112 lines
3.6 KiB
C
112 lines
3.6 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_ACTOR_DATA_H
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#define PX_ACTOR_DATA_H
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/** \addtogroup physics
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@{
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*/
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#include "foundation/PxVec4.h"
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#include "foundation/PxQuat.h"
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#include "foundation/PxFlags.h"
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#include "PxNodeIndex.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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/**
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\brief Identifies each type of information for retrieving from actor.
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@see PxScene::applyActorData
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*/
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struct PxActorCacheFlag
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{
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enum Enum
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{
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eACTOR_DATA = (1 << 0), //include transform and velocity
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eFORCE = (1 << 2),
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eTORQUE = (1 << 3)
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};
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};
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/**
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\brief Collection of set bits defined in PxActorCacheFlag.
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@see PxActorCacheFlag
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*/
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typedef PxFlags<PxActorCacheFlag::Enum, PxU16> PxActorCacheFlags;
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PX_FLAGS_OPERATORS(PxActorCacheFlag::Enum, PxU16)
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/**
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\brief State of a body used when interfacing with the GPU rigid body pipeline
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@see PxScene.copyBodyData()
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*/
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PX_ALIGN_PREFIX(16)
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struct PxGpuBodyData
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{
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PxQuat quat; /*!< actor global pose quaternion in world frame */
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PxVec4 pos; /*!< (x,y,z members): actor global pose position in world frame */
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PxVec4 linVel; /*!< (x,y,z members): linear velocity at center of gravity in world frame */
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PxVec4 angVel; /*!< (x,y,z members): angular velocity in world frame */
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}
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PX_ALIGN_SUFFIX(16);
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/**
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\brief Pair correspondence used for matching array indices with body node indices
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*/
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PX_ALIGN_PREFIX(8)
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struct PxGpuActorPair
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{
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PxU32 srcIndex; //Defines which index in src array we read
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PxNodeIndex nodeIndex; //Defines which actor this entry in src array is updating
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}
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PX_ALIGN_SUFFIX(8);
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/**
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\brief Maps numeric index to a data pointer.
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@see PxScene::computeDenseJacobians(), PxScene::computeGeneralizedMassMatrices(), PxScene::computeGeneralizedGravityForces(), PxScene::computeCoriolisAndCentrifugalForces()
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*/
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struct PxIndexDataPair
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{
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PxU32 index;
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void* data;
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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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/** @} */
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#endif
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