include/PxConstraint.h
File members: include/PxConstraint.h
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// Copyright (c) 2008-2024 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_CONSTRAINT_H
#define PX_CONSTRAINT_H
#include "PxPhysXConfig.h"
#include "PxConstraintDesc.h"
#include "common/PxBase.h"
#include "PxResidual.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
class PxRigidActor;
class PxScene;
class PxConstraintConnector;
struct PxConstraintFlag
{
enum Enum
{
eBROKEN = 1<<0,
eCOLLISION_ENABLED = 1<<3,
eVISUALIZATION = 1<<4,
eDRIVE_LIMITS_ARE_FORCES = 1<<5,
eIMPROVED_SLERP = 1<<7,
eDISABLE_PREPROCESSING = 1<<8,
eENABLE_EXTENDED_LIMITS = 1<<9,
eGPU_COMPATIBLE = 1<<10,
eALWAYS_UPDATE = 1<<11,
eDISABLE_CONSTRAINT = 1<<12
};
};
typedef PxFlags<PxConstraintFlag::Enum, PxU16> PxConstraintFlags;
PX_FLAGS_OPERATORS(PxConstraintFlag::Enum, PxU16)
struct PxConstraintShaderTable
{
PxConstraintSolverPrep solverPrep;
PxConstraintVisualize visualize;
PxConstraintFlag::Enum flag;
};
class PxConstraint : public PxBase
{
public:
virtual void release() = 0;
virtual PxScene* getScene() const = 0;
virtual void getActors(PxRigidActor*& actor0, PxRigidActor*& actor1) const = 0;
virtual void setActors(PxRigidActor* actor0, PxRigidActor* actor1) = 0;
virtual void markDirty() = 0;
virtual PxConstraintFlags getFlags() const = 0;
virtual void setFlags(PxConstraintFlags flags) = 0;
virtual void setFlag(PxConstraintFlag::Enum flag, bool value) = 0;
virtual void getForce(PxVec3& linear, PxVec3& angular) const = 0;
virtual bool isValid() const = 0;
virtual void setBreakForce(PxReal linear, PxReal angular) = 0;
virtual void getBreakForce(PxReal& linear, PxReal& angular) const = 0;
virtual void setMinResponseThreshold(PxReal threshold) = 0;
virtual PxReal getMinResponseThreshold() const = 0;
virtual void* getExternalReference(PxU32& typeID) = 0;
virtual void setConstraintFunctions(PxConstraintConnector& connector, const PxConstraintShaderTable& shaders) = 0;
virtual const char* getConcreteTypeName() const PX_OVERRIDE { return "PxConstraint"; }
virtual PxConstraintResidual getSolverResidual() const = 0;
void* userData;
protected:
PX_INLINE PxConstraint(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags), userData(NULL) {}
PX_INLINE PxConstraint(PxBaseFlags baseFlags) : PxBase(baseFlags), userData(NULL) {}
virtual ~PxConstraint() {}
virtual bool isKindOf(const char* name) const PX_OVERRIDE { PX_IS_KIND_OF(name, "PxConstraint", PxBase); }
};
#if !PX_DOXYGEN
} // namespace physx
#endif
#endif