physxx/
articulation.rs

1use std::ptr::null_mut;
2
3use crate::{
4    AsPxActor, AsPxBase, AsPxRigidActor, AsPxRigidBody, PxActorRef, PxBaseRef, PxRigidActorRef,
5    PxRigidBodyRef, PxTransform,
6};
7
8pub trait AsArticulationBase {
9    fn as_articulation_base_ptr(&self) -> *mut physx_sys::PxArticulationBase;
10}
11
12pub trait AsArticulationJointBase {
13    fn as_articulation_joint_base_ptr(&self) -> *mut physx_sys::PxArticulationJointBase;
14}
15
16pub trait PxArticulationBase {
17    fn wake_up(&self);
18    fn set_solver_iteration_counts(
19        &self,
20        min_position_iterations: u32,
21        min_velocity_iterations: u32,
22    );
23    fn get_solver_iteration_counts(&self) -> (u32, u32);
24}
25impl<T: AsArticulationBase> PxArticulationBase for T {
26    fn wake_up(&self) {
27        unsafe { physx_sys::PxArticulationBase_wakeUp_mut(self.as_articulation_base_ptr()) }
28    }
29    fn set_solver_iteration_counts(
30        &self,
31        min_position_iterations: u32,
32        min_velocity_iterations: u32,
33    ) {
34        unsafe {
35            physx_sys::PxArticulationBase_setSolverIterationCounts_mut(
36                self.as_articulation_base_ptr(),
37                min_position_iterations,
38                min_velocity_iterations,
39            )
40        }
41    }
42    fn get_solver_iteration_counts(&self) -> (u32, u32) {
43        let mut p = 0u32;
44        let mut v = 0u32;
45        unsafe {
46            physx_sys::PxArticulationBase_getSolverIterationCounts(
47                self.as_articulation_base_ptr(),
48                &mut p,
49                &mut v,
50            )
51        }
52        (p, v)
53    }
54}
55
56pub trait PxArticulationJointBase {
57    fn get_parent_pose(&self) -> PxTransform;
58    fn get_child_pose(&self) -> PxTransform;
59    fn set_parent_pose(&self, pose: &PxTransform);
60    fn set_child_pose(&self, pose: &PxTransform);
61}
62impl<T: AsArticulationJointBase> PxArticulationJointBase for T {
63    fn get_parent_pose(&self) -> PxTransform {
64        let t = unsafe {
65            physx_sys::PxArticulationJointBase_getParentPose(self.as_articulation_joint_base_ptr())
66        };
67        PxTransform(t)
68    }
69    fn get_child_pose(&self) -> PxTransform {
70        let t = unsafe {
71            physx_sys::PxArticulationJointBase_getChildPose(self.as_articulation_joint_base_ptr())
72        };
73        PxTransform(t)
74    }
75    fn set_parent_pose(&self, pose: &PxTransform) {
76        unsafe {
77            physx_sys::PxArticulationJointBase_setParentPose_mut(
78                self.as_articulation_joint_base_ptr(),
79                &pose.0,
80            )
81        }
82    }
83    fn set_child_pose(&self, pose: &PxTransform) {
84        unsafe {
85            physx_sys::PxArticulationJointBase_setChildPose_mut(
86                self.as_articulation_joint_base_ptr(),
87                &pose.0,
88            )
89        }
90    }
91}
92pub struct PxArticulationJointBaseRef(*mut physx_sys::PxArticulationJointBase);
93
94#[derive(Debug, Clone, Copy)]
95pub struct PxArticulationLinkRef(pub(crate) *mut physx_sys::PxArticulationLink);
96impl PxArticulationLinkRef {
97    pub fn new(
98        articulation: &dyn AsArticulationBase,
99        parent: Option<&PxArticulationLinkRef>,
100        pose: &PxTransform,
101    ) -> Self {
102        Self(unsafe {
103            physx_sys::PxArticulationBase_createLink_mut(
104                articulation.as_articulation_base_ptr(),
105                parent.map(|x| x.0).unwrap_or(null_mut()),
