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- // Copyright (c) 2008-2026 NVIDIA Corporation. All rights reserved.
+ // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
- // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
+ // SPDX-FileCopyrightText: Copyright (c) 2008-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+ // SPDX-License-Identifier: Apache-2.0
#ifndef SC_CONSTRAINT_CORE_H
#define SC_CONSTRAINT_CORE_H
#include "PxConstraint.h"
namespace physx
{
namespace Sc
{
class ConstraintSim;
class RigidCore;
class ConstraintCore
{
public:
// PX_SERIALIZATION
ConstraintCore(const PxEMPTY) : mFlags(PxEmpty), mConnector(NULL), mSim(NULL) {}
PX_FORCE_INLINE void setConstraintFunctions(PxConstraintConnector& n, const PxConstraintShaderTable& shaders)
{
mConnector = &n;
mSolverPrep = shaders.solverPrep;
mVisualize = shaders.visualize;
}
//~PX_SERIALIZATION
ConstraintCore(PxConstraintConnector& connector, const PxConstraintShaderTable& shaders, PxU32 dataSize);
~ConstraintCore() {}
void setBodies(RigidCore* r0v, RigidCore* r1v);
PxConstraint* getPxConstraint();
const PxConstraint* getPxConstraint() const;
PX_FORCE_INLINE PxConstraintConnector* getPxConnector() const { return mConnector; }
PX_FORCE_INLINE PxConstraintFlags getFlags() const { return mFlags; }
void setFlags(PxConstraintFlags flags);
void getForce(PxVec3& force, PxVec3& torque) const;
void setBreakForce(PxReal linear, PxReal angular);
PX_FORCE_INLINE void getBreakForce(PxReal& linear, PxReal& angular) const
{
linear = mLinearBreakForce;
angular = mAngularBreakForce;
}
void setMinResponseThreshold(PxReal threshold);
PX_FORCE_INLINE PxReal getMinResponseThreshold() const { return mMinResponseThreshold; }
void breakApart();
PX_FORCE_INLINE PxConstraintVisualize getVisualize() const { return mVisualize; }
PX_FORCE_INLINE PxConstraintSolverPrep getSolverPrep() const { return mSolverPrep; }
PX_FORCE_INLINE PxU32 getConstantBlockSize() const { return mDataSize; }
PX_FORCE_INLINE void setSim(ConstraintSim* sim)
{
PX_ASSERT((sim==0) ^ (mSim == 0));
mSim = sim;
}
PX_FORCE_INLINE ConstraintSim* getSim() const { return mSim; }
PX_FORCE_INLINE bool isDirty() const { return mIsDirty ? true : false; }
PX_FORCE_INLINE void setDirty() { mIsDirty = 1; }
PX_FORCE_INLINE void clearDirty() { mIsDirty = 0; }
private:
PxConstraintFlags mFlags;
//In order to support O(1) insert/remove mIsDirty really wants to be an index into NpScene's dirty joint array
PxU8 mIsDirty;
PxU8 mPadding;
PxVec3 mAppliedForce;
PxVec3 mAppliedTorque;
PxConstraintConnector* mConnector;
PxConstraintSolverPrep mSolverPrep;
PxConstraintVisualize mVisualize;
PxU32 mDataSize;
PxReal mLinearBreakForce;
PxReal mAngularBreakForce;
PxReal mMinResponseThreshold;
ConstraintSim* mSim;
};
} // namespace Sc
}
#endif