PxConstraint.h

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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
#ifndef PX_CONSTRAINT_H
#define PX_CONSTRAINT_H
 
#include "PxPhysXConfig.h"
#include "PxConstraintDesc.h"
#include "common/PxBase.h"
 
#if !PX_DOXYGEN
namespace physx
{
#endif
 
class PxRigidActor;
class PxScene;
class PxConstraintConnector;
 
struct PxConstraintFlag
{
    enum Enum
    {
        eBROKEN                     = 1<<0,     
        ePROJECT_TO_ACTOR0          = 1<<1,     
        ePROJECT_TO_ACTOR1          = 1<<2,     
        ePROJECTION                 = ePROJECT_TO_ACTOR0 | ePROJECT_TO_ACTOR1,  
        eCOLLISION_ENABLED          = 1<<3,     
        eVISUALIZATION              = 1<<4,     
        eDRIVE_LIMITS_ARE_FORCES    = 1<<5,     
        eIMPROVED_SLERP             = 1<<7,     
        eDISABLE_PREPROCESSING      = 1<<8,     
        eENABLE_EXTENDED_LIMITS     = 1<<9,     
        eGPU_COMPATIBLE             = 1<<10,    
        eALWAYS_UPDATE              = 1<<11,    
        eDISABLE_CONSTRAINT         = 1<<12     
    };
};
 
typedef PxFlags<PxConstraintFlag::Enum, PxU16> PxConstraintFlags;
PX_FLAGS_OPERATORS(PxConstraintFlag::Enum, PxU16)
 
 
struct PxConstraintShaderTable
{
    PxConstraintSolverPrep  solverPrep; 
    PxConstraintProject     project;    
    PxConstraintVisualize   visualize;  
    PxConstraintFlag::Enum  flag;       
};
 
class PxConstraint : public PxBase
{
public:
 
    virtual void                release()                                                       = 0;
 
    virtual PxScene*            getScene()                                              const   = 0;
 
    virtual void                getActors(PxRigidActor*& actor0, PxRigidActor*& actor1) const   = 0;
 
    virtual void                setActors(PxRigidActor* actor0, PxRigidActor* actor1)           = 0;
 
    virtual void                markDirty()                                                     = 0;
 
    virtual PxConstraintFlags   getFlags()                                              const   = 0;
 
    virtual void                setFlags(PxConstraintFlags flags)                               = 0;
 
    virtual void                setFlag(PxConstraintFlag::Enum flag, bool value)                = 0;
 
    virtual void                getForce(PxVec3& linear, PxVec3& angular)               const   = 0;
 
    virtual bool                isValid() const                                                 = 0;
 
    virtual void                setBreakForce(PxReal linear, PxReal angular)                = 0;
 
    virtual void                getBreakForce(PxReal& linear, PxReal& angular)      const   = 0;
 
    virtual void                setMinResponseThreshold(PxReal threshold)                   = 0;
 
    virtual PxReal              getMinResponseThreshold()                           const   = 0;
 
    virtual void*               getExternalReference(PxU32& typeID)                         = 0;
 
    virtual void                setConstraintFunctions(PxConstraintConnector& connector, const PxConstraintShaderTable& shaders)    = 0;
 
    virtual const char*         getConcreteTypeName() const PX_OVERRIDE { return "PxConstraint"; }
 
            void*               userData;   
 
protected:
    PX_INLINE                   PxConstraint(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags), userData(NULL) {}
    PX_INLINE                   PxConstraint(PxBaseFlags baseFlags) : PxBase(baseFlags), userData(NULL) {}
    virtual                     ~PxConstraint() {}
    virtual bool                isKindOf(const char* name) const PX_OVERRIDE { return !::strcmp("PxConstraint", name) || PxBase::isKindOf(name); }
};
 
#if !PX_DOXYGEN
} // namespace physx
#endif
 
#endif