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+ // Redistribution and use in source and binary forms, with or without
+ // modification, are permitted provided that the following conditions
+ // are met:
+ // * Redistributions of source code must retain the above copyright
+ // notice, this list of conditions and the following disclaimer.
+ // * Redistributions in binary form must reproduce the above copyright
+ // notice, this list of conditions and the following disclaimer in the
+ // documentation and/or other materials provided with the distribution.
+ // * Neither the name of NVIDIA CORPORATION nor the names of its
+ // contributors may be used to endorse or promote products derived
+ // from this software without specific prior written permission.
+ //
+ // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
+ // EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ // PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
+ // CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ // EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ // PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
+ // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
+ // OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ //
+ // Copyright (c) 2008-2026 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_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