Upgrade to PhysX 5.1.3
This commit is contained in:
Wojtek Figat
416
Source/ThirdParty/PhysX/PxImmediateMode.h
vendored
416
Source/ThirdParty/PhysX/PxImmediateMode.h
vendored
@@ -1,4 +1,3 @@
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//
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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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@@ -11,7 +10,7 @@
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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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// 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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@@ -23,16 +22,17 @@
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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) 2008-2019 NVIDIA Corporation. All rights reserved.
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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_PHYSICS_IMMEDIATE_MODE
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#define PX_PHYSICS_IMMEDIATE_MODE
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#ifndef PX_IMMEDIATE_MODE_H
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#define PX_IMMEDIATE_MODE_H
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/** \addtogroup immediatemode
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@{ */
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#include "PxPhysXConfig.h"
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#include "foundation/PxMemory.h"
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#include "solver/PxSolverDefs.h"
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#include "collision/PxCollisionDefs.h"
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#include "PxArticulationReducedCoordinate.h"
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@@ -42,11 +42,28 @@ namespace physx
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{
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#endif
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class PxCudaContextManager;
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class PxBaseTask;
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class PxGeometry;
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#if !PX_DOXYGEN
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namespace immediate
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{
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#endif
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typedef void* PxArticulationHandle;
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/**
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\brief Structure to store linear and angular components of spatial vector
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*/
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struct PxSpatialVector
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{
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PxVec3 top;
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PxReal pad0;
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PxVec3 bottom;
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PxReal pad1;
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};
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/**
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\brief Structure to store rigid body properties
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*/
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@@ -79,7 +96,7 @@ namespace immediate
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\param [in] index The index of this pair. This is an index from 0-N-1 identifying which pair this relates to from within the array of pairs passed to PxGenerateContacts
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\return a boolean to indicate if this callback successfully stored the contacts or not.
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*/
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virtual bool recordContacts(const Gu::ContactPoint* contactPoints, const PxU32 nbContacts, const PxU32 index) = 0;
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virtual bool recordContacts(const PxContactPoint* contactPoints, const PxU32 nbContacts, const PxU32 index) = 0;
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virtual ~PxContactRecorder(){}
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};
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@@ -87,12 +104,13 @@ namespace immediate
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/**
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\brief Constructs a PxSolverBodyData structure based on rigid body properties. Applies gravity, damping and clamps maximum velocity.
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\param [in] inRigidData The array rigid body properties
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\param [out] outSolverBodyData The array of solverBodyData produced to repreent these bodies
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\param [out] outSolverBodyData The array of solverBodyData produced to represent these bodies
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\param [in] nbBodies The total number of solver bodies to create
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\param [in] gravity The gravity vector
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\param [in] dt The timestep
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\param [in] gyroscopicForces Indicates whether gyroscopic forces should be integrated
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*/
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PX_C_EXPORT PX_PHYSX_CORE_API void PxConstructSolverBodies(const PxRigidBodyData* inRigidData, PxSolverBodyData* outSolverBodyData, const PxU32 nbBodies, const PxVec3& gravity, const PxReal dt);
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PX_C_EXPORT PX_PHYSX_CORE_API void PxConstructSolverBodies(const PxRigidBodyData* inRigidData, PxSolverBodyData* outSolverBodyData, PxU32 nbBodies, const PxVec3& gravity, PxReal dt, bool gyroscopicForces = false);
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/**
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\brief Constructs a PxSolverBodyData structure for a static body at a given pose.
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@@ -118,9 +136,9 @@ namespace immediate
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infinite mass (static or kinematic). This means that either appending static/kinematic to the end of the array of bodies or placing static/kinematic bodies at before the start body pointer
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will ensure that the minimum number of batches are produced.
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*/
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PX_C_EXPORT PX_PHYSX_CORE_API PxU32 PxBatchConstraints( const PxSolverConstraintDesc* solverConstraintDescs, const PxU32 nbConstraints, PxSolverBody* solverBodies, const PxU32 nbBodies,
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PX_C_EXPORT PX_PHYSX_CORE_API PxU32 PxBatchConstraints( const PxSolverConstraintDesc* solverConstraintDescs, PxU32 nbConstraints, PxSolverBody* solverBodies, PxU32 nbBodies,
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PxConstraintBatchHeader* outBatchHeaders, PxSolverConstraintDesc* outOrderedConstraintDescs,
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Dy::ArticulationV** articulations=NULL, const PxU32 nbArticulations=0);
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PxArticulationHandle* articulations=NULL, PxU32 nbArticulations=0);
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/**
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\brief Creates a set of contact constraint blocks. Note that, depending the results of PxBatchConstraints, each batchHeader may refer to up to 4 solverConstraintDescs.
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@@ -136,56 +154,62 @@ namespace immediate
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then these pairs will always be solved by bias.
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\param [in] frictionOffsetThreshold The friction offset threshold. Contacts whose separations are below this threshold can generate friction constraints.
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\param [in] correlationDistance The correlation distance used by friction correlation to identify whether a friction patch is broken on the grounds of relation separation.
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\param [out] Z Temporary buffer for impulse propagation.
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\return a boolean to define if this method was successful or not.
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*/
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PX_C_EXPORT PX_PHYSX_CORE_API bool PxCreateContactConstraints(PxConstraintBatchHeader* batchHeaders, const PxU32 nbHeaders, PxSolverContactDesc* contactDescs,
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PxConstraintAllocator& allocator, const PxReal invDt, const PxReal bounceThreshold, const PxReal frictionOffsetThreshold, const PxReal correlationDistance);
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PX_C_EXPORT PX_PHYSX_CORE_API bool PxCreateContactConstraints(PxConstraintBatchHeader* batchHeaders, PxU32 nbHeaders, PxSolverContactDesc* contactDescs,
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PxConstraintAllocator& allocator, PxReal invDt, PxReal bounceThreshold, PxReal frictionOffsetThreshold, PxReal correlationDistance,
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PxSpatialVector* Z = NULL);
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/**
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\brief Creates a set of joint constraint blocks. Note that, depending the results of PxBatchConstraints, the batchHeader may refer to up to 4 solverConstraintDescs
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\param [in] batchHeaders The array of batch headers to be processed
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\param [in] nbHeaders The total number of batch headers to process
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\param [in] jointDescs An array of constraint prep descs defining the properties of the constraints being created
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\param [in] allocator An allocator callback to allocate constraint data
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\param [in] dt The timestep
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\param [in] invDt The inverse timestep
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\param [in] batchHeaders The array of batch headers to be processed.
