Revision control
++ // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
++ // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
++ // SPDX-FileCopyrightText: Copyright (c) 2008-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
++ // SPDX-License-Identifier: Apache-2.0
++
++ #ifndef PX_DEFORMABLE_ATTACHMENT_H
++ #define PX_DEFORMABLE_ATTACHMENT_H
++
++ #include "foundation/PxTransform.h"
++ #include "foundation/PxVec4.h"
++ #include "common/PxCoreUtilityTypes.h"
++ #include "common/PxBase.h"
++
++
++ #if !PX_DOXYGEN
++ namespace physx
++ {
++ #endif
++
++ /**
++ \brief Identifies the attachment target type for an actor involved in an attachment.
++
++ The target type provides actor related information about what kind of attachment should be created.
++ \see PxDeformableAttachmentData
++ */
++ struct PxDeformableAttachmentTargetType
++ {
++ enum Enum
++ {
++ eVERTEX, //!< Attachment to vertex points of deformable mesh.
++ eTRIANGLE, //!< Attachment to points on triangles of deformable mesh.
++ eTETRAHEDRON, //!< Attachment to points in tetrahedrons of deformable mesh.
++ eRIGID, //!< Attachment to points in rigid actor local frame.
++ eWORLD, //!< Attachment to points in global frame.
++ eUNDEFINED //!< Internal use only.
++ };
++ };
++
++ /**
++ \brief Attachment data for a pair of actors where one of the actors must be a deformable. For attaching rigids to rigids or rigids to the world, use joints instead.
++
++ An attachment is created based on a collection of attachment points. The attachment
++ points are specified relatively to each of the two actors. They can be defined on the basis of
++ deformable mesh elements, such as vertices, triangles or tetrahedrons. Depending on the deformable mesh element type,
++ a baricentric coordinate further specifies the location on the element. For rigid or world attachments, the points are
++ specified using cartesion coordinates.
++
++ The points are specified by:
++ - Two actor instances and their types
++ - Two attachment target types
++ - Two sets of attachment data related to the target types
++
++ <a name="attachment_table1"></a>
++ Table 1) The type of an actor limits which target types can be used:
++
++ PxDeformableSurface: eVERTEX, eTRIANGLE
++ PxDeformableVolume: eVERTEX, eTETRAHEDRON (simulation mesh)
++ PxRigidActor: eRIGID
++ NULL: eWORLD
++
++ <a name="attachment_table2"></a>
++ Table 2) On the other hand, the target type dictates which per-actor attachment data is needed:
++
++ eVERTEX: indices
++ eTRIANGLE: indices, coords (barycentric: x, y, z)
++ eTETRAHEDRON: indices, coords (barycentric: x, y, z, w)
++ eRIGID: pose, coords (cartesian, local space: x, y, z)
++ eWORLD: pose, coords (cartesion, world space: x, y, z)
++
++ Each entry pair in (indices, coords) defines an attachment point. Therefore, the size of indices and coords need to match up, if both are required.
++
++ \note The topology of an attachment is fixed once it's been created. To change the attachment points,
++ the application will need to release the attachment and create a new attachment with the updated attachment points.
++ The pose for attachments to eRIGID or eWORLD, however, can be updated without re-creating the attachment.
++
++ \see PxDeformableAttachment, PxPhysics::createDeformableAttachment()
++ */
++ struct PxDeformableAttachmentData
++ {
++ PxDeformableAttachmentData()
++ {
++ for (PxU32 i = 0; i < 2; i++)
++ {
++ actor[i] = NULL;
++ type[i] = PxDeformableAttachmentTargetType::eUNDEFINED;
++ pose[i] = PxTransform(PxIdentity);
++ }
++ }
++
++ /**
++ \brief Actor 0 and Actor 1. At least one of the actors must be a deformable. For attaching statically to the world, one actor is allowed to be NULL while the other is a deformable.
++ */
++ PxActor* actor[2];
++
++ /**
++ \brief One target type per actor.
++ The target type must be supported by the corresponding actor type, see [table 1](#attachment_table1).
