint : public SphericalJointT
{
//= 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
SphericalJoint(PxBaseFlags baseFlags) : SphericalJointT(baseFlags) {}
virtual void exportExtraData(PxSerializationContext& context);
void importExtraData(PxDeserializationContext& context);
void resolveReferences(PxDeserializationContext& context);
static SphericalJoint* createObject(PxU8*& address, PxDeserializationContext& context);
static void getBinaryMetaData(PxOutputStream& stream);
//~PX_SERIALIZATION
virtual ~SphericalJoint()
{
if(getBaseFlags()&PxBaseFlag::eOWNS_MEMORY)
PX_FREE(mData);
}
SphericalJoint(const PxTolerancesScale& /*scale*/,
PxRigidActor* actor0, const PxTransform& localFrame0,
PxRigidActor* actor1, const PxTransform& localFrame1)
: SphericalJointT(PxJointConcreteType::eSPHERICAL, PxBaseFlag::eOWNS_MEMORY | PxBaseFlag::eIS_RELEASABLE)
{
SphericalJointData* data = reinterpret_cast<SphericalJointData*>(PX_ALLOC(sizeof(SphericalJointData), "SphericalJointData"));
Cm::markSerializedMem(data, sizeof(SphericalJointData));
mData = data;
initCommonData(*data,actor0, localFrame0, actor1, localFrame1);
data->projectionLinearTolerance = 1e10f;
data->limit = PxJointLimitCone(PxPi/2, PxPi/2);
data->jointFlags = PxSphericalJointFlags();
}
void setProjectionLinearTolerance(PxReal distance);
PxReal getProjectionLinearTolerance() const;
void setLimitCone(const PxJointLimitCone &limit);
PxJointLimitCone getLimitCone() const;
PxSphericalJointFlags getSphericalJointFlags(void) const;
void setSphericalJointFlags(PxSphericalJointFlags flags);
void setSphericalJointFlag(PxSphericalJointFlag::Enum flag, bool value);
void* prepareData();
bool attach(PxPhysics &physics, PxRigidActor* actor0, PxRigidActor* actor1);
static const PxConstraintShaderTable& getConstraintShaderTable() { return sShaders; }
virtual PxConstraintSolverPrep getPrep() const { return sShaders.solverPrep; }
private:
static PxConstraintShaderTable sShaders;
PX_FORCE_INLINE SphericalJointData& data() const
{
return *static_cast<SphericalJointData*>(mData);
}
};
} // namespace Ext
namespace Ext
{
extern "C" PxU32 SphericalJointSolverPrep(Px1DConstraint* constraints,
PxVec3& body0WorldOffset,
PxU32 maxConstraints,
PxConstraintInvMassScale& invMassScale,
const void* constantBlock,
const PxTransform& bA2w,
const PxTransform& bB2w);
// global function to share the joint shaders with API capture
extern "C" const PxConstraintShaderTable* GetSphericalJointShaderTable();
}
}
#endif
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