include/PxConeLimitedConstraint.h
File members: include/PxConeLimitedConstraint.h
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#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