90 lines
3.7 KiB
C
90 lines
3.7 KiB
C
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2023 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef PX_NODEINDEX_H
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#define PX_NODEINDEX_H
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#include "foundation/PxSimpleTypes.h"
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#if !PX_DOXYGEN
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namespace physx
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{
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#endif
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#define PX_INVALID_NODE 0xFFFFFFFFu
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/**
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\brief PxNodeIndex
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Node index is the unique index for each actor referenced by the island gen. It contains details like
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if the actor is an articulation or rigid body. If it is an articulation, the node index also contains
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the link index of the rigid body within the articulation. Also, it contains information to detect whether
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the rigid body is static body or not
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*/
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class PxNodeIndex
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{
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protected:
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PxU64 ind;
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public:
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explicit PX_CUDA_CALLABLE PX_FORCE_INLINE PxNodeIndex(PxU32 id, PxU32 articLinkId) : ind((PxU64(id) << 32) | (articLinkId << 1) | 1)
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{
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}
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explicit PX_CUDA_CALLABLE PX_FORCE_INLINE PxNodeIndex(PxU32 id = PX_INVALID_NODE) : ind((PxU64(id) << 32))
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{
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}
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxU32 index() const { return PxU32(ind >> 32); }
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxU32 articulationLinkId() const { return PxU32((ind >> 1) & 0x7FFFFFFF); }
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PX_CUDA_CALLABLE PX_FORCE_INLINE PxU32 isArticulation() const { return PxU32(ind & 1); }
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PX_CUDA_CALLABLE PX_FORCE_INLINE bool isStaticBody() const { return PxU32(ind >> 32) == PX_INVALID_NODE; }
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PX_CUDA_CALLABLE bool isValid() const { return PxU32(ind >> 32) != PX_INVALID_NODE; }
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PX_CUDA_CALLABLE void setIndices(PxU32 index, PxU32 articLinkId) { ind = ((PxU64(index) << 32) | (articLinkId << 1) | 1); }
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PX_CUDA_CALLABLE void setIndices(PxU32 index) { ind = ((PxU64(index) << 32)); }
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PX_CUDA_CALLABLE bool operator < (const PxNodeIndex& other) const { return ind < other.ind; }
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PX_CUDA_CALLABLE bool operator <= (const PxNodeIndex& other) const { return ind <= other.ind; }
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PX_CUDA_CALLABLE bool operator == (const PxNodeIndex& other) const { return ind == other.ind; }
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PX_CUDA_CALLABLE PxU64 getInd() const { return ind; }
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};
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#if !PX_DOXYGEN
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} // namespace physx
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#endif
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#endif
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