Revision control
- //
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// 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
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//
- // Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved.
+ // 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 NP_REVOLUTEJOINTCONSTRAINT_H
- #define NP_REVOLUTEJOINTCONSTRAINT_H
+ #ifndef EXT_REVOLUTE_JOINT_H
+ #define EXT_REVOLUTE_JOINT_H
#include "extensions/PxRevoluteJoint.h"
#include "ExtJoint.h"
- #include "PsIntrinsics.h"
+ #include "foundation/PxIntrinsics.h"
#include "CmUtils.h"
namespace physx
{
-
- class PxConstraintSolverPrepKernel;
- class PxConstraintProjectionKernel;
struct PxRevoluteJointGeneratedValues;
namespace Ext
{
struct RevoluteJointData : public JointData
{
- //= ATTENTION! =====================================================================================
- // Changing the data layout of this class breaks the binary serialization format. See comments for
- // PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData
- // function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
- // accordingly.
- //==================================================================================================
+ PxReal driveVelocity;
+ PxReal driveForceLimit;
+ PxReal driveGearRatio;
- PxReal driveVelocity;
- PxReal driveForceLimit;
- PxReal driveGearRatio;
-
- PxJointAngularLimitPair limit;
-
- PxReal projectionLinearTolerance;
- PxReal projectionAngularTolerance;
+ PxJointAngularLimitPair limit;
- PxRevoluteJointFlags jointFlags;
- // forestall compiler complaints about not being able to generate a constructor
- private:
- RevoluteJointData(const PxJointAngularLimitPair &pair):
- limit(pair) {}
+ PxRevoluteJointFlags jointFlags;
+ // private: // PT: must be public for a benchmark
+ RevoluteJointData(const PxJointAngularLimitPair& pair) : limit(pair) {}
};
- typedef Joint<PxRevoluteJoint, PxRevoluteJointGeneratedValues> RevoluteJointT;
+ typedef JointT<PxRevoluteJoint, RevoluteJointData, PxRevoluteJointGeneratedValues> RevoluteJointT;
class RevoluteJoint : public RevoluteJointT
{
- //= ATTENTION! =====================================================================================
- // Changing the data layout of this class breaks the binary serialization format. See comments for
- // PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData
- // function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
- // accordingly.
- //==================================================================================================
public:
// PX_SERIALIZATION
- RevoluteJoint(PxBaseFlags baseFlags) : RevoluteJointT(baseFlags) {}
- void resolveReferences(PxDeserializationContext& context);
- virtual void exportExtraData(PxSerializationContext& context);
- void importExtraData(PxDeserializationContext& context);
- static RevoluteJoint* createObject(PxU8*& address, PxDeserializationContext& context);
- static void getBinaryMetaData(PxOutputStream& stream);
+ RevoluteJoint(PxBaseFlags baseFlags) : RevoluteJointT(baseFlags) {}
+ void resolveReferences(PxDeserializationContext& context);
+ static RevoluteJoint* createObject(PxU8*& address, PxDeserializationContext& context) { return createJointObject<RevoluteJoint>(address, context); }
//~PX_SERIALIZATION
-
- RevoluteJoint(const PxTolerancesScale& /*scale*/, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1) :
- RevoluteJointT(PxJointConcreteType::eREVOLUTE, PxBaseFlag::eOWNS_MEMORY | PxBaseFlag::eIS_RELEASABLE, actor0, localFrame0, actor1, localFrame1, sizeof(RevoluteJointData), "RevoluteJointData")
- {
- RevoluteJointData* data = static_cast<RevoluteJointData*>(mData);
-
- data->projectionLinearTolerance = 1e10f;
- data->projectionAngularTolerance = PxPi;
- data->driveForceLimit = PX_MAX_F32;
- data->driveVelocity = 0.0f;
- data->driveGearRatio = 1.0f;
- data->limit = PxJointAngularLimitPair(-PxPi/2, PxPi/2);
- data->jointFlags = PxRevoluteJointFlags();
- }
-
+ RevoluteJoint(const PxTolerancesScale& /*scale*/, PxRigidActor* actor0, const PxTransform& localFrame0, PxRigidActor* actor1, const PxTransform& localFrame1);
// PxRevoluteJoint
- virtual PxReal getAngle() const;
- virtual PxReal getVelocity() const;
- virtual void setLimit(const PxJointAngularLimitPair& limit);
- virtual PxJointAngularLimitPair getLimit() const;
- virtual void setDriveVelocity(PxReal velocity, bool autowake = true);
- virtual PxReal getDriveVelocity() const;
- virtual void setDriveForceLimit(PxReal forceLimit);
- virtual PxReal getDriveForceLimit() const;
- virtual void setDriveGearRatio(PxReal gearRatio);
- virtual PxReal getDriveGearRatio() const;
- virtual void setRevoluteJointFlags(PxRevoluteJointFlags flags);
- virtual void setRevoluteJointFlag(PxRevoluteJointFlag::Enum flag, bool value);
- virtual PxRevoluteJointFlags getRevoluteJointFlags() const;
- virtual void setProjectionLinearTolerance(PxReal distance);
- virtual PxReal getProjectionLinearTolerance() const;
- virtual void setProjectionAngularTolerance(PxReal tolerance);
- virtual PxReal getProjectionAngularTolerance() const;
+ virtual PxReal getAngle() const PX_OVERRIDE;
+ virtual PxReal getVelocity() const PX_OVERRIDE;
+ virtual void setLimit(const PxJointAngularLimitPair& limit) PX_OVERRIDE;
+ virtual PxJointAngularLimitPair getLimit() const PX_OVERRIDE;
+ virtual void setDriveVelocity(PxReal velocity, bool autowake = true) PX_OVERRIDE;
+ virtual PxReal getDriveVelocity() const PX_OVERRIDE;
+ virtual void setDriveForceLimit(PxReal forceLimit) PX_OVERRIDE;
+ virtual PxReal getDriveForceLimit() const PX_OVERRIDE;
+ virtual void setDriveGearRatio(PxReal gearRatio) PX_OVERRIDE;
+ virtual PxReal getDriveGearRatio() const PX_OVERRIDE;
+ virtual void setRevoluteJointFlags(PxRevoluteJointFlags flags) PX_OVERRIDE;
+ virtual void setRevoluteJointFlag(PxRevoluteJointFlag::Enum flag, bool value) PX_OVERRIDE;
+ virtual PxRevoluteJointFlags getRevoluteJointFlags() const PX_OVERRIDE;
//~PxRevoluteJoint
- bool attach(PxPhysics &physics, PxRigidActor* actor0, PxRigidActor* actor1);
-
- static const PxConstraintShaderTable& getConstraintShaderTable() { return sShaders; }
-
- virtual PxConstraintSolverPrep getPrep() const { return sShaders.solverPrep; }
-
- private:
-
- static PxConstraintShaderTable sShaders;
-
- PX_FORCE_INLINE RevoluteJointData& data() const
- {
- return *static_cast<RevoluteJointData*>(mData);
- }
-
+ // PxConstraintConnector
+ virtual PxConstraintSolverPrep getPrep() const PX_OVERRIDE;
+ #if PX_SUPPORT_OMNI_PVD
+ virtual void updateOmniPvdProperties() const PX_OVERRIDE;
+ #endif
+ //~PxConstraintConnector
};
} // namespace Ext
- namespace Ext
- {
- // global function to share the joint shaders with API capture
- extern "C" const PxConstraintShaderTable* GetRevoluteJointShaderTable();
- }
-
- }
+ } // namespace physx
#endif