148 lines
7.0 KiB
C
148 lines
7.0 KiB
C
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// This code contains NVIDIA Confidential Information and is disclosed to you
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// under a form of NVIDIA software license agreement provided separately to you.
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//
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// Notice
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// NVIDIA Corporation and its licensors retain all intellectual property and
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// proprietary rights in and to this software and related documentation and
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// any modifications thereto. Any use, reproduction, disclosure, or
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// distribution of this software and related documentation without an express
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// license agreement from NVIDIA Corporation is strictly prohibited.
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//
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// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
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// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
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// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
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// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
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//
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// Information and code furnished is believed to be accurate and reliable.
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// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
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// information or for any infringement of patents or other rights of third parties that may
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// result from its use. No license is granted by implication or otherwise under any patent
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// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
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// This code supersedes and replaces all information previously supplied.
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// NVIDIA Corporation products are not authorized for use as critical
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// components in life support devices or systems without express written approval of
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// NVIDIA Corporation.
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//
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// Copyright (c) 2008-2013 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef PX_JOINT_REPX_EXTENSIONS_H
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#define PX_JOINT_REPX_EXTENSIONS_H
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/** \addtogroup extensions
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@{
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*/
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#include "RepX/RepX.h"
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#include "foundation/PxSimpleTypes.h"
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#include "extensions/PxD6Joint.h"
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#include "extensions/PxDistanceJoint.h"
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#include "extensions/PxFixedJoint.h"
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#include "extensions/PxPrismaticJoint.h"
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#include "extensions/PxRevoluteJoint.h"
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#include "extensions/PxSphericalJoint.h"
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#include "foundation/PxAssert.h"
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#include "foundation/PxString.h"
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#include "PxConstraintExt.h"
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#include "PxConstraint.h"
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namespace physx { namespace repx {
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class RepXCollection;
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//Id auto-generating function.
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PX_INLINE const void* getId( const PxJoint* inJoint ) { return inJoint; }
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//Mapping from datatype to repx extension name
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PX_INLINE const char* getExtensionNameForType( const PxD6Joint* ) { return "PxD6Joint"; }
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PX_INLINE const char* getExtensionNameForType( const PxDistanceJoint* ) { return "PxDistanceJoint"; }
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PX_INLINE const char* getExtensionNameForType( const PxFixedJoint* ) { return "PxFixedJoint"; }
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PX_INLINE const char* getExtensionNameForType( const PxPrismaticJoint* ){ return "PxPrismaticJoint"; }
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PX_INLINE const char* getExtensionNameForType( const PxRevoluteJoint* ) { return "PxRevoluteJoint"; }
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PX_INLINE const char* getExtensionNameForType( const PxSphericalJoint* ){ return "PxSphericalJoint"; }
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PX_INLINE const char* getExtensionNameForType( const PxJoint* inJoint )
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{
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if ( inJoint )
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{
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switch( inJoint->getType() )
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{
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case PxJointType::eD6: return getExtensionNameForType( static_cast<const PxD6Joint*>( inJoint ) );
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case PxJointType::eDISTANCE: return getExtensionNameForType( static_cast<const PxDistanceJoint*>( inJoint ) );
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case PxJointType::eFIXED: return getExtensionNameForType( static_cast<const PxFixedJoint*>( inJoint ) );
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case PxJointType::ePRISMATIC: return getExtensionNameForType( static_cast<const PxPrismaticJoint*>( inJoint ) );
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case PxJointType::eREVOLUTE: return getExtensionNameForType( static_cast<const PxRevoluteJoint*>( inJoint ) );
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case PxJointType::eSPHERICAL: return getExtensionNameForType( static_cast<const PxSphericalJoint*>( inJoint ) );
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default:
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break;
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}
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}
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return "__unknown joint type__";
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}
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//Mapping from abstract pointer to specific point so that
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//when converted to/from a void* we know exactly what we
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//are getting.
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PX_INLINE const void* getBasePtr( const PxJoint* inJoint )
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{
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if ( inJoint )
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{
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switch( inJoint->getType() )
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{
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case PxJointType::eD6: return static_cast<const PxD6Joint*>( inJoint );
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case PxJointType::eDISTANCE: return static_cast<const PxDistanceJoint*>( inJoint );
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case PxJointType::eFIXED: return static_cast<const PxFixedJoint*>( inJoint );
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case PxJointType::ePRISMATIC: return static_cast<const PxPrismaticJoint*>( inJoint );
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case PxJointType::eREVOLUTE: return static_cast<const PxRevoluteJoint*>( inJoint );
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case PxJointType::eSPHERICAL: return static_cast<const PxSphericalJoint*>( inJoint );
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default:
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break;
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}
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}
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return NULL;
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}
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//Operator on the actual data underlying the generic type.
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template<typename TResultType, typename TOperator>
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PX_INLINE TResultType visitJointRepXObject( const TRepXId inId, void* inLiveObject, const char* inRepXExtensionName, TOperator inOperator )
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{
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if ( PxStricmp( inRepXExtensionName, getExtensionNameForType( (PxD6Joint*)NULL ) ) == 0 )
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return inOperator( inId, reinterpret_cast<PxD6Joint*>( inLiveObject ) );
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else if ( PxStricmp( inRepXExtensionName, getExtensionNameForType( (PxDistanceJoint*)NULL ) ) == 0 )
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return inOperator( inId, reinterpret_cast<PxDistanceJoint*>( inLiveObject ) );
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else if ( PxStricmp( inRepXExtensionName, getExtensionNameForType( (PxFixedJoint*)NULL ) ) == 0 )
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return inOperator( inId, reinterpret_cast<PxFixedJoint*>( inLiveObject ) );
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else if ( PxStricmp( inRepXExtensionName, getExtensionNameForType( (PxPrismaticJoint*)NULL ) ) == 0 )
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return inOperator( inId, reinterpret_cast<PxPrismaticJoint*>( inLiveObject ) );
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else if ( PxStricmp( inRepXExtensionName, getExtensionNameForType( (PxRevoluteJoint*)NULL ) ) == 0 )
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return inOperator( inId, reinterpret_cast<PxRevoluteJoint*>( inLiveObject ) );
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else if ( PxStricmp( inRepXExtensionName, getExtensionNameForType( (PxSphericalJoint*)NULL ) ) == 0 )
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return inOperator( inId, reinterpret_cast<PxSphericalJoint*>( inLiveObject ) );
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else
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return inOperator( inId, inLiveObject, inRepXExtensionName );
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}
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PX_INLINE RepXAddToCollectionResult addToRepXCollection( RepXCollection& inCollection, RepXIdToRepXObjectMap& inIdMap, const PxConstraint& inType )
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{
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PxU32 constraintType = 0;
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void* joint = const_cast<PxConstraint*>( &inType )->getExternalReference( constraintType );
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if ( constraintType == PxConstraintExtIDs::eJOINT )
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{
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PxJoint* theJoint = reinterpret_cast<PxJoint*>( joint );
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return inCollection.addRepXObjectToCollection( RepXObject( getExtensionNameForType( theJoint ), joint, static_cast<TRepXId>(reinterpret_cast<size_t>(joint)) ), inIdMap );
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}
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else //RepX doesn't support non-joint constraints.
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{
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return RepXAddToCollectionResult::InvalidParameters;
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}
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}
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PxU32 getNumJointExtensions();
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//The repx collection is responsible for freeing these extensions.
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PxU32 createJointExtensions( RepXExtension** outExtensions, PxU32 outBufferSize, PxAllocatorCallback& inCallback );
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}}
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/** @} */
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#endif
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