ScConstraintCore.h

Enable keyboard shortcuts

// 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 SC_CONSTRAINT_CORE_H

#define SC_CONSTRAINT_CORE_H

#include "PxConstraint.h"

namespace physx

namespace Sc

	class ConstraintSim;

	class RigidCore;

	class ConstraintCore

	public:

// PX_SERIALIZATION

											ConstraintCore(const PxEMPTY) : mFlags(PxEmpty), mConnector(NULL), mSim(NULL) {}

	PX_FORCE_INLINE	void					setConstraintFunctions(PxConstraintConnector& n, const PxConstraintShaderTable& shaders)

												mConnector = &n;

												mSolverPrep = shaders.solverPrep;

												mVisualize = shaders.visualize;

//~PX_SERIALIZATION

											ConstraintCore(PxConstraintConnector& connector, const PxConstraintShaderTable& shaders, PxU32 dataSize);

											~ConstraintCore()	{}

					void					setBodies(RigidCore* r0v, RigidCore* r1v);

					PxConstraint*			getPxConstraint();

					const PxConstraint*		getPxConstraint()								const;

	PX_FORCE_INLINE	PxConstraintConnector*	getPxConnector()								const	{ return mConnector;				}

	PX_FORCE_INLINE	PxConstraintFlags		getFlags()										const	{ return mFlags;					}

					void					setFlags(PxConstraintFlags flags);

					void					getForce(PxVec3& force, PxVec3& torque)			const;

					void					setBreakForce(PxReal linear, PxReal angular);

	PX_FORCE_INLINE	void					getBreakForce(PxReal& linear, PxReal& angular)	const

												linear = mLinearBreakForce;

												angular = mAngularBreakForce;

					void					setMinResponseThreshold(PxReal threshold);

	PX_FORCE_INLINE	PxReal					getMinResponseThreshold()						const	{ return mMinResponseThreshold;		}

					void					breakApart();

	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	bool					isDirty()										const	{ return mIsDirty ? true : false;	}

	PX_FORCE_INLINE	void					setDirty()												{ mIsDirty = 1;						}

	PX_FORCE_INLINE	void					clearDirty()											{ mIsDirty = 0;						}

	private:

					PxConstraintFlags		mFlags;

					//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;

					PxConstraintSolverPrep	mSolverPrep;

					PxConstraintVisualize	mVisualize;

					PxU32					mDataSize;

					PxReal					mLinearBreakForce;

					PxReal					mAngularBreakForce;

					PxReal					mMinResponseThreshold;

					ConstraintSim*			mSim;

};

} // namespace Sc

#endif