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29
30
31#ifndef PX_PHYSICS_CONSTRAINTCORE
32#define PX_PHYSICS_CONSTRAINTCORE
33
34#include "CmPhysXCommon.h"
35#include "PxConstraintDesc.h"
36#include "PsAllocator.h"
37#include "PxConstraint.h"
38
39namespace physx
40{
41
42class PxConstraint;
43
44namespace Sc
45{
46 class ConstraintCore;
47 class ConstraintSim;
48 class RigidCore;
49
50
51 class ConstraintCore : public Ps::UserAllocated
52 {
53 //= ATTENTION! =====================================================================================
54 // Changing the data layout of this class breaks the binary serialization format. See comments for
55 // PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData
56 // function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
57 // accordingly.
58 //==================================================================================================
59 public:
60// PX_SERIALIZATION
61 ConstraintCore(const PxEMPTY) : mFlags(PxEmpty), mConnector(NULL), mSim(NULL) {}
62 PX_FORCE_INLINE void setConstraintFunctions(PxConstraintConnector& n,
63 const PxConstraintShaderTable& shaders)
64 {
65 mConnector = &n;
66 mSolverPrep = shaders.solverPrep;
67 mProject = shaders.project;
68 mVisualize = shaders.visualize;
69 }
70 static void getBinaryMetaData(PxOutputStream& stream);
71//~PX_SERIALIZATION
72 ConstraintCore(PxConstraintConnector& connector, const PxConstraintShaderTable& shaders, PxU32 dataSize);
73 ~ConstraintCore();
74
75 // The two-step protocol here allows us to unlink the constraint prior to deleting
76 // the actors when synchronizing the scene, then set the bodies after new actors have been inserted
77
78 void prepareForSetBodies();
79 void setBodies(RigidCore* r0v, RigidCore* r1v);
80
81 PxConstraint* getPxConstraint();
82 const PxConstraint* getPxConstraint() const;
83 PX_FORCE_INLINE PxConstraintConnector* getPxConnector() const { return mConnector; }
84
85 PX_FORCE_INLINE PxConstraintFlags getFlags() const { return mFlags; }
86 void setFlags(PxConstraintFlags flags);
87
88 void getForce(PxVec3& force, PxVec3& torque) const;
89
90 bool updateConstants(void* addr);
91
92 void setBreakForce(PxReal linear, PxReal angular);
93 void getBreakForce(PxReal& linear, PxReal& angular) const;
94
95 void setMinResponseThreshold(PxReal threshold);
96 PxReal getMinResponseThreshold() const { return mMinResponseThreshold; }
97
98 void breakApart();
99
100 PX_FORCE_INLINE PxConstraintVisualize getVisualize() const { return mVisualize; }
101 PX_FORCE_INLINE PxConstraintProject getProject() const { return mProject; }
102 PX_FORCE_INLINE PxConstraintSolverPrep getSolverPrep() const { return mSolverPrep; }
103 PX_FORCE_INLINE PxU32 getConstantBlockSize() const { return mDataSize; }
104
105 PX_FORCE_INLINE void setSim(ConstraintSim* sim)
106 {
107 PX_ASSERT((sim==0) ^ (mSim == 0));
108 mSim = sim;
109 }
110 PX_FORCE_INLINE ConstraintSim* getSim() const { return mSim; }
111 private:
112 PxConstraintFlags mFlags;
113 PxU16 mPaddingFromFlags; // PT: because flags are PxU16
114
115 PxVec3 mAppliedForce;
116 PxVec3 mAppliedTorque;
117
118 PxConstraintConnector* mConnector;
119 PxConstraintProject mProject;
120 PxConstraintSolverPrep mSolverPrep;
121 PxConstraintVisualize mVisualize;
122 PxU32 mDataSize;
123 PxReal mLinearBreakForce;
124 PxReal mAngularBreakForce;
125 PxReal mMinResponseThreshold;
126
127 ConstraintSim* mSim;
128 };
129
130} // namespace Sc
131
132}
133
134#endif
135

source code of qtquick3dphysics/src/3rdparty/PhysX/source/simulationcontroller/include/ScConstraintCore.h