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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_SCP_ARTICULATION_CORE
#define PX_PHYSICS_SCP_ARTICULATION_CORE
#include "ScActorCore.h"
#include "DyArticulation.h"
namespace physx
{
class PxvArticulation;
namespace IG
{
class NodeIndex;
}
namespace Sc
{
typedef Dy::FsData ArticulationDriveCache;
class ArticulationSim;
class BodyCore;
class ArticulationCore
{
//= 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.
//==================================================================================================
//---------------------------------------------------------------------------------
// Construction, destruction & initialization
//---------------------------------------------------------------------------------
// PX_SERIALIZATION
public:
ArticulationCore(const PxEMPTY) : mSim(NULL) {}
static void getBinaryMetaData(PxOutputStream& stream);
//~PX_SERIALIZATION
ArticulationCore();
~ArticulationCore();
//---------------------------------------------------------------------------------
// External API
//---------------------------------------------------------------------------------
PxU32 getInternalDriveIterations() const;
void setInternalDriveIterations(const PxU32 v);
PxU32 getExternalDriveIterations() const;
void setExternalDriveIterations(const PxU32 v);
PxU32 getMaxProjectionIterations() const;
void setMaxProjectionIterations(const PxU32 v);
PxReal getSeparationTolerance() const;
void setSeparationTolerance(const PxReal v);
PxReal getSleepThreshold() const;
void setSleepThreshold(const PxReal v);
PxReal getFreezeThreshold() const;
void setFreezeThreshold(const PxReal v);
PxReal getWakeCounter() const;
void setWakeCounter(const PxReal v);
void setWakeCounterInternal(const PxReal v);
bool isSleeping() const;
void wakeUp(PxReal wakeCounter);
void putToSleep();
PxU16 getSolverIterationCounts() const;
void setSolverIterationCounts(PxU16 c);
PxArticulation* getPxArticulation();
const PxArticulation* getPxArticulation() const;
//---------------------------------------------------------------------------------
// Drive Cache API
//---------------------------------------------------------------------------------
ArticulationDriveCache* createDriveCache(PxReal compliance,
PxU32 driveIterations) const;
void updateDriveCache(ArticulationDriveCache& cache,
PxReal compliance,
PxU32 driveIterations) const;
void releaseDriveCache(ArticulationDriveCache& cache) const;
PxU32 getCacheLinkCount(const ArticulationDriveCache& cache) const;
void applyImpulse(BodyCore& link,
const ArticulationDriveCache& driveCache,
const PxVec3& force,
const PxVec3& torque);
void computeImpulseResponse(BodyCore& link,
PxVec3& linearResponse,
PxVec3& angularResponse,
const ArticulationDriveCache& driveCache,
const PxVec3& force,
const PxVec3& torque) const;
//---------------------------------------------------------------------------------
// Internal API
//---------------------------------------------------------------------------------
public:
PX_FORCE_INLINE void setSim(ArticulationSim* sim)
{
PX_ASSERT((sim==0) ^ (mSim == 0));
mSim = sim;
}
PX_FORCE_INLINE ArticulationSim* getSim() const { return mSim; }
PX_FORCE_INLINE const Dy::ArticulationCore& getCore() { return mCore; }
static PX_FORCE_INLINE ArticulationCore& getArticulationCore(ArticulationCore& core)
{
size_t offset = PX_OFFSET_OF(ArticulationCore, mCore);
return *reinterpret_cast<ArticulationCore*>(reinterpret_cast<PxU8*>(&core) - offset);
}
IG::NodeIndex getIslandNodeIndex() const;
private:
ArticulationSim* mSim;
Dy::ArticulationCore mCore;
};
} // namespace Sc
}
#endif
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