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physx/source/simulationcontroller/include/ScConstraintCore.h

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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 PX_PHYSICS_CONSTRAINTCORE
+#define PX_PHYSICS_CONSTRAINTCORE
+
+#include "CmPhysXCommon.h"
+#include "PxConstraintDesc.h"
+#include "PsAllocator.h"
+#include "PxConstraint.h"
+
+namespace physx
+{
+
+class PxConstraint;
+
+namespace Sc
+{
+	class ConstraintCore;
+	class ConstraintSim;
+	class RigidCore;
+
+
+	class ConstraintCore : public Ps::UserAllocated	
+	{
+	//= 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.
+	//==================================================================================================
+	public:
+// PX_SERIALIZATION
+											ConstraintCore(const PxEMPTY) : mFlags(PxEmpty), mConnector(NULL), mSim(NULL)	{}
+	PX_FORCE_INLINE	void					setConstraintFunctions(PxConstraintConnector& n,
+																   const PxConstraintShaderTable& shaders)
+											{ 
+												mConnector = &n;	
+												mSolverPrep = shaders.solverPrep;
+												mProject = shaders.project;
+												mVisualize = shaders.visualize;
+											}
+		static		void					getBinaryMetaData(PxOutputStream& stream);
+//~PX_SERIALIZATION
+											ConstraintCore(PxConstraintConnector& connector, const PxConstraintShaderTable& shaders, PxU32 dataSize);
+											~ConstraintCore();
+
+					// The two-step protocol here allows us to unlink the constraint prior to deleting
+					// the actors when synchronizing the scene, then set the bodies after new actors have been inserted
+
+					void					prepareForSetBodies();
+					void					setBodies(RigidCore* r0v, RigidCore* r1v);
+
+					PxConstraint*			getPxConstraint();
+					const PxConstraint*		getPxConstraint()									const;
+	PX_FORCE_INLINE	PxConstraintConnector*	getPxConnector()									const	{ return mConnector;	}
+
+	PX_FORCE_INLINE	PxConstraintFlags		getFlags()											const	{ return mFlags;	}
+					void					setFlags(PxConstraintFlags flags);
+
+					void					getForce(PxVec3& force, PxVec3& torque)				const;
+
+					bool					updateConstants(void* addr); 
+
+					void					setBreakForce(PxReal linear, PxReal angular);
+					void					getBreakForce(PxReal& linear, PxReal& angular)	const;
+
+					void					setMinResponseThreshold(PxReal threshold);
+					PxReal					getMinResponseThreshold()							const	{ return mMinResponseThreshold; }
+
+					void					breakApart();
+
+	PX_FORCE_INLINE	PxConstraintVisualize	getVisualize()										const	{ return mVisualize;				}
+	PX_FORCE_INLINE	PxConstraintProject		getProject()										const	{ return mProject;					}
+	PX_FORCE_INLINE	PxConstraintSolverPrep	getSolverPrep()										const	{ return mSolverPrep;				}
+	PX_FORCE_INLINE	PxU32					getConstantBlockSize()								const	{ return mDataSize;					}
+
+	PX_FORCE_INLINE	void					setSim(ConstraintSim* sim)
+											{
+												PX_ASSERT((sim==0) ^ (mSim == 0));
+												mSim = sim;
+											}
+	PX_FORCE_INLINE	ConstraintSim*			getSim()											const	{ return mSim;	}
+	private:
+					PxConstraintFlags		mFlags;
+					PxU16					mPaddingFromFlags;	// PT: because flags are PxU16
+
+					PxVec3					mAppliedForce;
+					PxVec3					mAppliedTorque;
+
+					PxConstraintConnector*	mConnector;
+					PxConstraintProject		mProject;
+					PxConstraintSolverPrep	mSolverPrep;
+					PxConstraintVisualize	mVisualize;
+					PxU32					mDataSize;
+					PxReal					mLinearBreakForce;
+					PxReal					mAngularBreakForce;
+					PxReal					mMinResponseThreshold;
+
+					ConstraintSim*			mSim;
+	};
+
+} // namespace Sc
+
+}
+
+#endif