75 lines
3.9 KiB
C++
75 lines
3.9 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 PX_ARTICULATION_FLAG_H
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#define PX_ARTICULATION_FLAG_H
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#include "PxPhysXConfig.h"
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#include "foundation/PxFlags.h"
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#if !PX_DOXYGEN
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namespace physx
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{
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#endif
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/**
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\brief These flags determine what data is read or written to the internal articulation data via cache.
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\see PxArticulationCache PxArticulationReducedCoordinate::copyInternalStateToCache PxArticulationReducedCoordinate::applyCache
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*/
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class PxArticulationCacheFlag
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{
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public:
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enum Enum
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{
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eVELOCITY = (1 << 0), //!< The joint velocities, see PxArticulationCache::jointVelocity.
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eACCELERATION = (1 << 1), //!< The joint accelerations, see PxArticulationCache::jointAcceleration.
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ePOSITION = (1 << 2), //!< The joint positions, see PxArticulationCache::jointPosition.
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eFORCE = (1 << 3), //!< The joint forces, see PxArticulationCache::jointForce.
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eLINK_VELOCITY = (1 << 4), //!< The link velocities, see PxArticulationCache::linkVelocity. Link velocities cannot be set except for the root link velocity via PxArticulationCache::rootLinkData.
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eLINK_ACCELERATION = (1 << 5), //!< The link accelerations, see PxArticulationCache::linkAcceleration.
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eROOT_TRANSFORM = (1 << 6), //!< The root link transform, see PxArticulationCache::rootLinkData.
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eROOT_VELOCITIES = (1 << 7), //!< The root link velocities (read/write) and accelerations (read), see PxArticulationCache::rootLinkData.
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eLINK_INCOMING_JOINT_FORCE = (1 << 10), //!< The link incoming joint forces, see PxArticulationCache::linkIncomingJointForce.
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eJOINT_TARGET_POSITIONS = (1 << 11), //!< The joint target positions, see PxArticulationCache::jointTargetPositions.
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eJOINT_TARGET_VELOCITIES = (1 << 12), //!< The joint target velocities, see PxArticulationCache::jointTargetVelocities.
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eLINK_FORCE = (1 << 13), //!< The link forces, see PxArticulationCache::linkForce.
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eLINK_TORQUE = (1 << 14), //!< The link torques, see PxArticulationCache::linkTorque.
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eALL = (eVELOCITY | eACCELERATION | ePOSITION | eLINK_VELOCITY | eLINK_ACCELERATION | eROOT_TRANSFORM | eROOT_VELOCITIES)
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};
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};
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typedef PxFlags<PxArticulationCacheFlag::Enum, PxU32> PxArticulationCacheFlags;
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PX_FLAGS_OPERATORS(PxArticulationCacheFlag::Enum, PxU32)
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#if !PX_DOXYGEN
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}
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#endif
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#endif
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