OmniPvdPxExtensionsTypes.h

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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
// Declare OMNI_PVD Types and Attributes here!
// The last two attribute parameters could now be derived from the other data, so could be removed in a refactor, 
// though explicit control may be better.
// Note that HANDLE attributes have to use (Type const *) style, otherwise it won't compile!
// Note also that if we update the PVD USD reader code to not need different names than we use in the source code we don't need to pass both e.g. "scene" and "PxScene" and we can simplify
 
OMNI_PVD_ENUM           (constraintflag,        PxConstraintFlag)
OMNI_PVD_ENUM_VALUE     (constraintflag,        eBROKEN,                                    PxConstraintFlag::eBROKEN)
OMNI_PVD_ENUM_VALUE     (constraintflag,        ePROJECT_TO_ACTOR0,                         PxConstraintFlag::ePROJECT_TO_ACTOR0)
OMNI_PVD_ENUM_VALUE     (constraintflag,        ePROJECT_TO_ACTOR1,                         PxConstraintFlag::ePROJECT_TO_ACTOR1)
OMNI_PVD_ENUM_VALUE     (constraintflag,        ePROJECTION,                                PxConstraintFlag::ePROJECTION)
OMNI_PVD_ENUM_VALUE     (constraintflag,        eCOLLISION_ENABLED,                         PxConstraintFlag::eCOLLISION_ENABLED)
OMNI_PVD_ENUM_VALUE     (constraintflag,        eVISUALIZATION,                             PxConstraintFlag::eVISUALIZATION)
OMNI_PVD_ENUM_VALUE     (constraintflag,        eDRIVE_LIMITS_ARE_FORCES,                   PxConstraintFlag::eDRIVE_LIMITS_ARE_FORCES)
OMNI_PVD_ENUM_VALUE     (constraintflag,        eIMPROVED_SLERP,                            PxConstraintFlag::eIMPROVED_SLERP)
OMNI_PVD_ENUM_VALUE     (constraintflag,        eDISABLE_PREPROCESSING,                     PxConstraintFlag::eDISABLE_PREPROCESSING)
OMNI_PVD_ENUM_VALUE     (constraintflag,        eENABLE_EXTENDED_LIMITS,                    PxConstraintFlag::eENABLE_EXTENDED_LIMITS)
OMNI_PVD_ENUM_VALUE     (constraintflag,        eGPU_COMPATIBLE,                            PxConstraintFlag::eGPU_COMPATIBLE)
OMNI_PVD_ENUM_VALUE     (constraintflag,        eALWAYS_UPDATE,                             PxConstraintFlag::eALWAYS_UPDATE)
OMNI_PVD_ENUM_VALUE     (constraintflag,        eDISABLE_CONSTRAINT,                        PxConstraintFlag::eDISABLE_CONSTRAINT)
 
OMNI_PVD_ENUM           (revolutejointflag,     PxRevoluteJointFlag)
OMNI_PVD_ENUM_VALUE     (revolutejointflag,     eLIMIT_ENABLED,                             PxRevoluteJointFlag::eLIMIT_ENABLED)
OMNI_PVD_ENUM_VALUE     (revolutejointflag,     eDRIVE_ENABLED,                             PxRevoluteJointFlag::eDRIVE_ENABLED)
OMNI_PVD_ENUM_VALUE     (revolutejointflag,     eDRIVE_FREESPIN,                            PxRevoluteJointFlag::eDRIVE_FREESPIN)
 
OMNI_PVD_ENUM           (prismaticjointflag,    PxPrismaticJointFlag)
OMNI_PVD_ENUM_VALUE     (prismaticjointflag,    eLIMIT_ENABLED,                             PxPrismaticJointFlag::eLIMIT_ENABLED)
 
