| 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 PXD_SHADER_H |
|---|
| 32 | #define PXD_SHADER_H |
|---|
| 33 | |
|---|
| 34 | #include "foundation/PxVec3.h" |
|---|
| 35 | #include "foundation/PxTransform.h" |
|---|
| 36 | #include "PxvConfig.h" |
|---|
| 37 | #include "PxvDynamics.h" |
|---|
| 38 | #include "PxConstraint.h" |
|---|
| 39 | #include "DyConstraintWriteBack.h" |
|---|
| 40 | |
|---|
| 41 | namespace physx |
|---|
| 42 | { |
|---|
| 43 | |
|---|
| 44 | class PxsRigidBody; |
|---|
| 45 | |
|---|
| 46 | namespace Dy |
|---|
| 47 | { |
|---|
| 48 | |
|---|
| 49 | #if PX_VC |
|---|
| 50 | #pragma warning(push) |
|---|
| 51 | #pragma warning( disable : 4324 ) // Padding was added at the end of a structure because of a __declspec(align) value. |
|---|
| 52 | #endif |
|---|
| 53 | PX_ALIGN_PREFIX(16) |
|---|
| 54 | struct Constraint |
|---|
| 55 | { |
|---|
| 56 | public: |
|---|
| 57 | |
|---|
| 58 | PxReal linBreakForce; //0 |
|---|
| 59 | PxReal angBreakForce; //4 |
|---|
| 60 | PxU16 constantBlockSize; //6 |
|---|
| 61 | PxU16 flags; //8 |
|---|
| 62 | |
|---|
| 63 | PxConstraintSolverPrep solverPrep; //12 |
|---|
| 64 | PxConstraintProject project; //16 |
|---|
| 65 | void* constantBlock; //20 |
|---|
| 66 | |
|---|
| 67 | PxsRigidBody* body0; //24 |
|---|
| 68 | PxsRigidBody* body1; //28 |
|---|
| 69 | |
|---|
| 70 | PxsBodyCore* bodyCore0; //32 |
|---|
| 71 | PxsBodyCore* bodyCore1; //36 |
|---|
| 72 | PxU32 index; //40 //this is also a constraint write back index |
|---|
| 73 | PxReal minResponseThreshold; //44 |
|---|
| 74 | } |
|---|
| 75 | PX_ALIGN_SUFFIX(16); |
|---|
| 76 | #if PX_VC |
|---|
| 77 | #pragma warning(pop) |
|---|
| 78 | #endif |
|---|
| 79 | |
|---|
| 80 | #if !PX_P64_FAMILY |
|---|
| 81 | PX_COMPILE_TIME_ASSERT(48==sizeof(Constraint)); |
|---|
| 82 | #endif |
|---|
| 83 | |
|---|
| 84 | } |
|---|
| 85 | |
|---|
| 86 | } |
|---|
| 87 | |
|---|
| 88 | #endif |
|---|
| 89 | |
|---|
