212 lines
6.2 KiB
C++
212 lines
6.2 KiB
C++
// 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_PHYSICS_NX_CONSTRAINT
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#define PX_PHYSICS_NX_CONSTRAINT
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/** \addtogroup physics
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@{
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*/
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#include "PxPhysX.h"
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#include "PxConstraintDesc.h"
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#include "common/PxSerialFramework.h"
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#ifndef PX_DOXYGEN
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namespace physx
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{
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#endif
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class PxRigidActor;
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class PxScene;
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class PxConstraintConnector;
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/**
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\brief a table of function pointers for a constraint
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@see PxConstraint
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*/
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struct PxConstraintShaderTable
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{
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enum
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{
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eMAX_SOLVERPREPSPU_BYTESIZE=19056
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};
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enum
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{
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eMAX_SOLVERPRPEP_DATASIZE=364
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};
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PxConstraintSolverPrep solverPrep; //< solver constraint generation function
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void* solverPrepSpu; //< spu-optimized solver constraint generation function
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PxU32 solverPrepSpuByteSize; //< code size of the spu-optimized solver constraint generation function
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PxConstraintProject project; //< constraint projection function
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PxConstraintVisualize visualize; //< constraint visualization function
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};
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/**
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\brief a plugin class for implementing constraints
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@see PxConstraint
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*/
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class PxConstraint : public PxSerializable
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{
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public:
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virtual void release() = 0;
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/**
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\brief Retrieves the scene which this constraint belongs to.
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\return Owner Scene. NULL if not part of a scene.
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@see PxScene
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*/
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virtual PxScene* getScene() const = 0;
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/**
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\brief Retrieves the actors for this constraint.
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\param[out] actor0 a reference to the pointer for the first actor
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\param[out] actor1 a reference to the pointer for the second actor
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@see PxActor
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*/
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virtual void getActors(PxRigidActor*& actor0, PxRigidActor*& actor1) const = 0;
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/**
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\brief Sets the actors for this constraint.
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\param[in] actor0 a reference to the pointer for the first actor
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\param[in] actor1 a reference to the pointer for the second actor
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@see PxActor
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*/
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virtual void setActors(PxRigidActor* actor0, PxRigidActor* actor1) = 0;
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/**
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\brief Notify the scene that the constraint shader data has been updated by the application
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*/
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virtual void markDirty() = 0;
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/**
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\brief Set the flags for this constraint
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\param[in] flags the new constraint flags
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@see PxConstraintFlags
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*/
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virtual void setFlags(PxConstraintFlags flags) = 0;
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/**
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\brief Retrieve the flags for this constraint
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\return the constraint flags
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@see PxConstraintFlags
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*/
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virtual PxConstraintFlags getFlags() const = 0;
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/**
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\brief Retrieve the constraint force most recently applied to maintain this constraint.
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\param[out] linear the constraint force
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\param[out] angular the constraint torque
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*/
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virtual void getForce(PxVec3& linear, PxVec3& angular) const = 0;
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/**
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\brief Set the break force and torque thresholds for this constraint.
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If either the force or torque measured at the constraint exceed these thresholds the constraint will break.
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\param[in] linear the linear break threshold
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\param[in] angular the angular break threshold
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*/
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virtual void setBreakForce(PxReal linear, PxReal angular) = 0;
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/**
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\brief Retrieve the constraint break force and torque thresholds
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\param[out] linear the linear break threshold
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\param[out] angular the angular break threshold
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*/
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virtual void getBreakForce(PxReal& linear, PxReal& angular) const = 0;
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/**
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\brief Fetch external owner of the constraint.
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Provides a reference to the external owner of a constraint and a unique owner type ID.
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\param[out] typeID Unique type identifier of the external object.
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\return Reference to the external object which owns the constraint.
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@see PxConstraintConnector.getExternalReference()
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*/
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virtual void* getExternalReference(PxU32& typeID) = 0;
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/**
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\brief Set the constraint functions for this constraint
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\param[in] connector the constraint connector object by which the SDK communicates with the constraint.
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\param[in] shaders the shader table for the constraint
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@see PxConstraintConnector PxConstraintSolverPrep PxConstraintProject PxConstraintVisualize
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*/
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virtual void setConstraintFunctions(PxConstraintConnector& connector,
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const PxConstraintShaderTable& shaders) = 0;
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virtual const char* getConcreteTypeName() const { return "PxConstraint"; }
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protected:
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PxConstraint() {}
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PxConstraint(PxRefResolver& v) : PxSerializable(v) {}
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virtual ~PxConstraint() {}
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virtual bool isKindOf(const char* name) const { return !strcmp("PxConstraint", name) || PxSerializable::isKindOf(name); }
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};
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#ifndef PX_DOXYGEN
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} // namespace physx
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#endif
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/** @} */
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#endif
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