121 lines
3.6 KiB
C++
121 lines
3.6 KiB
C++
// 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_ARTICULATION_TENDON_DATA_H
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#define PX_ARTICULATION_TENDON_DATA_H
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#include "foundation/PxSimpleTypes.h"
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#include "foundation/PxVec3.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 PxGpuSpatialTendonData
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This data structure is to be used by the direct GPU API for spatial tendon data updates.
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@see PxArticulationSpatialTendon PxScene::copyArticulationData PxScene::applyArticulationData
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*/
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PX_ALIGN_PREFIX(16)
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class PxGpuSpatialTendonData
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{
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public:
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PxReal stiffness;
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PxReal damping;
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PxReal limitStiffness;
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PxReal offset;
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}
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PX_ALIGN_SUFFIX(16);
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/**
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\brief PxGpuFixedTendonData
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This data structure is to be used by the direct GPU API for fixed tendon data updates.
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@see PxArticulationFixedTendon PxScene::copyArticulationData PxScene::applyArticulationData
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*/
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PX_ALIGN_PREFIX(16)
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class PxGpuFixedTendonData : public PxGpuSpatialTendonData
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{
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public:
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PxReal lowLimit;
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PxReal highLimit;
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PxReal restLength;
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PxReal padding;
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}
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PX_ALIGN_SUFFIX(16);
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/**
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\brief PxGpuTendonJointCoefficientData
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This data structure is to be used by the direct GPU API for fixed tendon joint data updates.
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@see PxArticulationTendonJoint PxScene::copyArticulationData PxScene::applyArticulationData
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*/
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PX_ALIGN_PREFIX(16)
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class PxGpuTendonJointCoefficientData
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{
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public:
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PxReal coefficient;
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PxReal recipCoefficient;
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PxU32 axis;
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PxU32 pad;
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}
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PX_ALIGN_SUFFIX(16);
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/**
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\brief PxGpuTendonAttachmentData
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This data structure is to be used by the direct GPU API for spatial tendon attachment data updates.
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@see PxArticulationAttachment PxScene::copyArticulationData PxScene::applyArticulationData
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*/
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PX_ALIGN_PREFIX(16)
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class PxGpuTendonAttachmentData
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{
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public:
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PxVec3 relativeOffset;
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PxReal restLength;
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PxReal coefficient;
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PxReal lowLimit;
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PxReal highLimit;
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PxReal padding;
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}
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PX_ALIGN_SUFFIX(16);
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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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