PxConstraintDesc.h
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All rights reserved. 00029 00030 00031 #ifndef PX_PHYSICS_NX_CONSTRAINTDESC 00032 #define PX_PHYSICS_NX_CONSTRAINTDESC 00033 00038 #include "PxPhysXConfig.h" 00039 #include "foundation/PxFlags.h" 00040 #include "foundation/PxVec3.h" 00041 #include "common/PxBase.h" 00042 00043 #if !PX_DOXYGEN 00044 namespace physx { namespace pvdsdk { 00045 #endif 00046 class PvdDataStream; 00047 #if !PX_DOXYGEN 00048 }} 00049 #endif 00050 00051 #if !PX_DOXYGEN 00052 namespace physx 00053 { 00054 #endif 00055 00056 class PxConstraintConnector; 00057 class PxRigidActor; 00058 class PxScene; 00059 class PxConstraintConnector; 00060 class PxRenderBuffer; 00061 class PxDeletionListener; 00062 00069 struct Px1DConstraintFlag 00070 { 00071 PX_CUDA_CALLABLE Px1DConstraintFlag(){} 00072 00073 enum Type 00074 { 00075 eSPRING = 1<<0, 00076 eACCELERATION_SPRING = 1<<1, 00077 eRESTITUTION = 1<<2, 00078 eKEEPBIAS = 1<<3, 00079 eOUTPUT_FORCE = 1<<4, 00080 eHAS_DRIVE_LIMIT = 1<<5 00081 }; 00082 }; 00083 00084 typedef PxFlags<Px1DConstraintFlag::Type, PxU16> Px1DConstraintFlags; 00085 PX_FLAGS_OPERATORS(Px1DConstraintFlag::Type, PxU16) 00086 00087 00091 struct PxConstraintSolveHint 00092 { 00093 enum Enum 00094 { 00095 eNONE = 0, 00096 eACCELERATION1 = 256, 00097 eSLERP_SPRING = 258, 00098 eACCELERATION2 = 512, 00099 eACCELERATION3 = 768, 00100 eEQUALITY = 1024, 00101 eINEQUALITY = 1025 00102 }; 00103 }; 00104 00141 PX_ALIGN_PREFIX(16) 00142 struct Px1DConstraint 00143 { 00144 PxVec3 linear0; 00145 PxReal geometricError; 00146 PxVec3 angular0; 00147 PxReal velocityTarget; 00148 00149 PxVec3 linear1; 00150 PxReal minImpulse; 00151 PxVec3 angular1; 00152 PxReal maxImpulse; 00153 00154 union 00155 { 00156 struct SpringModifiers 00157 { 00158 PxReal stiffness; 00159 PxReal damping; 00160 } spring; 00161 struct RestitutionModifiers 00162 { 00163 PxReal restitution; 00164 PxReal velocityThreshold; 00165 } bounce; 00166 } mods; 00167 00168 PxReal forInternalUse; 00169 PxU16 flags; 00170 PxU16 solveHint; 00171 } 00172 PX_ALIGN_SUFFIX(16); 00173 00174 00180 struct PxConstraintVisualizationFlag 00181 { 00182 enum Enum 00183 { 00184 eLOCAL_FRAMES = 1, 00185 eLIMITS = 2 00186 }; 00187 }; 00188 00189 PX_ALIGN_PREFIX(16) 00190 struct PxConstraintInvMassScale 00191 { 00192 //= ATTENTION! ===================================================================================== 00193 // Changing the data layout of this class breaks the binary serialization format. See comments for 00194 // PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData 00195 // function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION 00196 // accordingly. 00197 //================================================================================================== 00198 00199 PxReal linear0; 00200 PxReal angular0; 00201 PxReal linear1; 00202 PxReal angular1; 00203 00204 PxConstraintInvMassScale(){} 00205 PxConstraintInvMassScale(PxReal lin0, PxReal ang0, PxReal lin1, PxReal ang1) : linear0(lin0), angular0(ang0), linear1(lin1), angular1(ang1){} 00206 } 00207 PX_ALIGN_SUFFIX(16); 00208 00227 typedef PxU32 (*PxConstraintSolverPrep)(Px1DConstraint* constraints, 00228 PxVec3& bodyAWorldOffset, 00229 PxU32 maxConstraints, 00230 PxConstraintInvMassScale& invMassScale, 00231 const void* constantBlock, 00232 const PxTransform& bodyAToWorld, 00233 const PxTransform& bodyBToWorld); 00234 00246 typedef void (*PxConstraintProject)(const void* constantBlock, 00247 PxTransform& bodyAToWorld, 00248 PxTransform& bodyBToWorld, 00249 bool projectToA); 00250 00254 class PxConstraintVisualizer 00255 { 00256 protected: 00257 virtual ~PxConstraintVisualizer(){} 00258 public: 00259 virtual void visualizeJointFrames( const PxTransform& parent, const PxTransform& child ) = 0; 00260 00261 virtual void visualizeLinearLimit( const PxTransform& t0, const PxTransform& t1, PxReal value, bool active ) = 0; 00262 00263 virtual void visualizeAngularLimit( const PxTransform& t0, PxReal lower, PxReal upper, bool active) = 0; 00264 00265 virtual void visualizeLimitCone( const PxTransform& t, PxReal ySwing, PxReal zSwing, bool active) = 0; 00266 00267 virtual void visualizeDoubleCone( const PxTransform& t, PxReal angle, bool active) = 0; 00268 00269 virtual void visualizeLine(const PxVec3& p0, const PxVec3& p1, PxU32 color) = 0; 00270 }; 00271 00284 typedef void (*PxConstraintVisualize)( PxConstraintVisualizer& visualizer, 00285 const void* constantBlock, 00286 const PxTransform& body0Transform, 00287 const PxTransform& body1Transform, 00288 PxU32 flags ); 00289 00290 00291 struct PxPvdUpdateType 00292 { 00293 enum Enum 00294 { 00295 CREATE_INSTANCE, 00296 RELEASE_INSTANCE, 00297 UPDATE_ALL_PROPERTIES, 00298 UPDATE_SIM_PROPERTIES 00299 }; 00300 }; 00301 00312 class PxConstraintConnector 00313 { 00314 public: 00320 virtual void* prepareData() = 0; 00321 00326 virtual bool updatePvdProperties(physx::pvdsdk::PvdDataStream& pvdConnection, 00327 const PxConstraint* c, 00328 PxPvdUpdateType::Enum updateType) const = 0; 00329 00342 virtual void onConstraintRelease() = 0; 00343 00351 virtual void onComShift(PxU32 actor) = 0; 00352 00365 virtual void onOriginShift(const PxVec3& shift) = 0; 00366 00379 virtual void* getExternalReference(PxU32& typeID) = 0; 00380 00381 00388 virtual PxBase* getSerializable() = 0; 00389 00393 virtual PxConstraintSolverPrep getPrep() const = 0; 00394 00398 virtual const void* getConstantBlock() const = 0; 00399 00400 00404 virtual ~PxConstraintConnector() {} 00405 }; 00406 00407 #if !PX_DOXYGEN 00408 } // namespace physx 00409 #endif 00410 00412 #endif
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