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\param [in] nbHeaders The total number of batch headers to process.
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\param [in] jointDescs An array of constraint prep descs defining the properties of the constraints being created.
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\param [in] allocator An allocator callback to allocate constraint data.
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\param [in] dt The timestep.
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\param [in] invDt The inverse timestep.
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\param [out] Z Temporary buffer for impulse propagation.
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\return a boolean indicating if this method was successful or not.
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*/
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PX_C_EXPORT PX_PHYSX_CORE_API bool PxCreateJointConstraints(PxConstraintBatchHeader* batchHeaders, const PxU32 nbHeaders, PxSolverConstraintPrepDesc* jointDescs, PxConstraintAllocator& allocator, const PxReal dt, const PxReal invDt);
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PX_C_EXPORT PX_PHYSX_CORE_API bool PxCreateJointConstraints(PxConstraintBatchHeader* batchHeaders, PxU32 nbHeaders, PxSolverConstraintPrepDesc* jointDescs, PxConstraintAllocator& allocator, PxSpatialVector* Z, PxReal dt, PxReal invDt);
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/**
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\brief Creates a set of joint constraint blocks. This function runs joint shaders defined inside PxConstraint** param, fills in joint row information in jointDescs and then calls PxCreateJointConstraints.
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\param [in] batchHeaders The set of batchHeaders to be processed
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\param [in] batchHeaders The set of batchHeaders to be processed.
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\param [in] nbBatchHeaders The number of batch headers to process.
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\param [in] constraints The set of constraints to be used to produce constraint rows
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\param [in,out] jointDescs An array of constraint prep descs defining the properties of the constraints being created
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\param [in] allocator An allocator callback to allocate constraint data
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\param [in] dt The timestep
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\param [in] invDt The inverse timestep
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\param [in] constraints The set of constraints to be used to produce constraint rows.
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\param [in,out] jointDescs An array of constraint prep descs defining the properties of the constraints being created.
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\param [in] allocator An allocator callback to allocate constraint data.
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\param [in] dt The timestep.
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\param [in] invDt The inverse timestep.
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\param [out] Z Temporary buffer for impulse propagation.
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\return a boolean indicating if this method was successful or not.
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@see PxCreateJointConstraints
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*/
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PX_C_EXPORT PX_PHYSX_CORE_API bool PxCreateJointConstraintsWithShaders(PxConstraintBatchHeader* batchHeaders, const PxU32 nbBatchHeaders, PxConstraint** constraints, PxSolverConstraintPrepDesc* jointDescs, PxConstraintAllocator& allocator, const PxReal dt, const PxReal invDt);
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PX_C_EXPORT PX_PHYSX_CORE_API bool PxCreateJointConstraintsWithShaders(PxConstraintBatchHeader* batchHeaders, PxU32 nbBatchHeaders, PxConstraint** constraints, PxSolverConstraintPrepDesc* jointDescs, PxConstraintAllocator& allocator, PxReal dt, PxReal invDt, PxSpatialVector* Z = NULL);
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struct PxImmediateConstraint
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{
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PxConstraintSolverPrep prep;
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const void* constantBlock;
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};
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/**
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\brief Creates a set of joint constraint blocks. This function runs joint shaders defined inside PxImmediateConstraint* param, fills in joint row information in jointDescs and then calls PxCreateJointConstraints.
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\param [in] batchHeaders The set of batchHeaders to be processed
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\param [in] batchHeaders The set of batchHeaders to be processed.
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\param [in] nbBatchHeaders The number of batch headers to process.
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\param [in] constraints The set of constraints to be used to produce constraint rows
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\param [in,out] jointDescs An array of constraint prep descs defining the properties of the constraints being created
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\param [in] allocator An allocator callback to allocate constraint data
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\param [in] dt The timestep
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\param [in] invDt The inverse timestep
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\param [in] constraints The set of constraints to be used to produce constraint rows.
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\param [in,out] jointDescs An array of constraint prep descs defining the properties of the constraints being created.
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\param [in] allocator An allocator callback to allocate constraint data.
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\param [in] dt The timestep.
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\param [in] invDt The inverse timestep.
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\param [out] Z Temporary buffer for impulse propagation.
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\return a boolean indicating if this method was successful or not.
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@see PxCreateJointConstraints
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*/
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PX_C_EXPORT PX_PHYSX_CORE_API bool PxCreateJointConstraintsWithImmediateShaders(PxConstraintBatchHeader* batchHeaders, const PxU32 nbBatchHeaders, PxImmediateConstraint* constraints, PxSolverConstraintPrepDesc* jointDescs, PxConstraintAllocator& allocator, const PxReal dt, const PxReal invDt);
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PX_C_EXPORT PX_PHYSX_CORE_API bool PxCreateJointConstraintsWithImmediateShaders(PxConstraintBatchHeader* batchHeaders, PxU32 nbBatchHeaders, PxImmediateConstraint* constraints, PxSolverConstraintPrepDesc* jointDescs, PxConstraintAllocator& allocator, PxReal dt, PxReal invDt, PxSpatialVector* Z = NULL);
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/**
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\brief Iteratively solves the set of constraints defined by the provided PxConstraintBatchHeader and PxSolverConstraintDesc structures. Updates deltaVelocities inside the PxSolverBody structures. Produces resulting linear and angular motion velocities.
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@@ -202,10 +226,12 @@ namespace immediate
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\param [in] invDt Inverse timestep. Only needed if articulations are sent to the function.
