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// 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