ScConstraintCore.h

++ // 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 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

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