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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_CONSTRAINTCORE
#define PX_PHYSICS_CONSTRAINTCORE
#include "CmPhysXCommon.h"
#include "PxConstraintDesc.h"
#include "PsAllocator.h"
#include "PxConstraint.h"
namespace physx
{
class PxConstraint;
namespace Sc
{
class ConstraintCore;
class ConstraintSim;
class RigidCore;
class ConstraintCore : 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
ConstraintCore(const PxEMPTY) : mFlags(PxEmpty), mConnector(NULL), mSim(NULL) {}
PX_FORCE_INLINE void setConstraintFunctions(PxConstraintConnector& n,
const PxConstraintShaderTable& shaders)
{
mConnector = &n;
mSolverPrep = shaders.solverPrep;
mProject = shaders.project;
mVisualize = shaders.visualize;
}
static void getBinaryMetaData(PxOutputStream& stream);
//~PX_SERIALIZATION
ConstraintCore(PxConstraintConnector& connector, const PxConstraintShaderTable& shaders, PxU32 dataSize);
~ConstraintCore();
// The two-step protocol here allows us to unlink the constraint prior to deleting
// the actors when synchronizing the scene, then set the bodies after new actors have been inserted
void prepareForSetBodies();
void setBodies(RigidCore* r0v, RigidCore* r1v);
PxConstraint* getPxConstraint();
const PxConstraint* getPxConstraint() const;
PX_FORCE_INLINE PxConstraintConnector* getPxConnector() const { return mConnector; }
PX_FORCE_INLINE PxConstraintFlags getFlags() const { return mFlags; }
void setFlags(PxConstraintFlags flags);
void getForce(PxVec3& force, PxVec3& torque) const;
bool updateConstants(void* addr);
void setBreakForce(PxReal linear, PxReal angular);
void getBreakForce(PxReal& linear, PxReal& angular) const;
void setMinResponseThreshold(PxReal threshold);
PxReal getMinResponseThreshold() const { return mMinResponseThreshold; }
void breakApart();
PX_FORCE_INLINE PxConstraintVisualize getVisualize() const { return mVisualize; }
PX_FORCE_INLINE PxConstraintProject getProject() const { return mProject; }
PX_FORCE_INLINE PxConstraintSolverPrep getSolverPrep() const { return mSolverPrep; }
PX_FORCE_INLINE PxU32 getConstantBlockSize() const { return mDataSize; }
PX_FORCE_INLINE void setSim(ConstraintSim* sim)
{
PX_ASSERT((sim==0) ^ (mSim == 0));
mSim = sim;
}
PX_FORCE_INLINE ConstraintSim* getSim() const { return mSim; }
private:
PxConstraintFlags mFlags;
PxU16 mPaddingFromFlags; // PT: because flags are PxU16
PxVec3 mAppliedForce;
PxVec3 mAppliedTorque;
PxConstraintConnector* mConnector;
PxConstraintProject mProject;
PxConstraintSolverPrep mSolverPrep;
PxConstraintVisualize mVisualize;
PxU32 mDataSize;
PxReal mLinearBreakForce;
PxReal mAngularBreakForce;
PxReal mMinResponseThreshold;
ConstraintSim* mSim;
};
} // namespace Sc
}
#endif
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