OMNI_PVD_ENUM           (distancejointflag,     PxDistanceJointFlag)
OMNI_PVD_ENUM_VALUE     (distancejointflag,     eMAX_DISTANCE_ENABLED,                      PxDistanceJointFlag::eMAX_DISTANCE_ENABLED)
OMNI_PVD_ENUM_VALUE     (distancejointflag,     eMIN_DISTANCE_ENABLED,                      PxDistanceJointFlag::eMIN_DISTANCE_ENABLED)
OMNI_PVD_ENUM_VALUE     (distancejointflag,     eSPRING_ENABLED,                            PxDistanceJointFlag::eSPRING_ENABLED)
 
OMNI_PVD_ENUM           (sphericaljointflag,    PxSphericalJointFlag)
OMNI_PVD_ENUM_VALUE     (sphericaljointflag,    eLIMIT_ENABLED,                             PxSphericalJointFlag::eLIMIT_ENABLED)
 
OMNI_PVD_ENUM           (d6jointdriveflag,      PxD6JointDriveFlag)
OMNI_PVD_ENUM_VALUE     (d6jointdriveflag,      eACCELERATION,                              PxD6JointDriveFlag::eACCELERATION)
 
OMNI_PVD_ENUM           (jointconcretetype,     PxJointConcreteType)
OMNI_PVD_ENUM_VALUE     (jointconcretetype,     eSPHERICAL,                     PxJointConcreteType::eSPHERICAL)
OMNI_PVD_ENUM_VALUE     (jointconcretetype,     eREVOLUTE,                      PxJointConcreteType::eREVOLUTE)
OMNI_PVD_ENUM_VALUE     (jointconcretetype,     ePRISMATIC,                     PxJointConcreteType::ePRISMATIC)
OMNI_PVD_ENUM_VALUE     (jointconcretetype,     eFIXED,                         PxJointConcreteType::eFIXED)
OMNI_PVD_ENUM_VALUE     (jointconcretetype,     eDISTANCE,                      PxJointConcreteType::eDISTANCE)
OMNI_PVD_ENUM_VALUE     (jointconcretetype,     eD6,                            PxJointConcreteType::eD6)
OMNI_PVD_ENUM_VALUE     (jointconcretetype,     eCONTACT,                       PxJointConcreteType::eCONTACT)
OMNI_PVD_ENUM_VALUE     (jointconcretetype,     eGEAR,                          PxJointConcreteType::eGEAR)
OMNI_PVD_ENUM_VALUE     (jointconcretetype,     eRACK_AND_PINION,               PxJointConcreteType::eRACK_AND_PINION)
 
OMNI_PVD_ENUM           (d6motion,      PxD6Motion)
OMNI_PVD_ENUM_VALUE     (d6motion,      eLOCKED,                PxD6Motion::eLOCKED)
OMNI_PVD_ENUM_VALUE     (d6motion,      eLIMITED,               PxD6Motion::eLIMITED)
OMNI_PVD_ENUM_VALUE     (d6motion,      eFREE,                  PxD6Motion::eFREE)
 