++ */
++ PxDeformableAttachmentTargetType::Enum type[2];
++
++ /**
++ \brief Indices data per actor.
++ The content of the two index arrays depends on the corresponding target types 'type[0]' and 'type[1]'
++ as well as the number of attachments:
++ For PxDeformableAttachmentTargetType::eVERTEX, eTRIANGLE and eTETRAHEDRON, the corresponding array describes vertex,
++ triangle or tetrahedon indices, and the size of the array needs to match the number of attachments.
++ For PxDeformableAttachmentTargetType::eRIGID and eWORLD, the corresponding array needs to be empty.
++ See [table 2](#attachment_table2).
++ */
++ PxTypedBoundedData<const PxU32> indices[2];
++
++ /**
++ \brief Coordinate data per actor.
++ The content of the two coords arrays depends on the corresponding target types 'type[0]' and 'type[1]'
++ as well as the number of attachments:
++ For PxDeformableAttachmentTargetType::eVERTEX, the corresponding array needs to be empty.
++ For PxDeformableAttachmentTargetType::eTRIANGLE and eTETRAHEDRON, the corresponding array descibes barycentric coordinates,
++ and the size of the array needs to match the number of attachments.
++ For PxDeformableAttachmentTargetType::eRIGID and eWORLD, the corresponding array describes cartesian coordinates and the size
++ of the array needs to match the number of attachments.
++ See [table 2](#attachment_table2).
++ */
++ PxTypedBoundedData<const PxVec4> coords[2];
++
++ /**
++ \brief Pose per actor.
++ Global pose for PxDeformableAttachmentTargetType::eWORLD or local pose for PxDeformableAttachmentTargetType::eRIGID, see [table 2](#attachment_table2).
++ The pose represents a coordinate frame for all attachment points specified by the array of euclidean coords in the case of PxDeformableAttachmentTargetType::eRIGID and eWORLD attachments.
++ It can be updated after the attachment has been created.
++
++ \see PxDeformableAttachment::updatePose()
++ */
++ PxTransform pose[2];
++ };
++
++ /**
++ \brief PxDeformableAttachment class representing an attachment for deformable actors.
++
++ An attachment is a collection of one or more positional constraints between a point on one actor and a point on another actor.
++
++ \see PxDeformableAttachmentData, PxPhysics::createDeformableAttachment()
++ */
++ class PxDeformableAttachment : public PxBase
++ {
++ public:
++ /**
++ \brief Gets the two actors for this attachment.
++
++ \param[out] actor0 The first actor, may be NULL
++ \param[out] actor1 The second actor, may be NULL
++ */
++ virtual void getActors(PxActor*& actor0, PxActor*& actor1) const = 0;
++
++ /**
++ \brief Updates the pose of the attachment.
++
++ \param[in] pose Pose relative to world or rigid actor transform. Valid only for attachment against world or rigid actor.
++ */
++ virtual void updatePose(const PxTransform& pose) = 0;
++
++ /**
++ \brief Returns string name of PxDeformableAttachment, used for serialization
++ */
++ virtual const char* getConcreteTypeName() const PX_OVERRIDE { return "PxDeformableAttachment"; }
++
++ void* userData; //!< user can assign this to whatever, usually to create a 1:1 relationship with a user object.
++
++ protected:
++ virtual ~PxDeformableAttachment() {}
++
++ //serialization
++
++ /**
++ \brief Constructor
++ */
++ PX_INLINE PxDeformableAttachment(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags), userData(NULL) {}
++
++ /**
++ \brief Deserialization constructor
++ */
++ PX_INLINE PxDeformableAttachment(PxBaseFlags baseFlags) : PxBase(baseFlags) {}
++
++ /**
++ \brief Returns whether a given type name matches with the type of this instance
++ */
++ virtual bool isKindOf(const char* name) const PX_OVERRIDE { PX_IS_KIND_OF(name, "PxDeformableAttachment", PxBase); }
++ };
++
++ #if !PX_DOXYGEN
++ } // namespace physx
++ #endif
++
++ #endif