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\param [in] nbSolverArticulations Number of articulations to solve constraints for.
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\param [in] solverArticulations Array of articulations to solve constraints for.
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\param [out] Z Temporary buffer for impulse propagation
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\param [out] deltaV Temporary buffer for velocity change
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*/
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PX_C_EXPORT PX_PHYSX_CORE_API void PxSolveConstraints(const PxConstraintBatchHeader* batchHeaders, const PxU32 nbBatchHeaders, const PxSolverConstraintDesc* solverConstraintDescs,
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const PxSolverBody* solverBodies, PxVec3* linearMotionVelocity, PxVec3* angularMotionVelocity, const PxU32 nbSolverBodies, const PxU32 nbPositionIterations, const PxU32 nbVelocityIterations,
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const float dt=0.0f, const float invDt=0.0f, const PxU32 nbSolverArticulations=0, Dy::ArticulationV** solverArticulations=NULL);
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PX_C_EXPORT PX_PHYSX_CORE_API void PxSolveConstraints(const PxConstraintBatchHeader* batchHeaders, PxU32 nbBatchHeaders, const PxSolverConstraintDesc* solverConstraintDescs,
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const PxSolverBody* solverBodies, PxVec3* linearMotionVelocity, PxVec3* angularMotionVelocity, PxU32 nbSolverBodies, PxU32 nbPositionIterations, PxU32 nbVelocityIterations,
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float dt=0.0f, float invDt=0.0f, PxU32 nbSolverArticulations=0, PxArticulationHandle* solverArticulations=NULL, PxSpatialVector* Z = NULL, PxSpatialVector* deltaV = NULL);
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/**
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\brief Integrates a rigid body, returning the new velocities and transforms. After this function has been called, solverBodyData stores all the body's velocity data.
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@@ -217,10 +243,10 @@ namespace immediate
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\param [in] nbBodiesToIntegrate The total number of bodies to integrate
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\param [in] dt The timestep
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*/
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PX_C_EXPORT PX_PHYSX_CORE_API void PxIntegrateSolverBodies(PxSolverBodyData* solverBodyData, PxSolverBody* solverBody, const PxVec3* linearMotionVelocity, const PxVec3* angularMotionState, const PxU32 nbBodiesToIntegrate, const PxReal dt);
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PX_C_EXPORT PX_PHYSX_CORE_API void PxIntegrateSolverBodies(PxSolverBodyData* solverBodyData, PxSolverBody* solverBody, const PxVec3* linearMotionVelocity, const PxVec3* angularMotionState, PxU32 nbBodiesToIntegrate, PxReal dt);
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/**
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\brief Performs contact generation for a given pair of geometries at the specified poses. Produced contacts are stored in the provided Gu::ContactBuffer. Information is cached in PxCache structure
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\brief Performs contact generation for a given pair of geometries at the specified poses. Produced contacts are stored in the provided contact recorder. Information is cached in PxCache structure
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to accelerate future contact generation between pairs. This cache data is valid only as long as the memory provided by PxCacheAllocator has not been released/re-used. Recommendation is to
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retain that data for a single simulation frame, discarding cached data after 2 frames. If the cached memory has been released/re-used prior to the corresponding pair having contact generation
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performed again, it is the application's responsibility to reset the PxCache.
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@@ -231,7 +257,7 @@ namespace immediate
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\param [in] pose1 Array of poses associated with the corresponding entry in the geom1 array
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\param [in,out] contactCache Array of contact caches associated with each pair geom0[i] + geom1[i]
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\param [in] nbPairs The total number of pairs to process
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\param [in] contactRecorder A callback that is called to record contacts for each pair that detects contacts
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\param [out] contactRecorder A callback that is called to record contacts for each pair that detects contacts
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\param [in] contactDistance The distance at which contacts begin to be generated between the pairs
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\param [in] meshContactMargin The mesh contact margin.
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\param [in] toleranceLength The toleranceLength. Used for scaling distance-based thresholds internally to produce appropriate results given simulations in different units
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@@ -239,8 +265,9 @@ namespace immediate
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\return a boolean indicating if the function was successful or not.
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*/
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PX_C_EXPORT PX_PHYSX_CORE_API bool PxGenerateContacts(const PxGeometry* const * geom0, const PxGeometry* const * geom1, const PxTransform* pose0, const PxTransform* pose1, PxCache* contactCache, const PxU32 nbPairs, PxContactRecorder& contactRecorder,
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const PxReal contactDistance, const PxReal meshContactMargin, const PxReal toleranceLength, PxCacheAllocator& allocator);
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PX_C_EXPORT PX_PHYSX_CORE_API bool PxGenerateContacts( const PxGeometry* const * geom0, const PxGeometry* const * geom1, const PxTransform* pose0, const PxTransform* pose1,
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PxCache* contactCache, PxU32 nbPairs, PxContactRecorder& contactRecorder,
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PxReal contactDistance, PxReal meshContactMargin, PxReal toleranceLength, PxCacheAllocator& allocator);
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/**
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\brief Register articulation-related solver functions. This is equivalent to PxRegisterArticulationsReducedCoordinate() for PxScene-level articulations.
