96 lines
3.1 KiB
C++
96 lines
3.1 KiB
C++
//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2021 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 DY_SOLVEREXTBODY_H
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#define DY_SOLVEREXTBODY_H
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#include "foundation/PxVec3.h"
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#include "foundation/PxTransform.h"
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#include "CmPhysXCommon.h"
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#include "CmSpatialVector.h"
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#include "PsVecMath.h"
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namespace physx
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{
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class PxsRigidBody;
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struct PxsBodyCore;
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struct PxSolverBody;
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struct PxSolverBodyData;
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namespace Dy
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{
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class ArticulationV;
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struct SolverConstraint1D;
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class SolverExtBody
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{
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public:
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union
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{
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const ArticulationV* mArticulation;
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const PxSolverBody* mBody;
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};
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const PxSolverBodyData* mBodyData;
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PxU16 mLinkIndex;
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SolverExtBody(const void* bodyOrArticulation, const void* bodyData, PxU16 linkIndex):
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mBody(reinterpret_cast<const PxSolverBody*>(bodyOrArticulation)),
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mBodyData(reinterpret_cast<const PxSolverBodyData*>(bodyData)),
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mLinkIndex(linkIndex)
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{}
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void getResponse(const PxVec3& linImpulse, const PxVec3& angImpulse,
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PxVec3& linDeltaV, PxVec3& angDeltaV, PxReal dominance) const;
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void getResponse(const Ps::aos::Vec3V& linImpulse, const Ps::aos::Vec3V& angImpulse,
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Ps::aos::Vec3V& linDeltaV, Ps::aos::Vec3V& angDeltaV, Ps::aos::FloatV dominance) const;
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PxReal projectVelocity(const PxVec3& linear, const PxVec3& angular) const;
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Ps::aos::FloatV projectVelocity(const Ps::aos::Vec3V& linear, const Ps::aos::Vec3V& angular) const;
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PxVec3 getLinVel() const;
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PxVec3 getAngVel() const;
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Ps::aos::Vec3V getLinVelV() const;
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Ps::aos::Vec3V getAngVelV() const;
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Cm::SpatialVectorV getVelocity() const;
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};
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}
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}
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#endif //DY_SOLVEREXTBODY_H
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