1 | // |
2 | // Redistribution and use in source and binary forms, with or without |
3 | // modification, are permitted provided that the following conditions |
4 | // are met: |
5 | // * Redistributions of source code must retain the above copyright |
6 | // notice, this list of conditions and the following disclaimer. |
7 | // * Redistributions in binary form must reproduce the above copyright |
8 | // notice, this list of conditions and the following disclaimer in the |
9 | // documentation and/or other materials provided with the distribution. |
10 | // * Neither the name of NVIDIA CORPORATION nor the names of its |
11 | // contributors may be used to endorse or promote products derived |
12 | // from this software without specific prior written permission. |
13 | // |
14 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY |
15 | // EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
16 | // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR |
17 | // PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR |
18 | // CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, |
19 | // EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, |
20 | // PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR |
21 | // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY |
22 | // OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
23 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
24 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
25 | // |
26 | // Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved. |
27 | // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved. |
28 | // Copyright (c) 2001-2004 NovodeX AG. All rights reserved. |
29 | |
30 | |
31 | #ifndef PXDV_ARTICULATION_CORE_H |
32 | #define PXDV_ARTICULATION_CORE_H |
33 | |
34 | #include "PxArticulationReducedCoordinate.h" |
35 | |
36 | namespace physx |
37 | { |
38 | namespace Dy |
39 | { |
40 | struct ArticulationCore |
41 | { |
42 | //= ATTENTION! ===================================================================================== |
43 | // Changing the data layout of this class breaks the binary serialization format. See comments for |
44 | // PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData |
45 | // function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION |
46 | // accordingly. |
47 | //================================================================================================== |
48 | |
49 | PxU32 internalDriveIterations; |
50 | PxU32 externalDriveIterations; |
51 | PxU32 maxProjectionIterations; |
52 | PxU16 solverIterationCounts; //KS - made a U16 so that it matches PxsRigidCore |
53 | PxReal separationTolerance; |
54 | PxReal sleepThreshold; |
55 | PxReal freezeThreshold; |
56 | PxReal wakeCounter; |
57 | PxArticulationFlags flags; |
58 | }; |
59 | |
60 | struct ArticulationJointCoreDirtyFlag |
61 | { |
62 | enum Enum |
63 | { |
64 | eNONE = 0, |
65 | eMOTION = 1 << 0, |
66 | ePOSE = 1 << 1, |
67 | eTARGETPOSE = 1 << 2, |
68 | eTARGETVELOCITY = 1 << 3, |
69 | eLIMIT = 1 << 4, |
70 | eDRIVE = 1 << 5, |
71 | eALL = eMOTION | ePOSE | eTARGETPOSE | eTARGETVELOCITY |
72 | }; |
73 | }; |
74 | |
75 | typedef PxFlags<ArticulationJointCoreDirtyFlag::Enum, PxU8> ArticulationJointCoreDirtyFlags; |
76 | PX_FLAGS_OPERATORS(ArticulationJointCoreDirtyFlag::Enum, PxU8) |
77 | } |
78 | } |
79 | |
80 | #endif |
81 | |
82 | |