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physx/source/lowleveldynamics/include/DyArticulationCore.h Normal file
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//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
// * Neither the name of NVIDIA CORPORATION nor the names of its
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#ifndef PXDV_ARTICULATION_CORE_H
#define PXDV_ARTICULATION_CORE_H
#include "PxArticulationReducedCoordinate.h"
namespace physx
{
namespace Dy
{
struct ArticulationCore
{
//= ATTENTION! =====================================================================================
// Changing the data layout of this class breaks the binary serialization format. See comments for
// PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData
// function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
// accordingly.
//==================================================================================================
PxU32 internalDriveIterations;
PxU32 externalDriveIterations;
PxU32 maxProjectionIterations;
PxU16 solverIterationCounts; //KS - made a U16 so that it matches PxsRigidCore
PxReal separationTolerance;
PxReal sleepThreshold;
PxReal freezeThreshold;
PxReal wakeCounter;
PxArticulationFlags flags;
};
struct ArticulationJointCoreDirtyFlag
{
enum Enum
{
eNONE = 0,
eMOTION = 1 << 0,
ePOSE = 1 << 1,
eTARGETPOSE = 1 << 2,
eTARGETVELOCITY = 1 << 3,
eLIMIT = 1 << 4,
eDRIVE = 1 << 5,
eALL = eMOTION | ePOSE | eTARGETPOSE | eTARGETVELOCITY
};
};
typedef PxFlags<ArticulationJointCoreDirtyFlag::Enum, PxU8> ArticulationJointCoreDirtyFlags;
PX_FLAGS_OPERATORS(ArticulationJointCoreDirtyFlag::Enum, PxU8)
}
}
#endif