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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 #ifndef PX_PHYSICS_IMMEDIATE_MODE
00031 #define PX_PHYSICS_IMMEDIATE_MODE
00032 
00035 #include "PxPhysXConfig.h"
00036 #include "solver/PxSolverDefs.h"
00037 #include "collision/PxCollisionDefs.h"
00038 
00039 #if !PX_DOXYGEN
00040 namespace physx
00041 {
00042 #endif
00043 
00044 #if !PX_DOXYGEN
00045 namespace immediate
00046 {
00047 #endif
00048 
00052     struct PxRigidBodyData
00053     {
00054         PX_ALIGN(16, PxVec3 linearVelocity);                
00055         PxReal invMass;                                     
00056         PxVec3 angularVelocity;                             
00057         PxReal maxDepenetrationVelocity;                    
00058         PxVec3 invInertia;                                  
00059         PxReal maxContactImpulse;                           
00060         PxTransform body2World;                             
00061         PxReal linearDamping;                               
00062         PxReal angularDamping;                              
00063         PxReal maxLinearVelocitySq;                         
00064         PxReal maxAngularVelocitySq;                        
00065         PxU32 pad;                                          
00066     };
00067 
00071     class PxContactRecorder
00072     {
00073     public:
00081         virtual bool recordContacts(const Gu::ContactPoint* contactPoints, const PxU32 nbContacts, const PxU32 index) = 0;
00082 
00083         virtual ~PxContactRecorder(){}
00084     };
00085 
00094     PX_C_EXPORT PX_PHYSX_CORE_API void PxConstructSolverBodies(const PxRigidBodyData* inRigidData, PxSolverBodyData* outSolverBodyData, const PxU32 nbBodies, const PxVec3& gravity, const PxReal dt);
00095 
00101     PX_C_EXPORT PX_PHYSX_CORE_API void PxConstructStaticSolverBody(const PxTransform& globalPose,PxSolverBodyData& solverBodyData);
00102 
00118     PX_C_EXPORT PX_PHYSX_CORE_API PxU32 PxBatchConstraints(PxSolverConstraintDesc* solverConstraintDescs, const PxU32 nbConstraints, PxSolverBody* solverBodies, PxU32 nbBodies, PxConstraintBatchHeader* outBatchHeaders,
00119         PxSolverConstraintDesc* outOrderedConstraintDescs);
00120 
00139     PX_C_EXPORT PX_PHYSX_CORE_API bool PxCreateContactConstraints(PxConstraintBatchHeader* batchHeader, const PxU32 nbHeaders, PxSolverContactDesc* contactDescs,
00140         PxConstraintAllocator& allocator, PxReal invDt, PxReal bounceThreshold, PxReal frictionOffsetThreshold, PxReal correlationDistance);
00141 
00152     PX_C_EXPORT PX_PHYSX_CORE_API bool PxCreateJointConstraints(PxConstraintBatchHeader* batchHeader, const PxU32 nbHeaders, PxSolverConstraintPrepDesc* jointDescs, PxConstraintAllocator& allocator, PxReal dt, PxReal invDt);
00153 
00165     PX_C_EXPORT PX_PHYSX_CORE_API bool PxCreateJointConstraintsWithShaders(PxConstraintBatchHeader* batchHeader, const PxU32 nbBatchHeaders, PxConstraint** constraints, PxSolverConstraintPrepDesc* jointDescs, PxConstraintAllocator& allocator, PxReal dt, PxReal invDt);
00166 
00179     PX_C_EXPORT PX_PHYSX_CORE_API void PxSolveConstraints(PxConstraintBatchHeader* batchHeaders, const PxU32 nbBatchHeaders, PxSolverConstraintDesc* solverConstraintDescs, PxSolverBody* solverBodies,
00180         PxVec3* linearMotionVelocity, PxVec3* angularMotionVelocity, const PxU32 nbSolverBodies, const PxU32 nbPositionIterations, const PxU32 nbVelocityIterations);
00181 
00192     PX_C_EXPORT PX_PHYSX_CORE_API void PxIntegrateSolverBodies(PxSolverBodyData* solverBodyData, PxSolverBody* solverBody, const PxVec3* linearMotionVelocity, const PxVec3* angularMotionState, const PxU32 nbBodiesToIntegrate, PxReal dt);
00193 
00214     PX_C_EXPORT PX_PHYSX_CORE_API bool PxGenerateContacts(const PxGeometry* const * geom0, const PxGeometry* const * geom1, const PxTransform* pose0, const PxTransform* pose1, PxCache* contactCache, const PxU32 nbPairs, PxContactRecorder& contactRecorder,
00215         const PxReal contactDistance, const PxReal meshContactMargin, const PxReal toleranceLength, PxCacheAllocator& allocator);
00216 
00217 #if !PX_DOXYGEN
00218 }
00219 #endif
00220 
00221 
00222 #if !PX_DOXYGEN
00223 }
00224 #endif
00225 
00227 #endif
00228