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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_CONSTRAINT_SIM
#define PX_PHYSICS_CONSTRAINT_SIM
#include "PxSimulationEventCallback.h"
#include "DyConstraint.h"
namespace physx
{
namespace Sc
{
class Scene;
class ConstraintInteraction;
class ConstraintCore;
class RigidCore;
class BodySim;
class RigidSim;
class ConstraintSim : public Ps::UserAllocated
{
public:
enum Enum
{
ePENDING_GROUP_UPDATE = (1<<0), // For constraint projection an island of the bodies connected by constraints is generated.
// Schedule generation/update of the island this constraint is a part of.
eBREAKABLE = (1<<1), // The constraint can break
eCHECK_MAX_FORCE_EXCEEDED = (1<<2), // This constraint will get tested for breakage at the end of the sim step
eBROKEN = (1<<3)
};
ConstraintSim(ConstraintCore& core,
RigidCore* r0,
RigidCore* r1,
Scene& scene);
~ConstraintSim();
void preBodiesChange();
void postBodiesChange(RigidCore* r0, RigidCore* r1);
void checkMaxForceExceeded();
void updateRelatedSIPs();
void setBreakForceLL(PxReal linear, PxReal angular);
PX_INLINE void setMinResponseThresholdLL(PxReal threshold);
void setConstantsLL(void* addr);
PX_INLINE const void* getConstantsLL() const;
void postFlagChange(PxConstraintFlags oldFlags, PxConstraintFlags newFlags);
PX_FORCE_INLINE const Dy::Constraint& getLowLevelConstraint() const { return mLowLevelConstraint; }
PX_FORCE_INLINE Dy::Constraint& getLowLevelConstraint() { return mLowLevelConstraint; }
PX_FORCE_INLINE ConstraintCore& getCore() const { return mCore; }
PX_FORCE_INLINE BodySim* getBody(PxU32 i) const // for static actors or world attached constraints NULL is returned
{
return mBodies[i];
}
RigidSim& getRigid(PxU32 i);
void getForce(PxVec3& force, PxVec3& torque);
bool isBroken() const;
PX_FORCE_INLINE PxU8 readFlag(PxU8 flag) const { return PxU8(mFlags & flag); }
PX_FORCE_INLINE void setFlag(PxU8 flag) { mFlags |= flag; }
PX_FORCE_INLINE void clearFlag(PxU8 flag) { mFlags &= ~flag; }
//------------------------------------ Projection trees -----------------------------------------
private:
PX_INLINE BodySim* getConstraintGroupBody();
public:
bool hasDynamicBody();
void projectPose(BodySim* childBody, Ps::Array<BodySim*>& projectedBodies);
PX_INLINE BodySim* getOtherBody(BodySim*);
PX_INLINE BodySim* getAnyBody();
bool needsProjection();
//-----------------------------------------------------------------------------------------------
void visualize(PxRenderBuffer &out);
private:
ConstraintSim& operator=(const ConstraintSim&);
bool createLLConstraint();
void destroyLLConstraint();
private:
Dy::Constraint mLowLevelConstraint;
Scene& mScene;
ConstraintCore& mCore;
ConstraintInteraction* mInteraction;
BodySim* mBodies[2];
PxU8 mFlags;
};
} // namespace Sc
PX_INLINE void Sc::ConstraintSim::setMinResponseThresholdLL(PxReal threshold)
{
mLowLevelConstraint.minResponseThreshold = threshold;
}
PX_INLINE const void* Sc::ConstraintSim::getConstantsLL() const
{
return mLowLevelConstraint.constantBlock;
}
PX_INLINE Sc::BodySim* Sc::ConstraintSim::getOtherBody(BodySim* b)
{
return (b == mBodies[0]) ? mBodies[1] : mBodies[0];
}
PX_INLINE Sc::BodySim* Sc::ConstraintSim::getAnyBody()
{
if (mBodies[0])
return mBodies[0];
else
return mBodies[1];
}
}
#endif
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