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@@ -250,30 +277,50 @@ namespace immediate
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*/
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PX_C_EXPORT PX_PHYSX_CORE_API void PxRegisterImmediateArticulations();
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struct PxArticulationJointData
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struct PxArticulationJointDataRC
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{
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PxTransform parentPose;
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PxTransform childPose;
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};
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struct PxFeatherstoneArticulationJointData : PxArticulationJointData
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{
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PxArticulationJointType::Enum type;
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PxTransform parentPose;
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PxTransform childPose;
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PxArticulationMotion::Enum motion[PxArticulationAxis::eCOUNT];
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PxArticulationLimit limits[PxArticulationAxis::eCOUNT];
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PxArticulationDrive drives[PxArticulationAxis::eCOUNT];
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PxReal targetPos[PxArticulationAxis::eCOUNT];
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PxReal targetVel[PxArticulationAxis::eCOUNT];
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PxReal armature[PxArticulationAxis::eCOUNT];
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PxReal jointPos[PxArticulationAxis::eCOUNT];
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PxReal jointVel[PxArticulationAxis::eCOUNT];
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PxReal frictionCoefficient;
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PxReal maxJointVelocity;
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PxArticulationJointType::Enum type;
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void initData()
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{
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parentPose = PxTransform(PxIdentity);
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childPose = PxTransform(PxIdentity);
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frictionCoefficient = 0.05f;
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maxJointVelocity = 100.0f;
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type = PxArticulationJointType::eUNDEFINED; // For root
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for(PxU32 i=0;i<PxArticulationAxis::eCOUNT;i++)
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{
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motion[i] = PxArticulationMotion::eLOCKED;
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limits[i] = PxArticulationLimit(0.0f, 0.0f);
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drives[i] = PxArticulationDrive(0.0f, 0.0f, 0.0f);
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armature[i] = 0.0f;
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jointPos[i] = 0.0f;
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jointVel[i] = 0.0f;
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}
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PxMemSet(targetPos, 0xff, sizeof(PxReal)*PxArticulationAxis::eCOUNT);
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PxMemSet(targetVel, 0xff, sizeof(PxReal)*PxArticulationAxis::eCOUNT);
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}
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};
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struct PxFeatherstoneArticulationData
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struct PxArticulationDataRC
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{
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PxArticulationFlags flags;
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};
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struct PxMutableLinkData
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struct PxArticulationLinkMutableDataRC
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{
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PxVec3 inverseInertia;
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float inverseMass;
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@@ -281,67 +328,120 @@ namespace immediate
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float angularDamping;
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float maxLinearVelocitySq;
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float maxAngularVelocitySq;
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float cfmScale;
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bool disableGravity;
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};
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struct PxLinkData
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{
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PxTransform pose;
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PxVec3 linearVelocity;
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PxVec3 angularVelocity;
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};
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struct PxFeatherstoneArticulationLinkData : PxMutableLinkData
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{
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PxFeatherstoneArticulationLinkData() { initData(); }
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void initData()
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{
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inboundJoint.type = PxArticulationJointType::eUNDEFINED; // For root
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inboundJoint.parentPose = PxTransform(PxIdentity);
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inboundJoint.childPose = PxTransform(PxIdentity);
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inboundJoint.frictionCoefficient = 0.05f;
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inboundJoint.maxJointVelocity = 100.0f;
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pose = PxTransform(PxIdentity);
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parent = 0;
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inverseInertia = PxVec3(1.0f);
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inverseMass = 1.0f;
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linearDamping = 0.05f;
|
||||
angularDamping = 0.05f;
|
||||
maxLinearVelocitySq = 100.0f * 100.0f;
|
||||
maxAngularVelocitySq = 50.0f * 50.0f;
|
||||
cfmScale = 0.025f;
|
||||
disableGravity = false;
|
||||
}
|
||||
};
|
||||
|
||||
for(PxU32 i=0;i<PxArticulationAxis::eCOUNT;i++)
|
||||
{
|
||||
inboundJoint.motion[i] = PxArticulationMotion::eLOCKED;
|
||||
inboundJoint.limits[i].low = inboundJoint.limits[i].high = 0.0f;
|
||||
inboundJoint.drives[i].stiffness = 0.0f;
|
||||
inboundJoint.drives[i].damping = 0.0f;
|
||||
inboundJoint.drives[i].maxForce = 0.0f;
|
||||
inboundJoint.drives[i].driveType = PxArticulationDriveType::eFORCE;
|
||||
}
|
||||
memset(inboundJoint.targetPos, 0xff, sizeof(PxReal)*PxArticulationAxis::eCOUNT);
|
||||
memset(inboundJoint.targetVel, 0xff, sizeof(PxReal)*PxArticulationAxis::eCOUNT);
|
||||
struct PxArticulationLinkDerivedDataRC
|
||||
{
|
||||
PxTransform pose;
|
||||
PxVec3 linearVelocity;
|
||||
PxVec3 angularVelocity;
|
||||
};
|
||||
|
||||
struct PxArticulationLinkDataRC : PxArticulationLinkMutableDataRC
|
||||
{
|
||||
PxArticulationLinkDataRC() { PxArticulationLinkDataRC::initData(); }
|
||||
|
||||
void initData()
|
||||
{
|
||||
pose = PxTransform(PxIdentity);
|
||||
|
||||
PxArticulationLinkMutableDataRC::initData();
|
||||
inboundJoint.initData();
|
||||
}
|
||||
|
||||
PxFeatherstoneArticulationJointData inboundJoint;
|
||||
|
||||
// Non-mutable link data
|
||||
PxArticulationJointDataRC inboundJoint;
|
||||
PxTransform pose;
|
||||
Dy::ArticulationLinkHandle parent;
|
||||
};
|
||||
|
||||
typedef void* PxArticulationCookie;
|
||||
|
||||
struct PxArticulationLinkCookie
|
||||
{
|
||||
PxArticulationCookie articulation;
|
||||
PxU32 linkId;
|
||||
};
|
||||
|
||||
struct PxCreateArticulationLinkCookie : PxArticulationLinkCookie
|
||||
{
|
||||
PX_FORCE_INLINE PxCreateArticulationLinkCookie(PxArticulationCookie art=NULL, PxU32 id=0xffffffff)
|
||||
{
|
||||
articulation = art;
|
||||
linkId = id;
|
||||
}
|
||||
};
|
||||
|
||||
struct PxArticulationLinkHandle
|
||||
{
|
||||
PX_FORCE_INLINE PxArticulationLinkHandle(PxArticulationHandle art=NULL, const PxU32 id=0xffffffff) : articulation(art), linkId(id) {}
|
||||
|
||||
PxArticulationHandle articulation;
|
||||
PxU32 linkId;
|
||||
};
|
||||
|
||||
/**
|
||||
\brief Creates an immediate-mode reduced-coordinate articulation.
