107 lines
6.2 KiB
C++
107 lines
6.2 KiB
C++
// Redistribution and use in source and binary forms, with or without
|
|
// modification, are permitted provided that the following conditions
|
|
// are met:
|
|
// * Redistributions of source code must retain the above copyright
|
|
// notice, this list of conditions and the following disclaimer.
|
|
// * Redistributions in binary form must reproduce the above copyright
|
|
// notice, this list of conditions and the following disclaimer in the
|
|
// documentation and/or other materials provided with the distribution.
|
|
// * Neither the name of NVIDIA CORPORATION nor the names of its
|
|
// contributors may be used to endorse or promote products derived
|
|
// from this software without specific prior written permission.
|
|
//
|
|
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
|
|
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
|
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
|
|
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
|
|
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
|
|
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
|
|
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
|
|
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
|
|
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
|
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
|
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
|
//
|
|
// Copyright (c) 2008-2023 NVIDIA Corporation. All rights reserved.
|
|
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
|
|
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
|
|
|
|
#ifndef PX_ARTICULATION_FLAG_H
|
|
#define PX_ARTICULATION_FLAG_H
|
|
|
|
#include "PxPhysXConfig.h"
|
|
#include "foundation/PxFlags.h"
|
|
|
|
#if !PX_DOXYGEN
|
|
namespace physx
|
|
{
|
|
#endif
|
|
|
|
/**
|
|
\brief A description of the types of articulation data that may be directly written to and read from the GPU using the functions
|
|
PxScene::copyArticulationData() and PxScene::applyArticulationData(). Types that are read-only may only be used in conjunction with
|
|
PxScene::copyArticulationData(). Types that are write-only may only be used in conjunction with PxScene::applyArticulationData().
|
|
A subset of data types may be used in conjunction with both PxScene::applyArticulationData() and PxScene::applyArticulationData().
|
|
|
|
@see PxArticulationCache, PxScene::copyArticulationData(), PxScene::applyArticulationData()
|
|
*/
|
|
class PxArticulationGpuDataType
|
|
{
|
|
public:
|
|
enum Enum
|
|
{
|
|
eJOINT_POSITION = 0, //!< The joint positions, read and write, see PxScene::copyArticulationData(), PxScene::applyArticulationData()
|
|
eJOINT_VELOCITY, //!< The joint velocities, read and write, see PxScene::copyArticulationData(), PxScene::applyArticulationData()
|
|
eJOINT_ACCELERATION, //!< The joint accelerations, read only, see PxScene::copyArticulationData()
|
|
eJOINT_FORCE, //!< The applied joint forces, write only, see PxScene::applyArticulationData()
|
|
eJOINT_SOLVER_FORCE, //!< The computed joint constraint solver forces, read only, see PxScene::copyArticulationData()()
|
|
eJOINT_TARGET_VELOCITY, //!< The velocity targets for the joint drives, write only, see PxScene::applyArticulationData()
|
|
eJOINT_TARGET_POSITION, //!< The position targets for the joint drives, write only, see PxScene::applyArticulationData()
|
|
eSENSOR_FORCE, //!< The spatial sensor forces, read only, see PxScene::copyArticulationData()
|
|
eROOT_TRANSFORM, //!< The root link transform, read and write, see PxScene::copyArticulationData(), PxScene::applyArticulationData()
|
|
eROOT_VELOCITY, //!< The root link velocity, read and write, see PxScene::copyArticulationData(), PxScene::applyArticulationData()
|
|
eLINK_TRANSFORM, //!< The link transforms including root link, read only, see PxScene::copyArticulationData()
|
|
eLINK_VELOCITY, //!< The link velocities including root link, read only, see PxScene::copyArticulationData()
|
|
eLINK_FORCE, //!< The forces to apply to links, write only, see PxScene::applyArticulationData()
|
|
eLINK_TORQUE, //!< The torques to apply to links, write only, see PxScene::applyArticulationData()
|
|
eFIXED_TENDON, //!< Fixed tendon data, write only, see PxScene::applyArticulationData()
|
|
eFIXED_TENDON_JOINT, //!< Fixed tendon joint data, write only, see PxScene::applyArticulationData()
|
|
eSPATIAL_TENDON, //!< Spatial tendon data, write only, see PxScene::applyArticulationData()
|
|
eSPATIAL_TENDON_ATTACHMENT //!< Spatial tendon attachment data, write only, see PxScene::applyArticulationData()
|
|
};
|
|
};
|
|
|
|
|
|
/**
|
|
\brief These flags determine what data is read or written to the internal articulation data via cache.
|
|
|
|
@see PxArticulationCache PxArticulationReducedCoordinate::copyInternalStateToCache PxArticulationReducedCoordinate::applyCache
|
|
*/
|
|
class PxArticulationCacheFlag
|
|
{
|
|
public:
|
|
enum Enum
|
|
{
|
|
eVELOCITY = (1 << 0), //!< The joint velocities, see PxArticulationCache::jointVelocity.
|
|
eACCELERATION = (1 << 1), //!< The joint accelerations, see PxArticulationCache::jointAcceleration.
|
|
ePOSITION = (1 << 2), //!< The joint positions, see PxArticulationCache::jointPosition.
|
|
eFORCE = (1 << 3), //!< The joint forces, see PxArticulationCache::jointForce.
|
|
eLINK_VELOCITY = (1 << 4), //!< The link velocities, see PxArticulationCache::linkVelocity.
|
|
eLINK_ACCELERATION = (1 << 5), //!< The link accelerations, see PxArticulationCache::linkAcceleration.
|
|
eROOT_TRANSFORM = (1 << 6), //!< Root link transform, see PxArticulationCache::rootLinkData.
|
|
eROOT_VELOCITIES = (1 << 7), //!< Root link velocities (read/write) and accelerations (read), see PxArticulationCache::rootLinkData.
|
|
eSENSOR_FORCES = (1 << 8), //!< The spatial sensor forces, see PxArticulationCache::sensorForces.
|
|
eJOINT_SOLVER_FORCES = (1 << 9), //!< Solver constraint joint forces, see PxArticulationCache::jointSolverForces.
|
|
eALL = (eVELOCITY | eACCELERATION | ePOSITION | eLINK_VELOCITY | eLINK_ACCELERATION | eROOT_TRANSFORM | eROOT_VELOCITIES)
|
|
};
|
|
};
|
|
|
|
typedef PxFlags<PxArticulationCacheFlag::Enum, PxU32> PxArticulationCacheFlags;
|
|
PX_FLAGS_OPERATORS(PxArticulationCacheFlag::Enum, PxU32)
|
|
|
|
#if !PX_DOXYGEN
|
|
}
|
|
#endif
|
|
|
|
#endif
|