PxConstraint.h

Go to the documentation of this file.

/*
 * Copyright (c) 2008-2015, NVIDIA CORPORATION.  All rights reserved.
 *
 * NVIDIA CORPORATION and its licensors retain all intellectual property
 * and proprietary rights in and to this software, related documentation
 * and any modifications thereto.  Any use, reproduction, disclosure or
 * distribution of this software and related documentation without an express
 * license agreement from NVIDIA CORPORATION is strictly prohibited.
 */
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  


#ifndef PX_PHYSICS_NX_CONSTRAINT
#define PX_PHYSICS_NX_CONSTRAINT

#include "PxPhysXConfig.h"
#include "PxConstraintDesc.h"
#include "common/PxBase.h"

#ifndef PX_DOXYGEN
namespace physx
{
#endif

class PxRigidActor;
class PxScene;
class PxConstraintConnector;

struct PxConstraintFlag
{
    enum Enum
    {
        eBROKEN                     = 1<<0,         
        ePROJECT_TO_ACTOR0          = 1<<1,         
        ePROJECT_TO_ACTOR1          = 1<<2,         
        ePROJECTION                 = ePROJECT_TO_ACTOR0 | ePROJECT_TO_ACTOR1,  
        eCOLLISION_ENABLED          = 1<<3,         
        eREPORTING                  = 1<<4,         
        eVISUALIZATION              = 1<<5,         
        eDRIVE_LIMITS_ARE_FORCES    = 1<<6,         
        eDEPRECATED_32_COMPATIBILITY= 1<<7,         
        eIMPROVED_SLERP             = 1<<8          
    };
};

typedef PxFlags<PxConstraintFlag::Enum, PxU16> PxConstraintFlags;
PX_FLAGS_OPERATORS(PxConstraintFlag::Enum, PxU16)


struct PxConstraintShaderTable
{
    enum
    {
        eMAX_SOLVERPREPSPU_BYTESIZE=19056
    };

    enum
    {
        eMAX_SOLVERPRPEP_DATASIZE=400
    };

    PxConstraintSolverPrep          solverPrep;                 //< solver constraint generation function
    void*                           solverPrepSpu;              //< spu-optimized solver constraint generation function
    PxU32                           solverPrepSpuByteSize;      //< code size of the spu-optimized solver constraint generation function
    PxConstraintProject             project;                    //< constraint projection function
    PxConstraintVisualize           visualize;                  //< constraint visualization function
};


class PxConstraint : public PxBase
{
public:

    virtual void                release()                                                       = 0;

    virtual PxScene*            getScene()                                              const   = 0;

    virtual void                getActors(PxRigidActor*& actor0, PxRigidActor*& actor1) const   = 0;


    virtual void                setActors(PxRigidActor* actor0, PxRigidActor* actor1)           = 0;

    virtual void                markDirty()                                                     = 0;

    virtual void                setFlags(PxConstraintFlags flags)                               = 0;

    virtual PxConstraintFlags   getFlags()                                              const   = 0;


    virtual void                setFlag(PxConstraintFlag::Enum flag, bool value)                = 0;

    virtual void                getForce(PxVec3& linear, PxVec3& angular)               const   = 0;


    virtual bool                isValid() const                                                 = 0;

    virtual void                setBreakForce(PxReal linear, PxReal angular)                = 0;

    virtual void                getBreakForce(PxReal& linear, PxReal& angular)      const   = 0;


    virtual void*               getExternalReference(PxU32& typeID)                         = 0;

    virtual void                setConstraintFunctions(PxConstraintConnector& connector,
                                                       const PxConstraintShaderTable& shaders)      = 0;

    virtual const char*         getConcreteTypeName() const { return "PxConstraint"; }

protected:
    PX_INLINE                   PxConstraint(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags) {}
    PX_INLINE                   PxConstraint(PxBaseFlags baseFlags) : PxBase(baseFlags) {}
    virtual                     ~PxConstraint() {}
    virtual bool                isKindOf(const char* name) const { return !strcmp("PxConstraint", name) || PxBase::isKindOf(name); }

};

#ifndef PX_DOXYGEN
} // namespace physx
#endif

#endif