|
||||
\param [in] data Articulation data
|
||||
\return Articulation handle
|
||||
\brief Begin creation of an immediate-mode reduced-coordinate articulation.
|
||||
|
||||
@see PxReleaseArticulation
|
||||
Returned cookie must be used to add links to the articulation, and to complete creating the articulation.
|
||||
|
||||
The cookie is a temporary ID for the articulation, only valid until PxEndCreateArticulationRC is called.
|
||||
|
||||
\param [in] data Articulation data
|
||||
|
||||
\return Articulation cookie
|
||||
|
||||
@see PxAddArticulationLink PxEndCreateArticulationRC
|
||||
*/
|
||||
// PT: Design note: I use Dy::ArticulationV* to be consistent with PxSolverDefs.h
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API Dy::ArticulationV* PxCreateFeatherstoneArticulation(const PxFeatherstoneArticulationData& data);
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API PxArticulationCookie PxBeginCreateArticulationRC(const PxArticulationDataRC& data);
|
||||
|
||||
/**
|
||||
\brief Add a link to the articulation.
|
||||
|
||||
All links must be added before the articulation is completed. It is not possible to add a new link at runtime.
|
||||
|
||||
Returned cookie is a temporary ID for the link, only valid until PxEndCreateArticulationRC is called.
|
||||
|
||||
\param [in] articulation Cookie value returned by PxBeginCreateArticulationRC
|
||||
\param [in] parent Parent for the new link, or NULL if this is the root link
|
||||
\param [in] data Link data
|
||||
|
||||
\return Link cookie
|
||||
|
||||
@see PxBeginCreateArticulationRC PxEndCreateArticulationRC
|
||||
*/
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API PxArticulationLinkCookie PxAddArticulationLink(PxArticulationCookie articulation, const PxArticulationLinkCookie* parent, const PxArticulationLinkDataRC& data);
|
||||
|
||||
/**
|
||||
\brief End creation of an immediate-mode reduced-coordinate articulation.
|
||||
|
||||
This call completes the creation of the articulation. All involved cookies become unsafe to use after that point.
|
||||
|
||||
The links are actually created in this function, and it returns the actual link handles to users. The given buffer should be large enough
|
||||
to contain as many links as created between the PxBeginCreateArticulationRC & PxEndCreateArticulationRC calls, i.e.
|
||||
if N calls were made to PxAddArticulationLink, the buffer should be large enough to contain N handles.
|
||||
|
||||
\param [in] articulation Cookie value returned by PxBeginCreateArticulationRC
|
||||
\param [out] linkHandles Articulation link handles of all created articulation links
|
||||
\param [in] bufferSize Size of linkHandles buffer. Must match internal expected number of articulation links.
|
||||
|
||||
\return Articulation handle, or NULL if creation failed
|
||||
|
||||
@see PxAddArticulationLink PxEndCreateArticulationRC
|
||||
*/
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API PxArticulationHandle PxEndCreateArticulationRC(PxArticulationCookie articulation, PxArticulationLinkHandle* linkHandles, PxU32 bufferSize);
|
||||
|
||||
/**
|
||||
\brief Releases an immediate-mode reduced-coordinate articulation.
|
||||
@@ -349,7 +449,7 @@ namespace immediate
|
||||
|
||||
@see PxCreateFeatherstoneArticulation
|
||||
*/
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API void PxReleaseArticulation(Dy::ArticulationV* articulation);
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API void PxReleaseArticulation(PxArticulationHandle articulation);
|
||||
|
||||
/**
|
||||
\brief Creates an articulation cache.
|
||||
@@ -358,28 +458,27 @@ namespace immediate
|
||||
|
||||
@see PxReleaseArticulationCache
|
||||
*/
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API PxArticulationCache* PxCreateArticulationCache(Dy::ArticulationV* articulation);
|
||||
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API PxArticulationCache* PxCreateArticulationCache(PxArticulationHandle articulation);
|
||||
|
||||
/**
|
||||
\brief Copy the internal data of the articulation to the cache
|
||||
\param[in] articulation articulation handle.
|
||||
\param[in] cache Articulation data
|
||||
\param[in] flag Indicates which values of the articulation system are copied to the cache
|
||||
\param[in] articulation Articulation handle.
|
||||
\param[in] cache Articulation data
|
||||
\param[in] flag Indicates which values of the articulation system are copied to the cache
|
||||
|
||||
@see createCache PxApplyArticulationCache
|
||||
*/
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API void PxCopyInternalStateToArticulationCache(Dy::ArticulationV* articulation, PxArticulationCache& cache, PxArticulationCacheFlags flag);
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API void PxCopyInternalStateToArticulationCache(PxArticulationHandle articulation, PxArticulationCache& cache, PxArticulationCacheFlags flag);
|
||||
|
||||
/**
|
||||
\brief Apply the user defined data in the cache to the articulation system
|
||||
\param[in] articulation articulation handle.
|
||||
\param[in] cache Articulation data.
|
||||
\param[in] flag Defines which values in the cache will be applied to the articulation
|
||||
\param[in] articulation Articulation handle.
|
||||
\param[in] cache Articulation data.
|
||||
\param[in] flag Defines which values in the cache will be applied to the articulation
|
||||
|
||||
@see createCache PxCopyInternalStateToArticulationCache
|
||||
*/
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API void PxApplyArticulationCache(Dy::ArticulationV* articulation, PxArticulationCache& cache, PxArticulationCacheFlags flag);
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API void PxApplyArticulationCache(PxArticulationHandle articulation, PxArticulationCache& cache, PxArticulationCacheFlags flag);
|
||||
|
||||
/**
|
||||
\brief Release an articulation cache
|
||||
@@ -390,40 +489,16 @@ namespace immediate
|
||||
*/
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API void PxReleaseArticulationCache(PxArticulationCache& cache);
|
||||
|
||||
/**
|
||||
\brief Adds a link to an immediate-mode reduced-coordinate articulation. The articulation becomes the link's owner/parent.
