PxConstraintDesc.h

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// Copyright (c) 2008-2022 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
#ifndef PX_CONSTRAINT_DESC_H
#define PX_CONSTRAINT_DESC_H
 
#include "PxPhysXConfig.h"
#include "foundation/PxFlags.h"
#include "foundation/PxVec3.h"
#include "common/PxBase.h"
 
#if !PX_DOXYGEN
namespace physx { namespace pvdsdk {
#endif
    class PvdDataStream;
#if !PX_DOXYGEN
}}
#endif
 
#if !PX_DOXYGEN
namespace physx
{
#endif
 
struct Px1DConstraintFlag
{
    PX_CUDA_CALLABLE Px1DConstraintFlag(){}
 
    enum Type
    {
        eSPRING                 = 1<<0, 
        eACCELERATION_SPRING    = 1<<1, 
        eRESTITUTION            = 1<<2, 
        eKEEPBIAS               = 1<<3, 
        eOUTPUT_FORCE           = 1<<4, 
        eHAS_DRIVE_LIMIT        = 1<<5, 
        eANGULAR_CONSTRAINT     = 1<<6, 
        eDRIVE_ROW              = 1<<7  
    };
};
 
typedef PxFlags<Px1DConstraintFlag::Type, PxU16> Px1DConstraintFlags;
PX_FLAGS_OPERATORS(Px1DConstraintFlag::Type, PxU16)
 
 
struct PxConstraintSolveHint
{
    enum Enum
    {
        eNONE                   = 0,        
        eACCELERATION1          = 256,      
        eSLERP_SPRING           = 258,      
        eACCELERATION2          = 512,      
        eACCELERATION3          = 768,      
        eROTATIONAL_EQUALITY    = 1024,     
        eROTATIONAL_INEQUALITY  = 1025,     
        eEQUALITY               = 2048,     
        eINEQUALITY             = 2049      
    };
};
 
PX_ALIGN_PREFIX(16)
struct Px1DConstraint
{
    PxVec3          linear0;            
    PxReal          geometricError;     
    PxVec3          angular0;           
    PxReal          velocityTarget;     
 
    PxVec3          linear1;            
    PxReal          minImpulse;         
    PxVec3          angular1;           
    PxReal          maxImpulse;         
 
    union
    {
        struct SpringModifiers
        {
            PxReal  stiffness;          
            PxReal  damping;            
        } spring;
        struct RestitutionModifiers
        {
            PxReal  restitution;        
            PxReal  velocityThreshold;  
        } bounce;
    } mods;
 
    PxReal          forInternalUse;     
    PxU16           flags;              
    PxU16           solveHint;          
}
PX_ALIGN_SUFFIX(16);
 
struct PxConstraintVisualizationFlag
{
    enum Enum
    {
        eLOCAL_FRAMES   = 1,    
        eLIMITS         = 2     
    };
};
 
PX_ALIGN_PREFIX(16)
struct PxConstraintInvMassScale
{
//= ATTENTION! =====================================================================================
// Changing the data layout of this class breaks the binary serialization format.  See comments for 
// PX_BINARY_SERIAL_VERSION.  If a modification is required, please adjust the getBinaryMetaData 
// function.  If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
// accordingly.
//==================================================================================================
 
    PxReal linear0;     
    PxReal angular0;    
    PxReal linear1;     
    PxReal angular1;    
 
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxConstraintInvMassScale(){}
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxConstraintInvMassScale(PxReal lin0, PxReal ang0, PxReal lin1, PxReal ang1) : linear0(lin0), angular0(ang0), linear1(lin1), angular1(ang1){}
}
PX_ALIGN_SUFFIX(16);
 
typedef PxU32 (*PxConstraintSolverPrep)(Px1DConstraint* constraints,
                                        PxVec3p& bodyAWorldOffset,
                                        PxU32 maxConstraints,
                                        PxConstraintInvMassScale& invMassScale,
                                        const void* constantBlock,
                                        const PxTransform& bodyAToWorld,
                                        const PxTransform& bodyBToWorld,
                                        bool useExtendedLimits,
                                        PxVec3p& cAtW,
                                        PxVec3p& cBtW);
 
typedef PX_DEPRECATED void (*PxConstraintProject)(const void* constantBlock,
                                    PxTransform& bodyAToWorld,
                                    PxTransform& bodyBToWorld,
                                    bool projectToA);
 
class PxConstraintVisualizer
{
protected:
    virtual ~PxConstraintVisualizer(){}
public:
    virtual void visualizeJointFrames(const PxTransform& parent, const PxTransform& child) = 0;
 
    virtual void visualizeLinearLimit(const PxTransform& t0, const PxTransform& t1, PxReal value, bool active) = 0;
 
    virtual void visualizeAngularLimit(const PxTransform& t0, PxReal lower, PxReal upper, bool active) = 0;
 
    virtual void visualizeLimitCone(const PxTransform& t, PxReal tanQSwingY, PxReal tanQSwingZ, bool active) = 0;
 
    virtual void visualizeDoubleCone(const PxTransform& t, PxReal angle, bool active) = 0;
 
    virtual void visualizeLine(const PxVec3& p0, const PxVec3& p1, PxU32 color) = 0;
};
 
typedef void (*PxConstraintVisualize)(PxConstraintVisualizer& visualizer,
                                      const void* constantBlock,
                                      const PxTransform& body0Transform,
                                      const PxTransform& body1Transform,
                                      PxU32 flags);
 
struct PxPvdUpdateType
{
    enum Enum
    {
        CREATE_INSTANCE, 
        RELEASE_INSTANCE, 
        UPDATE_ALL_PROPERTIES, 
        UPDATE_SIM_PROPERTIES 
    };
};
 
class PxConstraintConnector
{
public:
    virtual void*   prepareData()   = 0;
 
    virtual bool    updatePvdProperties(physx::pvdsdk::PvdDataStream& pvdConnection,
                                        const PxConstraint* c,
                                        PxPvdUpdateType::Enum updateType) const     = 0;
 
    virtual void    updateOmniPvdProperties() const     = 0;
 
    virtual void    onConstraintRelease()   = 0;
 
    virtual void    onComShift(PxU32 actor) = 0;
 
    virtual void    onOriginShift(const PxVec3& shift)  = 0;
 
    virtual void*   getExternalReference(PxU32& typeID) = 0;
 
    virtual PxBase* getSerializable()   = 0;
 
    virtual PxConstraintSolverPrep  getPrep()   const   = 0;
 
    virtual const void* getConstantBlock()  const   = 0;
 
    virtual void    connectToConstraint(PxConstraint*)  {}
 
    virtual ~PxConstraintConnector() {}
};
 
#if !PX_DOXYGEN
} // namespace physx
#endif
 
#endif