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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) 2008-2012 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 #ifndef PX_JOINT_REPX_EXTENSIONS_H
00030 #define PX_JOINT_REPX_EXTENSIONS_H
00031 
00035 #include "RepX/RepX.h"
00036 #include "foundation/PxSimpleTypes.h"
00037 #include "extensions/PxD6Joint.h"
00038 #include "extensions/PxDistanceJoint.h"
00039 #include "extensions/PxFixedJoint.h"
00040 #include "extensions/PxPrismaticJoint.h"
00041 #include "extensions/PxRevoluteJoint.h"
00042 #include "extensions/PxSphericalJoint.h"
00043 #include "foundation/PxAssert.h"
00044 #include "foundation/PxString.h"
00045 #include "PxConstraintExt.h"
00046 #include "PxConstraint.h"
00047 
00048 namespace physx { namespace repx {
00049 
00050     class RepXCollection;
00051 
00052 
00053     //Id auto-generating function.
00054     PX_INLINE const void* getId( const PxJoint* inJoint )       { return inJoint; }
00055 
00056     //Mapping from datatype to repx extension name
00057     PX_INLINE const char* getExtensionNameForType( const PxD6Joint* )       { return "PxD6Joint"; }
00058     PX_INLINE const char* getExtensionNameForType( const PxDistanceJoint* ) { return "PxDistanceJoint"; }
00059     PX_INLINE const char* getExtensionNameForType( const PxFixedJoint* )    { return "PxFixedJoint"; }
00060     PX_INLINE const char* getExtensionNameForType( const PxPrismaticJoint* ){ return "PxPrismaticJoint"; }
00061     PX_INLINE const char* getExtensionNameForType( const PxRevoluteJoint* ) { return "PxRevoluteJoint"; }
00062     PX_INLINE const char* getExtensionNameForType( const PxSphericalJoint* ){ return "PxSphericalJoint"; }
00063     PX_INLINE const char* getExtensionNameForType( const PxJoint* inJoint )
00064     {
00065         if ( inJoint )
00066         {
00067             switch( inJoint->getType() )
00068             {
00069             case PxJointType::eD6: return getExtensionNameForType( static_cast<const PxD6Joint*>( inJoint ) );
00070             case PxJointType::eDISTANCE: return getExtensionNameForType( static_cast<const PxDistanceJoint*>( inJoint ) );
00071             case PxJointType::eFIXED: return getExtensionNameForType( static_cast<const PxFixedJoint*>( inJoint ) );
00072             case PxJointType::ePRISMATIC: return getExtensionNameForType( static_cast<const PxPrismaticJoint*>( inJoint ) );
00073             case PxJointType::eREVOLUTE: return getExtensionNameForType( static_cast<const PxRevoluteJoint*>( inJoint ) );
00074             case PxJointType::eSPHERICAL: return getExtensionNameForType( static_cast<const PxSphericalJoint*>( inJoint ) );
00075             default:
00076                 break;
00077             }
00078         }
00079         return "__unknown joint type__";
00080     }
00081     
00082     //Mapping from abstract pointer to specific point so that 
00083     //when converted to/from a void* we know exactly what we
00084     //are getting.
00085     PX_INLINE const void* getBasePtr( const PxJoint* inJoint )
00086     {
00087         if ( inJoint )
00088         {
00089             switch( inJoint->getType() )
00090             {
00091             case PxJointType::eD6: return static_cast<const PxD6Joint*>( inJoint );
00092             case PxJointType::eDISTANCE: return static_cast<const PxDistanceJoint*>( inJoint );
00093             case PxJointType::eFIXED: return static_cast<const PxFixedJoint*>( inJoint );
00094             case PxJointType::ePRISMATIC: return static_cast<const PxPrismaticJoint*>( inJoint );
00095             case PxJointType::eREVOLUTE: return static_cast<const PxRevoluteJoint*>( inJoint );
00096             case PxJointType::eSPHERICAL: return static_cast<const PxSphericalJoint*>( inJoint );
00097             default:
00098                 break;
00099             }
00100         }
00101         return NULL;
00102     }
00103     
00104     //Operator on the actual data underlying the generic type.
00105     template<typename TResultType, typename TOperator>
00106     PX_INLINE TResultType visitJointRepXObject( const TRepXId inId, void* inLiveObject, const char* inRepXExtensionName, TOperator inOperator )
00107     {
00108         if ( PxStricmp( inRepXExtensionName, getExtensionNameForType( (PxD6Joint*)NULL ) ) == 0 )
00109             return inOperator( inId, reinterpret_cast<PxD6Joint*>( inLiveObject ) );
00110         else if ( PxStricmp( inRepXExtensionName, getExtensionNameForType( (PxDistanceJoint*)NULL ) ) == 0 )
00111             return inOperator( inId, reinterpret_cast<PxDistanceJoint*>( inLiveObject ) );
00112         else if ( PxStricmp( inRepXExtensionName, getExtensionNameForType( (PxFixedJoint*)NULL ) ) == 0 )
00113             return inOperator( inId, reinterpret_cast<PxFixedJoint*>( inLiveObject ) );
00114         else if ( PxStricmp( inRepXExtensionName, getExtensionNameForType( (PxPrismaticJoint*)NULL ) ) == 0 )
00115             return inOperator( inId, reinterpret_cast<PxPrismaticJoint*>( inLiveObject ) );
00116         else if ( PxStricmp( inRepXExtensionName, getExtensionNameForType( (PxRevoluteJoint*)NULL ) ) == 0 )
00117             return inOperator( inId, reinterpret_cast<PxRevoluteJoint*>( inLiveObject ) );
00118         else if ( PxStricmp( inRepXExtensionName, getExtensionNameForType( (PxSphericalJoint*)NULL ) ) == 0 )
00119             return inOperator( inId, reinterpret_cast<PxSphericalJoint*>( inLiveObject ) );
00120         else
00121             return inOperator( inId, inLiveObject, inRepXExtensionName );
00122     }
00123     
00124 
00125     PX_INLINE RepXAddToCollectionResult addToRepXCollection( RepXCollection& inCollection, RepXIdToRepXObjectMap& inIdMap, const PxConstraint& inType )
00126     {
00127         PxU32 constraintType = 0;
00128         void* joint = const_cast<PxConstraint*>( &inType )->getExternalReference( constraintType );
00129         if ( constraintType == PxConstraintExtIDs::eJOINT )
00130         {
00131             PxJoint* theJoint = reinterpret_cast<PxJoint*>( joint );
00132             return inCollection.addRepXObjectToCollection( RepXObject( getExtensionNameForType( theJoint ), joint, static_cast<TRepXId>(reinterpret_cast<size_t>(joint)) ), inIdMap );
00133         }
00134         else //RepX doesn't support non-joint constraints.
00135         {
00136             return RepXAddToCollectionResult::InvalidParameters;
00137         }
00138     }
00139     
00140     PxU32 getNumJointExtensions();
00141     //The repx collection is responsible for freeing these extensions.
00142     PxU32 createJointExtensions( RepXExtension** outExtensions, PxU32 outBufferSize, PxAllocatorCallback& inCallback );
00143 
00144 }}
00145 
00147 #endif