|
||||
\param [in] articulation Articulation handle
|
||||
\param [in] data Link data
|
||||
\param [in] isLastLink Hint to tell the system whether the added link is the last one or not.
|
||||
This is a minor optimization, it is also ok to always use either true or false here.
|
||||
\return Articulation link handle
|
||||
*/
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API Dy::ArticulationLinkHandle PxAddArticulationLink(Dy::ArticulationV* articulation, const PxFeatherstoneArticulationLinkData& data, bool isLastLink=false);
|
||||
|
||||
/**
|
||||
\brief Retrieves owner/parent articulation handle from a link handle.
|
||||
\param [in] link Link handle
|
||||
\return Articulation handle
|
||||
*/
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API Dy::ArticulationV* PxGetLinkArticulation(const Dy::ArticulationLinkHandle link);
|
||||
|
||||
/**
|
||||
\brief Retrieves link index from a link handle.
|
||||
\param [in] link Link handle
|
||||
\return Link index
|
||||
*/
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API PxU32 PxGetLinkIndex(const Dy::ArticulationLinkHandle link);
|
||||
|
||||
/**
|
||||
\brief Retrieves non-mutable link data from a link handle.
|
||||
The data here is computed by the articulation code but cannot be directly changed by users.
|
||||
\param [in] link Link handle
|
||||
\param [out] data Link data
|
||||
\param [in] link Link handle
|
||||
\param [out] data Link data
|
||||
\return True if success
|
||||
|
||||
@see PxGetAllLinkData
|
||||
*/
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API bool PxGetLinkData(const Dy::ArticulationLinkHandle link, PxLinkData& data);
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API bool PxGetLinkData(const PxArticulationLinkHandle& link, PxArticulationLinkDerivedDataRC& data);
|
||||
|
||||
/**
|
||||
\brief Retrieves non-mutable link data from an articulation handle (all links).
|
||||
@@ -434,7 +509,7 @@ namespace immediate
|
||||
|
||||
@see PxGetLinkData
|
||||
*/
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API PxU32 PxGetAllLinkData(const Dy::ArticulationV* articulation, PxLinkData* data);
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API PxU32 PxGetAllLinkData(const PxArticulationHandle articulation, PxArticulationLinkDerivedDataRC* data);
|
||||
|
||||
/**
|
||||
\brief Retrieves mutable link data from a link handle.
|
||||
@@ -444,7 +519,7 @@ namespace immediate
|
||||
|
||||
@see PxSetMutableLinkData
|
||||
*/
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API bool PxGetMutableLinkData(const Dy::ArticulationLinkHandle link, PxMutableLinkData& data);
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API bool PxGetMutableLinkData(const PxArticulationLinkHandle& link, PxArticulationLinkMutableDataRC& data);
|
||||
|
||||
/**
|
||||
\brief Sets mutable link data for given link.
|
||||
@@ -454,7 +529,7 @@ namespace immediate
|
||||
|
||||
@see PxGetMutableLinkData
|
||||
*/
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API bool PxSetMutableLinkData(Dy::ArticulationLinkHandle link, const PxMutableLinkData& data);
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API bool PxSetMutableLinkData(const PxArticulationLinkHandle& link, const PxArticulationLinkMutableDataRC& data);
|
||||
|
||||
/**
|
||||
\brief Retrieves joint data from a link handle.
|
||||
@@ -464,7 +539,7 @@ namespace immediate
|
||||
|
||||
@see PxSetJointData
|
||||
*/
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API bool PxGetJointData(const Dy::ArticulationLinkHandle link, PxFeatherstoneArticulationJointData& data);
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API bool PxGetJointData(const PxArticulationLinkHandle& link, PxArticulationJointDataRC& data);
|
||||
|
||||
/**
|
||||
\brief Sets joint data for given link.
|
||||
@@ -474,22 +549,23 @@ namespace immediate
|
||||
|
||||
@see PxGetJointData
|
||||
*/
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API bool PxSetJointData(Dy::ArticulationLinkHandle link, const PxFeatherstoneArticulationJointData& data);
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API bool PxSetJointData(const PxArticulationLinkHandle& link, const PxArticulationJointDataRC& data);
|
||||
|
||||
/**
|
||||
\brief Computes unconstrained velocities for a given articulation.
|
||||
\param [in] articulation Articulation handle
|
||||
\param [in] gravity Gravity vector
|
||||
\param [in] dt Timestep
|
||||
\param [in] invLengthScale 1/lengthScale from PxTolerancesScale.
|
||||
*/
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API void PxComputeUnconstrainedVelocities(Dy::ArticulationV* articulation, const PxVec3& gravity, const PxReal dt);
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API void PxComputeUnconstrainedVelocities(PxArticulationHandle articulation, const PxVec3& gravity, const PxReal dt, const PxReal invLengthScale);
|
||||
|
||||
/**
|
||||
\brief Updates bodies for a given articulation.
|
||||
\param [in] articulation Articulation handle
|
||||
\param [in] dt Timestep
|
||||
*/
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API void PxUpdateArticulationBodies(Dy::ArticulationV* articulation, const PxReal dt);
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API void PxUpdateArticulationBodies(PxArticulationHandle articulation, const PxReal dt);
|
||||
|
||||
/**
|
||||
\brief Computes unconstrained velocities for a given articulation.
|
||||
@@ -499,28 +575,30 @@ namespace immediate
|
||||
\param [in] totalDt Timestep
|
||||
\param [in] invDt 1/(Timestep/numPosIterations)
|
||||
\param [in] invTotalDt 1/Timestep
|
||||
\param [in] invLengthScale 1/lengthScale from PxTolerancesScale.
|
||||
*/
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API void PxComputeUnconstrainedVelocitiesTGS(Dy::ArticulationV* articulation, const PxVec3& gravity, const PxReal dt, const PxReal totalDt, const PxReal invDt, const PxReal invTotalDt);
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API void PxComputeUnconstrainedVelocitiesTGS( PxArticulationHandle articulation, const PxVec3& gravity, const PxReal dt,
|
||||
const PxReal totalDt, const PxReal invDt, const PxReal invTotalDt, const PxReal invLengthScale);
|
||||
|
||||
/**
|
||||
\brief Updates bodies for a given articulation.
