DySolverConstraintTypes.h

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#ifndef DY_SOLVER_CONSTRAINT_TYPES_H
#define DY_SOLVER_CONSTRAINT_TYPES_H
 
#include "foundation/PxSimpleTypes.h"
#include "PxvConfig.h"
 
namespace physx
{
 
enum SolverConstraintType
{
    DY_SC_TYPE_NONE = 0,
    DY_SC_TYPE_RB_CONTACT,      // RB-only contact
    DY_SC_TYPE_RB_1D,           // RB-only 1D constraint
    DY_SC_TYPE_EXT_CONTACT, // contact involving articulations
    DY_SC_TYPE_EXT_1D,          // 1D constraint involving articulations
    DY_SC_TYPE_STATIC_CONTACT,  // RB-only contact where body b is static
    DY_SC_TYPE_NOFRICTION_RB_CONTACT, //RB-only contact with no friction patch
    DY_SC_TYPE_BLOCK_RB_CONTACT,
    DY_SC_TYPE_BLOCK_STATIC_RB_CONTACT,
    DY_SC_TYPE_BLOCK_1D,
    DY_SC_TYPE_FRICTION,
    DY_SC_TYPE_STATIC_FRICTION,
    DY_SC_TYPE_EXT_FRICTION,
    DY_SC_TYPE_BLOCK_FRICTION,
    DY_SC_TYPE_BLOCK_STATIC_FRICTION,
    DY_SC_CONSTRAINT_TYPE_COUNT //Count of the number of different constraint types in the solver
};
 
enum SolverConstraintFlags
{
    DY_SC_FLAG_OUTPUT_FORCE     = (1<<1),
    DY_SC_FLAG_KEEP_BIAS        = (1<<2),
    DY_SC_FLAG_ROT_EQ           = (1<<3),
    DY_SC_FLAG_ORTHO_TARGET     = (1<<4),
    DY_SC_FLAG_SPRING           = (1<<5),
    DY_SC_FLAG_INEQUALITY       = (1<<6)
};
 
}
 
#endif