 
// Classes
 
// Joint
OMNI_PVD_CLASS          (joint,     PxJoint)
// Common
OMNI_PVD_ATTRIBUTE_FLAG (joint,     type,                       PxJoint, PxJointConcreteType::Enum, jointconcretetype)
OMNI_PVD_ATTRIBUTE      (joint,     actor0,                     PxJoint, PxRigidActor*, OmniPvdDataTypeEnum::eOBJECT_HANDLE, 1)
OMNI_PVD_ATTRIBUTE      (joint,     actor1,                     PxJoint, PxRigidActor*, OmniPvdDataTypeEnum::eOBJECT_HANDLE, 1)
OMNI_PVD_ATTRIBUTE      (joint,     actor0LocalPose,            PxJoint, PxTransform, OmniPvdDataTypeEnum::eFLOAT32, 7)
OMNI_PVD_ATTRIBUTE      (joint,     actor1LocalPose,            PxJoint, PxTransform, OmniPvdDataTypeEnum::eFLOAT32, 7)
OMNI_PVD_ATTRIBUTE      (joint,     breakForce,                 PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     breakTorque,                PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE_FLAG (joint,     constraintFlags,            PxJoint, PxConstraintFlags, constraintflag)
OMNI_PVD_ATTRIBUTE      (joint,     invMassScale0,              PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     invInertiaScale0,           PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     invMassScale1,              PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     invInertiaScale1,           PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     name,                       PxJoint, char, OmniPvdDataTypeEnum::eSTRING, 1)
OMNI_PVD_ATTRIBUTE      (joint,     concreteTypeName,           PxJoint, char, OmniPvdDataTypeEnum::eSTRING, 1)
// Fixed
OMNI_PVD_ATTRIBUTE      (joint,     fixedProjectionLinearTolerance,     PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     fixedProjectionAngularTolerance,    PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
// Prismatic
OMNI_PVD_ATTRIBUTE      (joint,     prismaticPosition,                      PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     prismaticVelocity,                      PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     prismaticProjectionLinearTolerance,     PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     prismaticProjectionAngularTolerance,    PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     prismaticLimitLower,                    PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     prismaticLimitUpper,                    PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     prismaticLimitRestitution,              PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     prismaticLimitBounceThreshold,          PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     prismaticLimitStiffness,                PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     prismaticLimitDamping,                  PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     prismaticLimitContactDistance,          PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE_FLAG (joint,     prismaticJointFlags,                    PxJoint, PxPrismaticJointFlags, prismaticjointflag)
// Revolute
OMNI_PVD_ATTRIBUTE      (joint,     revoluteAngle,                          PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     revoluteVelocity,                       PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     revoluteProjectionLinearTolerance,      PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     revoluteProjectionAngularTolerance,     PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     revoluteLimitLower,                     PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     revoluteLimitUpper,                     PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     revoluteLimitRestitution,               PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     revoluteLimitBounceThreshold,           PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     revoluteLimitStiffness,                 PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     revoluteLimitDamping,                   PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     revoluteLimitContactDistance,           PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     revoluteDriveVelocity,                  PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     revoluteDriveForceLimit,                PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     revoluteDriveGearRatio,                 PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE_FLAG (joint,     revoluteJointFlags,                     PxJoint, PxRevoluteJointFlags, revolutejointflag)
// Spherical
OMNI_PVD_ATTRIBUTE      (joint,     sphericalSwingYAngle,                   PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     sphericalSwingZAngle,                   PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     sphericalProjectionLinearTolerance,     PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     sphericalLimitYAngle,                   PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     sphericalLimitZAngle,                   PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     sphericalLimitRestitution,              PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     sphericalLimitBounceThreshold,          PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     sphericalLimitStiffness,                PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     sphericalLimitDamping,                  PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     sphericalLimitContactDistance,          PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE_FLAG (joint,     sphericalJointFlags,                    PxJoint, PxSphericalJointFlags, sphericaljointflag)
// Distance
OMNI_PVD_ATTRIBUTE      (joint,     distanceDistance,           PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     distanceMinDistance,        PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     distanceMaxDistance,        PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     distanceTolerance,          PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     distanceStiffness,          PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     distanceDamping,            PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     distanceContactDistance,    PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE_FLAG (joint,     distanceJointFlags,         PxJoint, PxDistanceJointFlags, distancejointflag)