|
||||
\param [in] articulation Articulation handle
|
||||
\param [in] dt Timestep
|
||||
*/
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API void PxUpdateArticulationBodiesTGS(Dy::ArticulationV* articulation, const PxReal dt);
|
||||
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API void PxUpdateArticulationBodiesTGS(PxArticulationHandle articulation, const PxReal dt);
|
||||
|
||||
/**
|
||||
\brief Constructs a PxSolverBodyData structure based on rigid body properties. Applies gravity, damping and clamps maximum velocity.
|
||||
\param [in] inRigidData The array rigid body properties
|
||||
\param [out] outSolverBodyVel The array of PxTGSSolverBodyVel structures produced to represent these bodies
|
||||
\param [out] outSolverBodyTxInertia The array of PxTGSSolverBodyTxInertia produced to represent these bodies
|
||||
\param [out] outSolverBodyData The array of PxTGSolverBodyData produced to repreent these bodies
|
||||
\param [out] outSolverBodyData The array of PxTGSolverBodyData produced to represent these bodies
|
||||
\param [in] nbBodies The total number of solver bodies to create
|
||||
\param [in] gravity The gravity vector
|
||||
\param [in] dt The timestep
|
||||
\param [in] gyroscopicForces Indicates whether gyroscopic forces should be integrated
|
||||
*/
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API void PxConstructSolverBodiesTGS(const PxRigidBodyData* inRigidData, PxTGSSolverBodyVel* outSolverBodyVel, PxTGSSolverBodyTxInertia* outSolverBodyTxInertia, PxTGSSolverBodyData* outSolverBodyData, const PxU32 nbBodies, const PxVec3& gravity, const PxReal dt);
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API void PxConstructSolverBodiesTGS(const PxRigidBodyData* inRigidData, PxTGSSolverBodyVel* outSolverBodyVel, PxTGSSolverBodyTxInertia* outSolverBodyTxInertia, PxTGSSolverBodyData* outSolverBodyData, const PxU32 nbBodies, const PxVec3& gravity, const PxReal dt, const bool gyroscopicForces = false);
|
||||
|
||||
/**
|
||||
\brief Constructs a PxSolverBodyData structure for a static body at a given pose.
|
||||
@@ -548,10 +626,9 @@ namespace immediate
|
||||
infinite mass (static or kinematic). This means that either appending static/kinematic to the end of the array of bodies or placing static/kinematic bodies at before the start body pointer
|
||||
will ensure that the minimum number of batches are produced.
|
||||
*/
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API PxU32 PxBatchConstraintsTGS(const PxSolverConstraintDesc* solverConstraintDescs, const PxU32 nbConstraints, PxTGSSolverBodyVel* solverBodies, const PxU32 nbBodies,
|
||||
PxConstraintBatchHeader* outBatchHeaders, PxSolverConstraintDesc* outOrderedConstraintDescs,
|
||||
Dy::ArticulationV** articulations = NULL, const PxU32 nbArticulations = 0);
|
||||
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API PxU32 PxBatchConstraintsTGS( const PxSolverConstraintDesc* solverConstraintDescs, const PxU32 nbConstraints, PxTGSSolverBodyVel* solverBodies, const PxU32 nbBodies,
|
||||
PxConstraintBatchHeader* outBatchHeaders, PxSolverConstraintDesc* outOrderedConstraintDescs,
|
||||
PxArticulationHandle* articulations = NULL, const PxU32 nbArticulations = 0);
|
||||
|
||||
/**
|
||||
\brief Creates a set of contact constraint blocks. Note that, depending the results of PxBatchConstraints, each batchHeader may refer to up to 4 solverConstraintDescs.
|
||||
@@ -571,8 +648,9 @@ namespace immediate
|
||||
|
||||
\return a boolean to define if this method was successful or not.
|
||||
*/
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API bool PxCreateContactConstraintsTGS(PxConstraintBatchHeader* batchHeaders, const PxU32 nbHeaders, PxTGSSolverContactDesc* contactDescs,
|
||||
PxConstraintAllocator& allocator, const PxReal invDt, const PxReal invTotalDt, const PxReal bounceThreshold, const PxReal frictionOffsetThreshold, const PxReal correlationDistance);
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API bool PxCreateContactConstraintsTGS( PxConstraintBatchHeader* batchHeaders, const PxU32 nbHeaders, PxTGSSolverContactDesc* contactDescs,
|
||||
PxConstraintAllocator& allocator, const PxReal invDt, const PxReal invTotalDt, const PxReal bounceThreshold,
|
||||
const PxReal frictionOffsetThreshold, const PxReal correlationDistance);
|
||||
|
||||
/**
|
||||
\brief Creates a set of joint constraint blocks. Note that, depending the results of PxBatchConstraints, the batchHeader may refer to up to 4 solverConstraintDescs
|
||||
@@ -587,9 +665,9 @@ namespace immediate
|
||||
\param [in] lengthScale PxToleranceScale::length, i.e. a meter in simulation units
|
||||
\return a boolean indicating if this method was successful or not.
|
||||
*/
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API bool PxCreateJointConstraintsTGS(PxConstraintBatchHeader* batchHeaders, const PxU32 nbHeaders,
|
||||
PxTGSSolverConstraintPrepDesc* jointDescs, PxConstraintAllocator& allocator, const PxReal dt, const PxReal totalDt, const PxReal invDt,
|
||||
const PxReal invTotalDt, const PxReal lengthScale);
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API bool PxCreateJointConstraintsTGS( PxConstraintBatchHeader* batchHeaders, const PxU32 nbHeaders,
|
||||
PxTGSSolverConstraintPrepDesc* jointDescs, PxConstraintAllocator& allocator, const PxReal dt, const PxReal totalDt, const PxReal invDt,
|
||||
const PxReal invTotalDt, const PxReal lengthScale);
|
||||
|
||||
/**
|
||||
\brief Creates a set of joint constraint blocks. This function runs joint shaders defined inside PxConstraint** param, fills in joint row information in jointDescs and then calls PxCreateJointConstraints.
