84 lines
3.4 KiB
C++
84 lines
3.4 KiB
C++
// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2025 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef DY_ISLAND_MANAGER_H
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#define DY_ISLAND_MANAGER_H
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// PT: low-level-dynamics client helper code for using the low-level island sim
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#include "PxsIslandSim.h"
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namespace physx
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{
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class PxsRigidBody;
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namespace Dy
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{
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class FeatherstoneArticulation;
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#if PX_SUPPORT_GPU_PHYSX
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class DeformableSurface;
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class DeformableVolume;
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class ParticleSystem;
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#endif
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}
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template <typename T>
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struct IGNodeTraits
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{
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enum {TypeID = IG::Node::eTYPE_COUNT };
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};
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template <typename T> struct IGNodeTraits<const T> { enum { TypeID = IGNodeTraits<T>::TypeID }; };
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template <> struct IGNodeTraits<PxsRigidBody> { enum { TypeID = IG::Node::eRIGID_BODY_TYPE }; };
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template <> struct IGNodeTraits<Dy::FeatherstoneArticulation> { enum { TypeID = IG::Node::eARTICULATION_TYPE }; };
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#if PX_SUPPORT_GPU_PHYSX
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template <> struct IGNodeTraits<Dy::DeformableSurface> { enum { TypeID = IG::Node::eDEFORMABLE_SURFACE_TYPE }; };
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template <> struct IGNodeTraits<Dy::DeformableVolume> { enum { TypeID = IG::Node::eDEFORMABLE_VOLUME_TYPE }; };
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template <> struct IGNodeTraits<Dy::ParticleSystem> { enum { TypeID = IG::Node::ePARTICLESYSTEM_TYPE }; };
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#endif
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template<class T>
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PX_FORCE_INLINE T* getObjectFromIG(const IG::Node& node)
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{
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PX_ASSERT(PxU32(node.mType) == PxU32(IGNodeTraits<T>::TypeID));
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return reinterpret_cast<T*>(node.mObject);
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}
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PX_FORCE_INLINE PxsRigidBody* getRigidBodyFromIG(const IG::IslandSim& islandSim, PxNodeIndex nodeIndex)
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{
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return reinterpret_cast<PxsRigidBody*>(islandSim.getObject(nodeIndex, IG::Node::eRIGID_BODY_TYPE));
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}
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PX_FORCE_INLINE Dy::FeatherstoneArticulation* getArticulationFromIG(const IG::IslandSim& islandSim, PxNodeIndex nodeIndex)
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{
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return reinterpret_cast<Dy::FeatherstoneArticulation*>(islandSim.getObject(nodeIndex, IG::Node::eARTICULATION_TYPE));
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}
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}
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#endif |