include/PxDirectGPUAPI.h
File members: include/PxDirectGPUAPI.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_DIRECT_GPU_API_H
#define PX_DIRECT_GPU_API_H
#include "cudamanager/PxCudaTypes.h"
#include "foundation/PxVec4.h"
#include "foundation/PxSimpleTypes.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
class PxRigidDynamicGPUAPIReadType
{
public:
enum Enum
{
eGLOBAL_POSE = 0,
eLINEAR_VELOCITY,
eANGULAR_VELOCITY,
// eLINEAR_ACCELERATION and eANGULAR_ACCELERATION are only available if PxSceneFlag::eENABLE_BODY_ACCELERATIONS is enabled.
eLINEAR_ACCELERATION,
eANGULAR_ACCELERATION
};
};
class PxRigidDynamicGPUAPIWriteType
{
public:
enum Enum
{
eGLOBAL_POSE = 0,
eLINEAR_VELOCITY,
eANGULAR_VELOCITY,
eFORCE,
eTORQUE
};
};
class PxArticulationGPUAPIReadType
{
public:
enum Enum
{
eJOINT_POSITION = 0,
eJOINT_VELOCITY,
eJOINT_ACCELERATION,
eJOINT_FORCE,
eJOINT_TARGET_VELOCITY,
eJOINT_TARGET_POSITION,
eROOT_GLOBAL_POSE,
eROOT_LINEAR_VELOCITY,
eROOT_ANGULAR_VELOCITY,
eLINK_GLOBAL_POSE,
eLINK_LINEAR_VELOCITY,
eLINK_ANGULAR_VELOCITY,
eLINK_LINEAR_ACCELERATION,
eLINK_ANGULAR_ACCELERATION,
eLINK_INCOMING_JOINT_FORCE
};
};
class PxArticulationGPUAPIWriteType
{
public:
enum Enum
{
eJOINT_POSITION = 0,
eJOINT_VELOCITY,
eJOINT_FORCE,
eJOINT_TARGET_VELOCITY,
eJOINT_TARGET_POSITION,
eROOT_GLOBAL_POSE,
eROOT_LINEAR_VELOCITY,
eROOT_ANGULAR_VELOCITY,
eLINK_FORCE,
eLINK_TORQUE,
eFIXED_TENDON,
eFIXED_TENDON_JOINT,
eSPATIAL_TENDON,
eSPATIAL_TENDON_ATTACHMENT
};
};
class PxArticulationGPUAPIComputeType
{
public:
enum Enum
{
eUPDATE_KINEMATIC = 0,
eDENSE_JACOBIANS,
eGENERALIZED_MASS_MATRICES PX_DEPRECATED,
eGENERALIZED_GRAVITY_FORCES PX_DEPRECATED,
eCORIOLIS_AND_CENTRIFUGAL_FORCES PX_DEPRECATED,
eMASS_MATRICES,
eCORIOLIS_AND_CENTRIFUGAL_COMPENSATION,
eGRAVITY_COMPENSATION,
eARTICULATION_COMS_WORLD_FRAME,
eARTICULATION_COMS_ROOT_FRAME,
eCENTROIDAL_MOMENTUM_MATRICES
};
};
struct PxArticulationGPUAPIMaxCounts
{
PxU32 maxDofs;
PxU32 maxLinks;
PxU32 maxFixedTendons;
PxU32 maxFixedTendonJoints;
PxU32 maxSpatialTendons;
PxU32 maxSpatialTendonAttachments;
PxArticulationGPUAPIMaxCounts() :
maxDofs(0),
maxLinks(0),
maxFixedTendons(0),
maxFixedTendonJoints(0),
maxSpatialTendons(0),
maxSpatialTendonAttachments(0)
{ }
};
class PxDirectGPUAPI
{
protected:
PxDirectGPUAPI() {}
virtual ~PxDirectGPUAPI() {}
public:
virtual bool getRigidDynamicData(void* data, const PxRigidDynamicGPUIndex* gpuIndices, PxRigidDynamicGPUAPIReadType::Enum dataType, PxU32 nbElements, CUevent startEvent = NULL, CUevent finishEvent = NULL) const = 0;
virtual bool setRigidDynamicData(const void* data, const PxRigidDynamicGPUIndex* gpuIndices, PxRigidDynamicGPUAPIWriteType::Enum dataType, PxU32 nbElements, CUevent startEvent = NULL, CUevent finishEvent = NULL) = 0;
virtual bool getArticulationData(void* data, const PxArticulationGPUIndex* gpuIndices, PxArticulationGPUAPIReadType::Enum dataType, PxU32 nbElements, CUevent startEvent = NULL, CUevent finishEvent = NULL) const = 0;
virtual bool setArticulationData(const void* data, const PxArticulationGPUIndex* gpuIndices, PxArticulationGPUAPIWriteType::Enum dataType, PxU32 nbElements, CUevent startEvent = NULL, CUevent finishEvent = NULL) = 0;
virtual bool computeArticulationData(void* data, const PxArticulationGPUIndex* gpuIndices, PxArticulationGPUAPIComputeType::Enum operation, PxU32 nbElements, CUevent startEvent = NULL, CUevent finishEvent = NULL) = 0;
virtual bool copyContactData(void* data, PxU32* nbContactPairs, PxU32 maxPairs, CUevent startEvent = NULL, CUevent finishEvent = NULL) const = 0;
virtual bool evaluateSDFDistances(PxVec4* localGradientAndSignedDistanceConcatenated, const PxShapeGPUIndex* shapeIndices, const PxVec4* localSamplePointsConcatenated, const PxU32* samplePointCountPerShape, PxU32 nbElements, PxU32 maxPointCount, CUevent startEvent = NULL, CUevent finishEvent = NULL) const = 0;
virtual PxArticulationGPUAPIMaxCounts getArticulationGPUAPIMaxCounts() const = 0;
};
#if !PX_DOXYGEN
} // namespace physx
#endif
#endif