110 lines
6.7 KiB
C++
110 lines
6.7 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_FLAG_H
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#define PX_ARTICULATION_FLAG_H
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#include "PxPhysXConfig.h"
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#include "foundation/PxFlags.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 A description of the types of articulation data that may be directly written to and read from the GPU using the functions
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PxScene::copyArticulationData() and PxScene::applyArticulationData(). Types that are read-only may only be used in conjunction with
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PxScene::copyArticulationData(). Types that are write-only may only be used in conjunction with PxScene::applyArticulationData().
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A subset of data types may be used in conjunction with both PxScene::applyArticulationData() and PxScene::applyArticulationData().
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@see PxArticulationCache, PxScene::copyArticulationData(), PxScene::applyArticulationData()
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*/
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class PxArticulationGpuDataType
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{
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public:
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enum Enum
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{
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eJOINT_POSITION = 0, //!< The joint positions, read and write, see PxScene::copyArticulationData(), PxScene::applyArticulationData()
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eJOINT_VELOCITY, //!< The joint velocities, read and write, see PxScene::copyArticulationData(), PxScene::applyArticulationData()
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eJOINT_ACCELERATION, //!< The joint accelerations, read only, see PxScene::copyArticulationData()
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eJOINT_FORCE, //!< The applied joint forces, write only, see PxScene::applyArticulationData()
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eJOINT_SOLVER_FORCE, //!< @deprecated The computed joint constraint solver forces, read only, see PxScene::copyArticulationData()
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eJOINT_TARGET_VELOCITY, //!< The velocity targets for the joint drives, write only, see PxScene::applyArticulationData()
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eJOINT_TARGET_POSITION, //!< The position targets for the joint drives, write only, see PxScene::applyArticulationData()
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eSENSOR_FORCE, //!< @deprecated The spatial sensor forces, read only, see PxScene::copyArticulationData()
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eROOT_TRANSFORM, //!< The root link transform, read and write, see PxScene::copyArticulationData(), PxScene::applyArticulationData()
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eROOT_VELOCITY, //!< The root link velocity, read and write, see PxScene::copyArticulationData(), PxScene::applyArticulationData()
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eLINK_TRANSFORM, //!< The link transforms including root link, read only, see PxScene::copyArticulationData()
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eLINK_VELOCITY, //!< The link velocities including root link, read only, see PxScene::copyArticulationData()
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eLINK_ACCELERATION, //!< The link accelerations including root link, read only, see PxScene::copyArticulationData()
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eLINK_INCOMING_JOINT_FORCE, //!< The link incoming jont forces including root link, read only, see PxScene::copyArticulationData()
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eLINK_FORCE, //!< The forces to apply to links, write only, see PxScene::applyArticulationData()
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eLINK_TORQUE, //!< The torques to apply to links, write only, see PxScene::applyArticulationData()
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eFIXED_TENDON, //!< Fixed tendon data, write only, see PxScene::applyArticulationData()
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eFIXED_TENDON_JOINT, //!< Fixed tendon joint data, write only, see PxScene::applyArticulationData()
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eSPATIAL_TENDON, //!< Spatial tendon data, write only, see PxScene::applyArticulationData()
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eSPATIAL_TENDON_ATTACHMENT //!< Spatial tendon attachment data, write only, see PxScene::applyArticulationData()
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};
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};
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/**
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\brief These flags determine what data is read or written to the internal articulation data via cache.
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@see PxArticulationCache PxArticulationReducedCoordinate::copyInternalStateToCache PxArticulationReducedCoordinate::applyCache
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*/
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class PxArticulationCacheFlag
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{
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public:
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enum Enum
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{
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eVELOCITY = (1 << 0), //!< The joint velocities, see PxArticulationCache::jointVelocity.
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eACCELERATION = (1 << 1), //!< The joint accelerations, see PxArticulationCache::jointAcceleration.
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ePOSITION = (1 << 2), //!< The joint positions, see PxArticulationCache::jointPosition.
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eFORCE = (1 << 3), //!< The joint forces, see PxArticulationCache::jointForce.
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eLINK_VELOCITY = (1 << 4), //!< The link velocities, see PxArticulationCache::linkVelocity.
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eLINK_ACCELERATION = (1 << 5), //!< The link accelerations, see PxArticulationCache::linkAcceleration.
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eROOT_TRANSFORM = (1 << 6), //!< Root link transform, see PxArticulationCache::rootLinkData.
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eROOT_VELOCITIES = (1 << 7), //!< Root link velocities (read/write) and accelerations (read), see PxArticulationCache::rootLinkData.
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eSENSOR_FORCES = (1 << 8), //!< @deprecated The spatial sensor forces, see PxArticulationCache::sensorForces.
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eJOINT_SOLVER_FORCES = (1 << 9), //!< @deprecated Solver constraint joint forces, see PxArticulationCache::jointSolverForces.
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eLINK_INCOMING_JOINT_FORCE = (1 << 10), //!< Link incoming joint forces, see PxArticulationCache::linkIncomingJointForce.
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eALL = (eVELOCITY | eACCELERATION | ePOSITION | eLINK_VELOCITY | eLINK_ACCELERATION | eROOT_TRANSFORM | eROOT_VELOCITIES)
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};
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};
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typedef PxFlags<PxArticulationCacheFlag::Enum, PxU32> PxArticulationCacheFlags;
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PX_FLAGS_OPERATORS(PxArticulationCacheFlag::Enum, PxU32)
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#if !PX_DOXYGEN
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}
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#endif
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#endif
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