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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 DY_ISLAND_MANAGER_H
#define DY_ISLAND_MANAGER_H
// PT: low-level-dynamics client helper code for using the low-level island sim
#include "PxsIslandSim.h"
namespace physx
{
class PxsRigidBody;
namespace Dy
{
class FeatherstoneArticulation;
#if PX_SUPPORT_GPU_PHYSX
class DeformableSurface;
class DeformableVolume;
class ParticleSystem;
#endif
}
template <typename T>
struct IGNodeTraits
{
enum {TypeID = IG::Node::eTYPE_COUNT };
};
template <typename T> struct IGNodeTraits<const T> { enum { TypeID = IGNodeTraits<T>::TypeID }; };
template <> struct IGNodeTraits<PxsRigidBody> { enum { TypeID = IG::Node::eRIGID_BODY_TYPE }; };
template <> struct IGNodeTraits<Dy::FeatherstoneArticulation> { enum { TypeID = IG::Node::eARTICULATION_TYPE }; };
#if PX_SUPPORT_GPU_PHYSX
template <> struct IGNodeTraits<Dy::DeformableSurface> { enum { TypeID = IG::Node::eDEFORMABLE_SURFACE_TYPE }; };
template <> struct IGNodeTraits<Dy::DeformableVolume> { enum { TypeID = IG::Node::eDEFORMABLE_VOLUME_TYPE }; };
template <> struct IGNodeTraits<Dy::ParticleSystem> { enum { TypeID = IG::Node::ePARTICLESYSTEM_TYPE }; };
#endif
template<class T>
PX_FORCE_INLINE T* getObjectFromIG(const IG::Node& node)
{
PX_ASSERT(PxU32(node.mType) == PxU32(IGNodeTraits<T>::TypeID));
return reinterpret_cast<T*>(node.mObject);
}
PX_FORCE_INLINE PxsRigidBody* getRigidBodyFromIG(const IG::IslandSim& islandSim, PxNodeIndex nodeIndex)
{
return reinterpret_cast<PxsRigidBody*>(islandSim.getObject(nodeIndex, IG::Node::eRIGID_BODY_TYPE));
}
PX_FORCE_INLINE Dy::FeatherstoneArticulation* getArticulationFromIG(const IG::IslandSim& islandSim, PxNodeIndex nodeIndex)
{
return reinterpret_cast<Dy::FeatherstoneArticulation*>(islandSim.getObject(nodeIndex, IG::Node::eARTICULATION_TYPE));
}
}
#endif