103 lines
4.9 KiB
C++
103 lines
4.9 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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#include "PxsSimulationController.h"
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#ifndef SC_SIMULATION_CONTROLLER_H
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#define SC_SIMULATION_CONTROLLER_H
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namespace physx
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{
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class PxsHeapMemoryAllocator;
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namespace Dy
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{
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class FeatherstoneArticulation;
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struct ArticulationJointCore;
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}
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namespace Sc
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{
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class SimulationController : public PxsSimulationController
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{
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PX_NOCOPY(SimulationController)
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public:
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SimulationController(PxsSimulationControllerCallback* callback): PxsSimulationController(callback)
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{
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}
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virtual ~SimulationController(){}
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virtual void addJoint(const PxU32 /*edgeIndex*/, Dy::Constraint* /*constraint*/, IG::IslandSim& /*islandSim*/, Ps::Array<PxU32>& /*jointIndices*/,
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Ps::Array<PxgSolverConstraintManagerConstants, Ps::VirtualAllocator>& /*managerIter*/, PxU32 /*uniqueId*/){}
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virtual void removeJoint(const PxU32 /*edgeIndex*/, Dy::Constraint* /*constraint*/, Ps::Array<PxU32>& /*jointIndices*/, IG::IslandSim& /*islandSim*/){}
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virtual void addShape(PxsShapeSim* /*shapeSim*/, const PxU32 /*index*/){}
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virtual void removeShape(const PxU32 /*index*/){}
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virtual void addDynamic(PxsRigidBody* /*rigidBody*/, const IG::NodeIndex& /*nodeIndex*/){}
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virtual void addDynamics(PxsRigidBody** /*rigidBody*/, const PxU32* /*nodeIndex*/, PxU32 /*nbBodies*/) {}
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virtual void addArticulation(Dy::ArticulationV* /*articulation*/, const IG::NodeIndex& /*nodeIndex*/){}
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virtual void releaseArticulation(Dy::ArticulationV* /*articulation*/, const IG::NodeIndex& /*nodeIndex*/) {}
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virtual void releaseDeferredArticulationIds(){}
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virtual void updateDynamic(const bool /*isArticulationLink*/, const IG::NodeIndex& /*nodeIndex*/) {}
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virtual void updateJoint(const PxU32 /*edgeIndex*/, Dy::Constraint* /*constraint*/){}
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virtual void updateBodies(PxsRigidBody** /*rigidBodies*/, PxU32* /*nodeIndices*/, const PxU32 /*nbBodies*/) {}
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virtual void updateBody(PxsRigidBody* /*rigidBody*/, const PxU32 /*nodeIndex*/) {}
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virtual void updateBodiesAndShapes(PxBaseTask* /*continuation*/){}
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virtual void update(const PxU32 /*bitMapWordCounts*/){}
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virtual void gpuDmabackData(PxsTransformCache& /*cache*/, Bp::BoundsArray& /*boundArray*/, Cm::BitMapPinned& /*changedAABBMgrHandles*/){}
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virtual void udpateScBodyAndShapeSim(PxsTransformCache& cache, Bp::BoundsArray& boundArray, PxBaseTask* continuation);
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virtual void updateArticulation(Dy::ArticulationV* /*articulation*/, const IG::NodeIndex& /*nodeIndex*/) {}
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virtual void updateArticulationJoint(Dy::ArticulationV* /*articulation*/, const IG::NodeIndex& /*nodeIndex*/) {}
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virtual PxU32* getActiveBodies() { return NULL; }
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virtual PxU32* getDeactiveBodies() { return NULL; }
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virtual void** getRigidBodies() { return NULL; }
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virtual PxU32 getNbBodies() { return 0; }
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virtual PxU32 getNbFrozenShapes() { return 0; }
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virtual PxU32 getNbUnfrozenShapes() { return 0; }
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virtual PxU32* getUnfrozenShapes() { return NULL; }
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virtual PxU32* getFrozenShapes() { return NULL; }
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virtual PxsShapeSim** getShapeSims() { return NULL; }
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virtual PxU32 getNbShapes() { return 0; }
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virtual void clear() { }
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virtual void setBounds(Bp::BoundsArray* /*boundArray*/){}
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virtual void reserve(const PxU32 /*nbBodies*/) {}
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virtual PxU32 getArticulationRemapIndex(const PxU32 /*nodeIndex*/) { return PX_INVALID_U32;}
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};
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}
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}
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#endif
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