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_NODEINDEX_H
++ #define PX_NODEINDEX_H
++
++ #include "foundation/PxSimpleTypes.h"
++
++ #if !PX_DOXYGEN
++ namespace physx
++ {
++ #endif
++
++ #define PX_INVALID_NODE 0xFFFFFFFFu
++
++ /**
++ \brief PxNodeIndex
++
++ Node index is the unique index for each actor referenced by the island gen. It contains details like
++ if the actor is an articulation or rigid body. If it is an articulation, the node index also contains
++ the link index of the rigid body within the articulation. Also, it contains information to detect whether
++ the rigid body is static body or not
++ */
++ class PxNodeIndex
++ {
++ struct IDs
++ {
++ PxU32 mID;
++ PxU32 mLinkID;
++ };
++
++ union
++ {
++ IDs mIDs;
++ PxU64 mInd;
++ };
++
++ public:
++
++ explicit PX_CUDA_CALLABLE PX_FORCE_INLINE PxNodeIndex(PxU32 id, PxU32 articLinkId)
++ {
++ setIndices(id, articLinkId);
++ }
++
++ explicit PX_CUDA_CALLABLE PX_FORCE_INLINE PxNodeIndex(PxU32 id = PX_INVALID_NODE)
++ {
++ setIndices(id);
++ }
++
++ explicit PX_CUDA_CALLABLE PX_FORCE_INLINE PxNodeIndex(PxU64 ind) : mInd(ind)
++ {
++ }
++
++ // PT: build node index from explicit raw data.
++ explicit PX_CUDA_CALLABLE PX_FORCE_INLINE PxNodeIndex(PxU32 id, PxU32 linkData, bool /*rawData*/)
++ {
++ mIDs.mID = id;
++ mIDs.mLinkID = linkData;
++ }
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxU64 getInd() const { return mInd; }
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxU32 index() const { return mIDs.mID; }
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxU32 linkData() const { return mIDs.mLinkID; }
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxU32 articulationLinkId() const { return mIDs.mLinkID >> 1; }
++ PX_CUDA_CALLABLE PX_FORCE_INLINE PxU32 isArticulation() const { return mIDs.mLinkID & 1; }
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE bool isStaticBody() const { return mIDs.mID == PX_INVALID_NODE; }
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE bool isValid() const { return mIDs.mID != PX_INVALID_NODE; }
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE void setIndices(PxU32 index, PxU32 articLinkId) { mIDs.mID = index; mIDs.mLinkID = (articLinkId << 1) | 1; }
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE void setIndices(PxU32 index) { mIDs.mID = index; mIDs.mLinkID = 0; }
++
++ PX_CUDA_CALLABLE PX_FORCE_INLINE bool operator < (const PxNodeIndex& other) const { return getInd() < other.getInd(); }
++ PX_CUDA_CALLABLE PX_FORCE_INLINE bool operator <= (const PxNodeIndex& other) const { return getInd() <= other.getInd(); }
++ PX_CUDA_CALLABLE PX_FORCE_INLINE bool operator == (const PxNodeIndex& other) const { return getInd() == other.getInd(); }
++ };
++
++ #if !PX_DOXYGEN
++ } // namespace physx
++ #endif
++
++ #endif