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physx/source/lowleveldynamics/src/DySolverExt.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 DY_SOLVEREXTBODY_H
#define DY_SOLVEREXTBODY_H
#include "foundation/PxVec3.h"
#include "foundation/PxTransform.h"
#include "CmPhysXCommon.h"
#include "CmSpatialVector.h"
#include "PsVecMath.h"
namespace physx
{
class PxsRigidBody;
struct PxsBodyCore;
struct PxSolverBody;
struct PxSolverBodyData;
namespace Dy
{
class ArticulationV;
struct SolverConstraint1D;
class SolverExtBody
{
public:
union
{
const ArticulationV* mArticulation;
const PxSolverBody* mBody;
};
const PxSolverBodyData* mBodyData;
PxU16 mLinkIndex;
SolverExtBody(const void* bodyOrArticulation, const void* bodyData, PxU16 linkIndex):
mBody(reinterpret_cast<const PxSolverBody*>(bodyOrArticulation)),
mBodyData(reinterpret_cast<const PxSolverBodyData*>(bodyData)),
mLinkIndex(linkIndex)
{}
void getResponse(const PxVec3& linImpulse, const PxVec3& angImpulse,
PxVec3& linDeltaV, PxVec3& angDeltaV, PxReal dominance) const;
void getResponse(const Ps::aos::Vec3V& linImpulse, const Ps::aos::Vec3V& angImpulse,
Ps::aos::Vec3V& linDeltaV, Ps::aos::Vec3V& angDeltaV, Ps::aos::FloatV dominance) const;
PxReal projectVelocity(const PxVec3& linear, const PxVec3& angular) const;
Ps::aos::FloatV projectVelocity(const Ps::aos::Vec3V& linear, const Ps::aos::Vec3V& angular) const;
PxVec3 getLinVel() const;
PxVec3 getAngVel() const;
Ps::aos::Vec3V getLinVelV() const;
Ps::aos::Vec3V getAngVelV() const;
Cm::SpatialVectorV getVelocity() const;
};
}
}
#endif //DY_SOLVEREXTBODY_H