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00020 // or patent rights of NVIDIA Corporation. Details are subject to change without notice.
00021 // This code supersedes and replaces all information previously supplied.
00022 // NVIDIA Corporation products are not authorized for use as critical
00023 // components in life support devices or systems without express written approval of
00024 // NVIDIA Corporation.
00025 //
00026 // Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved.
00027 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
00028 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
00029 
00030 
00031 #ifndef PX_PHYSICS_NX_CONSTRAINT
00032 #define PX_PHYSICS_NX_CONSTRAINT
00033 
00038 #include "PxPhysXConfig.h"
00039 #include "PxConstraintDesc.h"
00040 #include "common/PxBase.h"
00041 
00042 #if !PX_DOXYGEN
00043 namespace physx
00044 {
00045 #endif
00046 
00047 class PxRigidActor;
00048 class PxScene;
00049 class PxConstraintConnector;
00050 
00063 struct PxConstraintFlag
00064 {
00065     enum Enum
00066     {
00067         eBROKEN                     = 1<<0,         
00068         ePROJECT_TO_ACTOR0          = 1<<1,         
00069         ePROJECT_TO_ACTOR1          = 1<<2,         
00070         ePROJECTION                 = ePROJECT_TO_ACTOR0 | ePROJECT_TO_ACTOR1,  
00071         eCOLLISION_ENABLED          = 1<<3,         
00072         eVISUALIZATION              = 1<<4,         
00073         eDRIVE_LIMITS_ARE_FORCES    = 1<<5,         
00074         eIMPROVED_SLERP             = 1<<7,         
00075         eDISABLE_PREPROCESSING      = 1<<8,         
00076         eGPU_COMPATIBLE             = 1<<9          
00077     };
00078 };
00079 
00085 typedef PxFlags<PxConstraintFlag::Enum, PxU16> PxConstraintFlags;
00086 PX_FLAGS_OPERATORS(PxConstraintFlag::Enum, PxU16)
00087 
00088 
00089 struct PxConstraintShaderTable
00090 {
00091     enum
00092     {
00093         eMAX_SOLVERPRPEP_DATASIZE=400
00094     };
00095 
00096     PxConstraintSolverPrep          solverPrep;                 
00097     PxConstraintProject             project;                    
00098     PxConstraintVisualize           visualize;                  
00099     PxConstraintFlag::Enum          flag;                       
00100 };
00101 
00102 
00109 class PxConstraint : public PxBase
00110 {
00111 public:
00112 
00120     virtual void                release()                                                       = 0;
00121 
00129     virtual PxScene*            getScene()                                              const   = 0;
00130 
00140     virtual void                getActors(PxRigidActor*& actor0, PxRigidActor*& actor1) const   = 0;
00141 
00142 
00152     virtual void                setActors(PxRigidActor* actor0, PxRigidActor* actor1)           = 0;
00153 
00158     virtual void                markDirty()                                                     = 0;
00159 
00170     virtual void                setFlags(PxConstraintFlags flags)                               = 0;
00171 
00179     virtual PxConstraintFlags   getFlags()                                              const   = 0;
00180 
00181 
00191     virtual void                setFlag(PxConstraintFlag::Enum flag, bool value)                = 0;
00192 
00199     virtual void                getForce(PxVec3& linear, PxVec3& angular)               const   = 0;
00200 
00201 
00212     virtual bool                isValid() const                                                 = 0;
00213 
00224     virtual void                setBreakForce(PxReal linear, PxReal angular)                = 0;
00225 
00233     virtual void                getBreakForce(PxReal& linear, PxReal& angular)      const   = 0;
00234 
00235 
00250     virtual void                setMinResponseThreshold(PxReal threshold)                   = 0;
00251 
00258     virtual PxReal              getMinResponseThreshold()                           const   = 0;
00259 
00260 
00271     virtual void*               getExternalReference(PxU32& typeID)                         = 0;
00272 
00281     virtual void                setConstraintFunctions(PxConstraintConnector& connector,
00282                                                        const PxConstraintShaderTable& shaders)      = 0;
00283 
00284     virtual const char*         getConcreteTypeName() const { return "PxConstraint"; }
00285 
00286 protected:
00287     PX_INLINE                   PxConstraint(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags) {}
00288     PX_INLINE                   PxConstraint(PxBaseFlags baseFlags) : PxBase(baseFlags) {}
00289     virtual                     ~PxConstraint() {}
00290     virtual bool                isKindOf(const char* name) const { return !::strcmp("PxConstraint", name) || PxBase::isKindOf(name); }
00291 
00292 };
00293 
00294 #if !PX_DOXYGEN
00295 } // namespace physx
00296 #endif
00297 
00299 #endif