// Contact
OMNI_PVD_ATTRIBUTE      (joint,     contactPoint,               PxJoint, PxVec3, OmniPvdDataTypeEnum::eFLOAT32, 3)
OMNI_PVD_ATTRIBUTE      (joint,     contactNormal,              PxJoint, PxVec3, OmniPvdDataTypeEnum::eFLOAT32, 3)
OMNI_PVD_ATTRIBUTE      (joint,     contactPenetration,         PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     contactRestitution,         PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     contactBounceThreshold,     PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
// Gear
OMNI_PVD_ATTRIBUTE      (joint,     gearRatio,          PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     gearHinges,         PxJoint, const PxBase*, OmniPvdDataTypeEnum::eOBJECT_HANDLE, 0)
// RackAndPinion
OMNI_PVD_ATTRIBUTE      (joint,     rackAndPinionRatio,     PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     rackAndPinionJoints,    PxJoint, const PxBase*, OmniPvdDataTypeEnum::eOBJECT_HANDLE, 0)
// D6
OMNI_PVD_ATTRIBUTE      (joint,     d6TwistAngle,                       PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     d6SwingYAngle,                      PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     d6SwingZAngle,                      PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     d6ProjectionLinearTolerance,        PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     d6ProjectionAngularTolerance,       PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     d6Motions,                          PxJoint, PxD6Motion::Enum, OmniPvdDataTypeEnum::eUINT32, 0)
OMNI_PVD_ATTRIBUTE      (joint,     d6DistanceLimitValue,               PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     d6DistanceLimitRestitution,         PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     d6DistanceLimitBounceThreshold,     PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     d6DistanceLimitStiffness,           PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     d6DistanceLimitDamping,             PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     d6DistanceLimitContactDistance,     PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     d6LinearLimitLower,                 PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 0)
OMNI_PVD_ATTRIBUTE      (joint,     d6LinearLimitUpper,                 PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 0)
OMNI_PVD_ATTRIBUTE      (joint,     d6LinearLimitRestitution,           PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 0)
OMNI_PVD_ATTRIBUTE      (joint,     d6LinearLimitBounceThreshold,       PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 0)
OMNI_PVD_ATTRIBUTE      (joint,     d6LinearLimitStiffness,             PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 0)
OMNI_PVD_ATTRIBUTE      (joint,     d6LinearLimitDamping,               PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 0)
OMNI_PVD_ATTRIBUTE      (joint,     d6LinearLimitContactDistance,       PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 0)
OMNI_PVD_ATTRIBUTE      (joint,     d6TwistLimitLower,                  PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     d6TwistLimitUpper,                  PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     d6TwistLimitRestitution,            PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     d6TwistLimitBounceThreshold,        PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     d6TwistLimitStiffness,              PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     d6TwistLimitDamping,                PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     d6TwistLimitContactDistance,        PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     d6SwingLimitYAngle,                 PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     d6SwingLimitZAngle,                 PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     d6SwingLimitRestitution,            PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     d6SwingLimitBounceThreshold,        PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     d6SwingLimitStiffness,              PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     d6SwingLimitDamping,                PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     d6SwingLimitContactDistance,        PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     d6PyramidSwingLimitYAngleMin,       PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     d6PyramidSwingLimitYAngleMax,       PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     d6PyramidSwingLimitZAngleMin,       PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     d6PyramidSwingLimitZAngleMax,       PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     d6PyramidSwingLimitRestitution,     PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     d6PyramidSwingLimitBounceThreshold, PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     d6PyramidSwingLimitStiffness,       PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     d6PyramidSwingLimitDamping,         PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     d6PyramidSwingLimitContactDistance, PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 1)
OMNI_PVD_ATTRIBUTE      (joint,     d6DriveForceLimit,                  PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 0)
OMNI_PVD_ATTRIBUTE      (joint,     d6DriveFlags,                       PxJoint, PxD6JointDriveFlags, OmniPvdDataTypeEnum::eUINT32, 0)
OMNI_PVD_ATTRIBUTE      (joint,     d6DriveStiffness,                   PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 0)
OMNI_PVD_ATTRIBUTE      (joint,     d6DriveDamping,                     PxJoint, PxReal, OmniPvdDataTypeEnum::eFLOAT32, 0)
OMNI_PVD_ATTRIBUTE      (joint,     d6DrivePosition,                    PxJoint, PxTransform, OmniPvdDataTypeEnum::eFLOAT32, 7)
OMNI_PVD_ATTRIBUTE      (joint,     d6DriveLinVelocity,                 PxJoint, PxVec3, OmniPvdDataTypeEnum::eFLOAT32, 3)
OMNI_PVD_ATTRIBUTE      (joint,     d6DriveAngVelocity,                 PxJoint, PxVec3, OmniPvdDataTypeEnum::eFLOAT32, 3)