103 lines
4.1 KiB
C++
103 lines
4.1 KiB
C++
// 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) 2008-2025 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 SC_CONSTRAINT_SIM_H
|
|
#define SC_CONSTRAINT_SIM_H
|
|
|
|
#include "foundation/PxArray.h"
|
|
#include "PxSimulationEventCallback.h"
|
|
#include "DyConstraint.h"
|
|
|
|
namespace physx
|
|
{
|
|
namespace Sc
|
|
{
|
|
class Scene;
|
|
class ConstraintInteraction;
|
|
class ConstraintCore;
|
|
class RigidCore;
|
|
class BodySim;
|
|
class RigidSim;
|
|
|
|
class ConstraintSim
|
|
{
|
|
PX_NOCOPY(ConstraintSim)
|
|
public:
|
|
enum Enum
|
|
{
|
|
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 setBodies(RigidCore* r0, RigidCore* r1);
|
|
|
|
void setBreakForceLL(PxReal linear, PxReal angular);
|
|
PX_FORCE_INLINE void setMinResponseThresholdLL(PxReal threshold) { mLowLevelConstraint.minResponseThreshold = threshold; }
|
|
PX_FORCE_INLINE const void* getConstantsLL() const { return mLowLevelConstraint.constantBlock; }
|
|
|
|
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];
|
|
}
|
|
|
|
void getForce(PxVec3& force, PxVec3& torque);
|
|
|
|
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; }
|
|
PX_FORCE_INLINE PxU32 isBroken() const { return PxU32(mFlags) & ConstraintSim::eBROKEN; }
|
|
|
|
PX_FORCE_INLINE const ConstraintInteraction* getInteraction() const { return mInteraction; }
|
|
|
|
PxConstraintGPUIndex getGPUIndex() const;
|
|
|
|
private:
|
|
bool createLLConstraint();
|
|
void destroyLLConstraint();
|
|
|
|
Dy::Constraint mLowLevelConstraint;
|
|
Scene& mScene;
|
|
ConstraintCore& mCore;
|
|
ConstraintInteraction* mInteraction; // PT: why do we have an interaction object here?
|
|
BodySim* mBodies[2];
|
|
PxU8 mFlags;
|
|
};
|
|
} // namespace Sc
|
|
|
|
}
|
|
|
|
#endif
|