|
||||
@@ -606,8 +684,8 @@ namespace immediate
|
||||
\return a boolean indicating if this method was successful or not.
|
||||
@see PxCreateJointConstraints
|
||||
*/
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API bool PxCreateJointConstraintsWithShadersTGS(PxConstraintBatchHeader* batchHeaders, const PxU32 nbBatchHeaders, PxConstraint** constraints, PxTGSSolverConstraintPrepDesc* jointDescs, PxConstraintAllocator& allocator, const PxReal dt,
|
||||
const PxReal totalDt, const PxReal invDt, const PxReal invTotalDt, const PxReal lengthScale);
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API bool PxCreateJointConstraintsWithShadersTGS( PxConstraintBatchHeader* batchHeaders, const PxU32 nbBatchHeaders, PxConstraint** constraints, PxTGSSolverConstraintPrepDesc* jointDescs, PxConstraintAllocator& allocator,
|
||||
const PxReal dt, const PxReal totalDt, const PxReal invDt, const PxReal invTotalDt, const PxReal lengthScale);
|
||||
|
||||
/**
|
||||
\brief Creates a set of joint constraint blocks. This function runs joint shaders defined inside PxImmediateConstraint* param, fills in joint row information in jointDescs and then calls PxCreateJointConstraints.
|
||||
@@ -624,10 +702,8 @@ namespace immediate
|
||||
\return a boolean indicating if this method was successful or not.
|
||||
@see PxCreateJointConstraints
|
||||
*/
|
||||
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API bool PxCreateJointConstraintsWithImmediateShadersTGS(PxConstraintBatchHeader* batchHeaders, const PxU32 nbBatchHeaders, PxImmediateConstraint* constraints, PxTGSSolverConstraintPrepDesc* jointDescs,
|
||||
PxConstraintAllocator& allocator, const PxReal dt, const PxReal totalDt, const PxReal invDt, const PxReal invTotalDt, const PxReal lengthScale);
|
||||
|
||||
PxConstraintAllocator& allocator, const PxReal dt, const PxReal totalDt, const PxReal invDt, const PxReal invTotalDt, const PxReal lengthScale);
|
||||
|
||||
/**
|
||||
\brief Iteratively solves the set of constraints defined by the provided PxConstraintBatchHeader and PxSolverConstraintDesc structures. Updates deltaVelocities inside the PxSolverBody structures. Produces resulting linear and angular motion velocities.
|
||||
@@ -643,10 +719,12 @@ namespace immediate
|
||||
\param [in] invDt 1/(time-step/nbPositionIterations)
|
||||
\param [in] nbSolverArticulations Number of articulations to solve constraints for.
|
||||
\param [in] solverArticulations Array of articulations to solve constraints for.
|
||||
\param [out] Z Temporary buffer for impulse propagation (only if articulations are used, size should be at least as large as the maximum number of links in any articulations being simulated)
|
||||
\param [out] deltaV Temporary buffer for velocity change (only if articulations are used, size should be at least as large as the maximum number of links in any articulations being simulated)
|
||||
*/
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API void PxSolveConstraintsTGS(const PxConstraintBatchHeader* batchHeaders, const PxU32 nbBatchHeaders, const PxSolverConstraintDesc* solverConstraintDescs,
|
||||
PxTGSSolverBodyVel* solverBodies, PxTGSSolverBodyTxInertia* txInertias, const PxU32 nbSolverBodies, const PxU32 nbPositionIterations, const PxU32 nbVelocityIterations,
|
||||
const float dt, const float invDt, const PxU32 nbSolverArticulations, Dy::ArticulationV** solverArticulations);
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API void PxSolveConstraintsTGS( const PxConstraintBatchHeader* batchHeaders, const PxU32 nbBatchHeaders, const PxSolverConstraintDesc* solverConstraintDescs,
|
||||
PxTGSSolverBodyVel* solverBodies, PxTGSSolverBodyTxInertia* txInertias, const PxU32 nbSolverBodies, const PxU32 nbPositionIterations, const PxU32 nbVelocityIterations,
|
||||
const float dt, const float invDt, const PxU32 nbSolverArticulations = 0, PxArticulationHandle* solverArticulations = NULL, PxSpatialVector* Z = NULL, PxSpatialVector* deltaV = NULL);
|
||||
|
||||
/**
|
||||
\brief Integrates a rigid body, returning the new velocities and transforms. After this function has been called, solverBody stores all the body's velocity data.
|
||||
@@ -659,6 +737,26 @@ namespace immediate
|
||||
*/
|
||||
PX_C_EXPORT PX_PHYSX_CORE_API void PxIntegrateSolverBodiesTGS(PxTGSSolverBodyVel* solverBody, PxTGSSolverBodyTxInertia* txInertia, PxTransform* poses, const PxU32 nbBodiesToIntegrate, const PxReal dt);
|
||||
|
||||
/**
|
||||
* @deprecated
|
||||
*/
|
||||
typedef PX_DEPRECATED PxArticulationJointDataRC PxFeatherstoneArticulationJointData;
|
||||
/**
|
||||
* @deprecated
|
||||
*/
|
||||
typedef PX_DEPRECATED PxArticulationLinkDataRC PxFeatherstoneArticulationLinkData;
|
||||
/**
|
||||
* @deprecated
|
||||
*/
|
||||
typedef PX_DEPRECATED PxArticulationDataRC PxFeatherstoneArticulationData;
|
||||
/**
|
||||
* @deprecated
|
||||
*/
|
||||
typedef PX_DEPRECATED PxArticulationLinkMutableDataRC PxMutableLinkData;
|
||||
/**
|
||||
* @deprecated
|
||||
*/
|
||||
typedef PX_DEPRECATED PxArticulationLinkDerivedDataRC PxLinkData;
|
||||
|
||||
#if !PX_DOXYGEN
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user