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// This code contains NVIDIA Confidential Information and is disclosed to you
// under a form of NVIDIA software license agreement provided separately to you.
//
// Notice
// NVIDIA Corporation and its licensors retain all intellectual property and
// proprietary rights in and to this software and related documentation and
// any modifications thereto. Any use, reproduction, disclosure, or
// distribution of this software and related documentation without an express
// license agreement from NVIDIA Corporation is strictly prohibited.
//
// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
//
// Information and code furnished is believed to be accurate and reliable.
// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
// information or for any infringement of patents or other rights of third parties that may
// result from its use. No license is granted by implication or otherwise under any patent
// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
// This code supersedes and replaces all information previously supplied.
// NVIDIA Corporation products are not authorized for use as critical
// components in life support devices or systems without express written approval of
// NVIDIA Corporation.
//
// Copyright (c) 2008-2017 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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