include/PxConeLimitedConstraint.h

File members: include/PxConeLimitedConstraint.h

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#ifndef PX_CONE_LIMITED_CONSTRAINT_H
#define PX_CONE_LIMITED_CONSTRAINT_H

#include "foundation/PxVec3.h"
#include "foundation/PxVec4.h"

#if !PX_DOXYGEN
namespace physx
{
#endif

struct PxConeLimitedConstraint
{
    PxConeLimitedConstraint()
    {
        setToDefault();
    }

    PX_INLINE void setToDefault()
    {
        mAxis = PxVec3(0.f, 0.f, 0.f);
        mAngle = -1.f;
        mLowLimit = -1.f;
        mHighLimit = -1.f;
    }

    PX_INLINE bool isValid() const
    {
        //disabled
        if (mAngle < 0.f && mLowLimit < 0.f && mHighLimit < 0.f)
        {
            return true;
        }

        if (!mAxis.isNormalized())
        {
            return false;
        }

        //negative signifies that cone is disabled
        if (mAngle >= PxPi)
        {
            return false;
        }

        //negative signifies that distance limits are disabled
        if (mLowLimit > mHighLimit && mHighLimit >= 0.0f && mLowLimit >= 0.0f)
        {
            return false;
        }

        return true;
    }

    PxVec3 mAxis;
    PxReal mAngle;
    PxReal mLowLimit;
    PxReal mHighLimit;
};

PX_ALIGN_PREFIX(16)
struct PxConeLimitParams
{
    PX_CUDA_CALLABLE PxConeLimitParams() {}

    PX_CUDA_CALLABLE PxConeLimitParams(const PxConeLimitedConstraint& coneLimitedConstraint) :
        lowHighLimits(coneLimitedConstraint.mLowLimit, coneLimitedConstraint.mHighLimit, 0.0f, 0.0f),
        axisAngle(coneLimitedConstraint.mAxis, coneLimitedConstraint.mAngle)
    {
    }

    PxVec4 lowHighLimits; // [lowLimit, highLimit, unused, unused]
    PxVec4 axisAngle; // [axis.x, axis.y, axis.z, angle]
}PX_ALIGN_SUFFIX(16);

#if !PX_DOXYGEN
} // namespace physx
#endif

#endif