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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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
- // 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 SC_CONSTRAINT_CORE_H
+ #define SC_CONSTRAINT_CORE_H
- #ifndef PX_PHYSICS_CONSTRAINTCORE
- #define PX_PHYSICS_CONSTRAINTCORE
-
- #include "CmPhysXCommon.h"
- #include "PxConstraintDesc.h"
- #include "PsAllocator.h"
#include "PxConstraint.h"
namespace physx
{
-
- class PxConstraint;
-
namespace Sc
{
- class ConstraintCore;
class ConstraintSim;
class RigidCore;
-
- class ConstraintCore : public Ps::UserAllocated
+ class ConstraintCore
{
- //= 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
- ConstraintCore(const PxEMPTY) : mFlags(PxEmpty), mConnector(NULL), mSim(NULL) {}
- PX_FORCE_INLINE void setConstraintFunctions(PxConstraintConnector& n,
- const PxConstraintShaderTable& shaders)
+ ConstraintCore(const PxEMPTY) : mFlags(PxEmpty), mConnector(NULL), mSim(NULL) {}
+ PX_FORCE_INLINE void setConstraintFunctions(PxConstraintConnector& n, const PxConstraintShaderTable& shaders)
{
mConnector = &n;
mSolverPrep = shaders.solverPrep;
- mProject = shaders.project;
mVisualize = shaders.visualize;
}
- static void getBinaryMetaData(PxOutputStream& stream);
//~PX_SERIALIZATION
ConstraintCore(PxConstraintConnector& connector, const PxConstraintShaderTable& shaders, PxU32 dataSize);
- ~ConstraintCore();
+ ~ConstraintCore() {}
- // The two-step protocol here allows us to unlink the constraint prior to deleting
- // the actors when synchronizing the scene, then set the bodies after new actors have been inserted
-
- void prepareForSetBodies();
void setBodies(RigidCore* r0v, RigidCore* r1v);
PxConstraint* getPxConstraint();
- const PxConstraint* getPxConstraint() const;
- PX_FORCE_INLINE PxConstraintConnector* getPxConnector() const { return mConnector; }
+ const PxConstraint* getPxConstraint() const;
+ PX_FORCE_INLINE PxConstraintConnector* getPxConnector() const { return mConnector; }
- PX_FORCE_INLINE PxConstraintFlags getFlags() const { return mFlags; }
+ PX_FORCE_INLINE PxConstraintFlags getFlags() const { return mFlags; }
void setFlags(PxConstraintFlags flags);
- void getForce(PxVec3& force, PxVec3& torque) const;
-
- bool updateConstants(void* addr);
+ void getForce(PxVec3& force, PxVec3& torque) const;
void setBreakForce(PxReal linear, PxReal angular);
- void getBreakForce(PxReal& linear, PxReal& angular) const;
+ PX_FORCE_INLINE void getBreakForce(PxReal& linear, PxReal& angular) const
+ {
+ linear = mLinearBreakForce;
+ angular = mAngularBreakForce;
+ }
void setMinResponseThreshold(PxReal threshold);
- PxReal getMinResponseThreshold() const { return mMinResponseThreshold; }
+ PX_FORCE_INLINE PxReal getMinResponseThreshold() const { return mMinResponseThreshold; }
void breakApart();
- PX_FORCE_INLINE PxConstraintVisualize getVisualize() const { return mVisualize; }
- PX_FORCE_INLINE PxConstraintProject getProject() const { return mProject; }
- PX_FORCE_INLINE PxConstraintSolverPrep getSolverPrep() const { return mSolverPrep; }
- PX_FORCE_INLINE PxU32 getConstantBlockSize() const { return mDataSize; }
+ 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 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;
- PxU16 mPaddingFromFlags; // PT: because flags are PxU16
+ //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;
- PxConstraintProject mProject;
PxConstraintSolverPrep mSolverPrep;
PxConstraintVisualize mVisualize;
PxU32 mDataSize;
PxReal mLinearBreakForce;
PxReal mAngularBreakForce;
PxReal mMinResponseThreshold;
ConstraintSim* mSim;
};
} // namespace Sc
}
#endif