PxImmediateMode.h
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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
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