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PxConstraintDesc.h

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// This code supersedes and replaces all information previously supplied.
// NVIDIA Corporation products are not authorized for use as critical
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// NVIDIA Corporation.
//
// Copyright (c) 2008-2018 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_PHYSICS_NX_CONSTRAINTDESC
#define PX_PHYSICS_NX_CONSTRAINTDESC

#include "PxPhysXConfig.h"
#include "foundation/PxFlags.h"
#include "foundation/PxVec3.h"
#include "common/PxBase.h"

#if !PX_DOXYGEN
namespace physx { namespace pvdsdk {
#endif
    class PvdDataStream;
#if !PX_DOXYGEN
}}
#endif

#if !PX_DOXYGEN
namespace physx
{
#endif

class PxConstraintConnector;
class PxRigidActor;
class PxScene;
class PxConstraintConnector;
class PxRenderBuffer;
class PxDeletionListener;

struct Px1DConstraintFlag
{
    PX_CUDA_CALLABLE Px1DConstraintFlag(){}

    enum Type
    {
        eSPRING                 = 1<<0, 
        eACCELERATION_SPRING    = 1<<1, 
        eRESTITUTION            = 1<<2, 
        eKEEPBIAS               = 1<<3, 
        eOUTPUT_FORCE           = 1<<4, 
        eHAS_DRIVE_LIMIT        = 1<<5, 
        eANGULAR_CONSTRAINT     = 1 << 6,
        eDRIVE_ROW              = 1 << 7
    };
};

typedef PxFlags<Px1DConstraintFlag::Type, PxU16> Px1DConstraintFlags;
PX_FLAGS_OPERATORS(Px1DConstraintFlag::Type, PxU16)


struct PxConstraintSolveHint
{
    enum Enum
    {
        eNONE                   = 0,        
        eACCELERATION1          = 256,      
        eSLERP_SPRING           = 258,      
        eACCELERATION2          = 512,      
        eACCELERATION3          = 768,      
        eROTATIONAL_EQUALITY    = 1024,     
        eROTATIONAL_INEQUALITY  = 1025,     
        eEQUALITY               = 2048,     
        eINEQUALITY             = 2049      
    };
};

PX_ALIGN_PREFIX(16)
struct Px1DConstraint
{
    PxVec3              linear0;                
    PxReal              geometricError;         
    PxVec3              angular0;               
    PxReal              velocityTarget;         

    PxVec3              linear1;                
    PxReal              minImpulse;             
    PxVec3              angular1;               
    PxReal              maxImpulse;             

    union
    {
        struct SpringModifiers
        {
            PxReal      stiffness;              
            PxReal      damping;                
        } spring;
        struct RestitutionModifiers
        {
            PxReal      restitution;            
            PxReal      velocityThreshold;      
        } bounce;
    } mods;

    PxReal              forInternalUse;         
    PxU16               flags;                  
    PxU16               solveHint;              
} 
PX_ALIGN_SUFFIX(16);


struct PxConstraintVisualizationFlag
{
    enum Enum
    {
        eLOCAL_FRAMES   = 1,    
        eLIMITS         = 2     
    };
};

PX_ALIGN_PREFIX(16)
struct PxConstraintInvMassScale
{
//= ATTENTION! =====================================================================================
// Changing the data layout of this class breaks the binary serialization format.  See comments for 
// PX_BINARY_SERIAL_VERSION.  If a modification is required, please adjust the getBinaryMetaData 
// function.  If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
// accordingly.
//==================================================================================================

    PxReal linear0;     
    PxReal angular0;    
    PxReal linear1;     
    PxReal angular1;    

    PX_CUDA_CALLABLE PX_FORCE_INLINE PxConstraintInvMassScale(){}
    PX_CUDA_CALLABLE PX_FORCE_INLINE PxConstraintInvMassScale(PxReal lin0, PxReal ang0, PxReal lin1, PxReal ang1) : linear0(lin0), angular0(ang0), linear1(lin1), angular1(ang1){}
}
PX_ALIGN_SUFFIX(16);

typedef PxU32 (*PxConstraintSolverPrep)(Px1DConstraint* constraints,
                                        PxVec3& bodyAWorldOffset,
                                        PxU32 maxConstraints,
                                        PxConstraintInvMassScale& invMassScale,
                                        const void* constantBlock,
                                        const PxTransform& bodyAToWorld,
                                        const PxTransform& bodyBToWorld,
                                        bool useExtendedLimits,
                                        PxVec3& cAtW,
                                        PxVec3& cBtW);

typedef void (*PxConstraintProject)(const void* constantBlock,
                                    PxTransform& bodyAToWorld,
                                    PxTransform& bodyBToWorld,
                                    bool projectToA);

class PxConstraintVisualizer
{
protected:
    virtual ~PxConstraintVisualizer(){}
public:
    virtual void visualizeJointFrames(const PxTransform& parent, const PxTransform& child) = 0;

    virtual void visualizeLinearLimit(const PxTransform& t0, const PxTransform& t1, PxReal value, bool active) = 0;

    virtual void visualizeAngularLimit(const PxTransform& t0, PxReal lower, PxReal upper, bool active) = 0;

    virtual void visualizeLimitCone(const PxTransform& t, PxReal tanQSwingY, PxReal tanQSwingZ, bool active) = 0;

    virtual void visualizeDoubleCone(const PxTransform& t, PxReal angle, bool active) = 0;

    virtual void visualizeLine(const PxVec3& p0, const PxVec3& p1, PxU32 color) = 0;
};

typedef void (*PxConstraintVisualize)(PxConstraintVisualizer& visualizer,
                                      const void* constantBlock,
                                      const PxTransform& body0Transform,
                                      const PxTransform& body1Transform,
                                      PxU32 flags);


struct PxPvdUpdateType
{
    enum Enum
    {
        CREATE_INSTANCE,
        RELEASE_INSTANCE,
        UPDATE_ALL_PROPERTIES,
        UPDATE_SIM_PROPERTIES
    };
};

class PxConstraintConnector
{
public:
    virtual void*                   prepareData()                                           = 0;

    virtual bool                    updatePvdProperties(physx::pvdsdk::PvdDataStream& pvdConnection,
                                                const PxConstraint* c,
                                                PxPvdUpdateType::Enum updateType) const     = 0;

    virtual void                    onConstraintRelease()                                   = 0;

    virtual void                    onComShift(PxU32 actor)                                 = 0;

    virtual void                    onOriginShift(const PxVec3& shift)                      = 0;

    virtual void*                   getExternalReference(PxU32& typeID)                     = 0;

    virtual PxBase*                 getSerializable()                                       = 0;

    virtual PxConstraintSolverPrep getPrep()    const                                       = 0;

    virtual const void*             getConstantBlock()  const                               = 0;

    virtual                         ~PxConstraintConnector() {}
};

#if !PX_DOXYGEN
} // namespace physx
#endif

#endif

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