106                &pose.0,
107            )
108        })
109    }
110    pub fn get_inbound_joint(&self) -> PxArticulationJointBaseRef {
111        PxArticulationJointBaseRef(unsafe {
112            physx_sys::PxArticulationLink_getInboundJoint(self.0) as _
113        })
114    }
115    pub fn get_link_index(&self) -> u32 {
116        unsafe { physx_sys::PxArticulationLink_getLinkIndex(self.0) }
117    }
118    pub fn get_inbound_joint_dof(&self) -> u32 {
119        unsafe { physx_sys::PxArticulationLink_getInboundJointDof(self.0) }
120    }
121    pub fn release(&mut self) {
122        unsafe { physx_sys::PxArticulationLink_release_mut(self.0) }
123    }
124}
125impl AsPxBase for PxArticulationLinkRef {
126    fn as_base(&self) -> PxBaseRef {
127        PxBaseRef(self.0 as _)
128    }
129}
130impl AsPxActor for PxArticulationLinkRef {
131    fn as_actor(&self) -> PxActorRef {
132        PxActorRef(self.0 as _)
133    }
134}
135impl AsPxRigidActor for PxArticulationLinkRef {
136    fn as_rigid_actor(&self) -> PxRigidActorRef {
137        PxRigidActorRef(self.0 as _)
138    }
139}
140impl AsPxRigidBody for PxArticulationLinkRef {
141    fn as_rigid_body(&self) -> PxRigidBodyRef {
142        PxRigidBodyRef(self.0 as _)
143    }
144}
145unsafe impl Sync for PxArticulationLinkRef {}
146unsafe impl Send for PxArticulationLinkRef {}
147
148bitflags! {
149    pub struct PxArticulationCacheFlags: u8 {
150        const Velocity     = 0b00000001;
151        const Acceleration = 0b00000010;
152        const Position     = 0b00000100;
153        const Force        = 0b00001000;
154        const Root         = 0b00010000;
155        const All = Self::Velocity.bits | Self::Acceleration.bits | Self::Position.bits | Self::Force.bits | Self::Root.bits;
156    }
157}
158impl Default for PxArticulationCacheFlags {
159    fn default() -> Self {
160        Self::All
161    }
162}
163
164#[repr(u32)]
165#[derive(Debug, Clone, Copy, PartialEq, Eq)]
166pub enum PxArticulationJointType {
167    Prismatic = physx_sys::PxArticulationJointType::ePRISMATIC,
168    Revolute = physx_sys::PxArticulationJointType::eREVOLUTE,
169    Spherical = physx_sys::PxArticulationJointType::eSPHERICAL,
170    Fix = physx_sys::PxArticulationJointType::eFIX,
171    Undefined = physx_sys::PxArticulationJointType::eUNDEFINED,
172}
173
174#[repr(u32)]
175#[derive(Debug, Clone, Copy)]
176pub enum PxArticulationMotion {
177    Locked = physx_sys::PxArticulationMotion::eLOCKED,
178    Limited = physx_sys::PxArticulationMotion::eLIMITED,
179    Free = physx_sys::PxArticulationMotion::eFREE,
180}
181
182#[repr(u32)]
183#[derive(Debug, Clone, Copy)]
184pub enum PxArticulationAxis {
185    Twist = physx_sys::PxArticulationAxis::eTWIST,
186    Swing1 = physx_sys::PxArticulationAxis::eSWING1,
187    Swing2 = physx_sys::PxArticulationAxis::eSWING2,
188    X = physx_sys::PxArticulationAxis::eX,
189    Y = physx_sys::PxArticulationAxis::eY,
190    Z = physx_sys::PxArticulationAxis::eZ,
191}
192
193#[repr(u32)]
194#[derive(Debug, Clone, Copy)]
195pub enum PxArticulationDriveType {
196    Acceleration = physx_sys::PxArticulationDriveType::eACCELERATION,
197    Force = physx_sys::PxArticulationDriveType::eFORCE,
198}
199
200#[derive(Copy, Clone, Debug)]
201#[repr(u8)]
202pub enum PxArticulationFlag {
203    FixBase = 1 << 0,
204    DriveLimitsAreForces = 1 << 1,
205}
206
207impl From<PxArticulationFlag> for physx_sys::PxArticulationFlag::Enum {
208    fn from(sys: PxArticulationFlag) -> Self {
209        sys as _
210    }
211}
physxx/articulation.rs

physxx/
articulation.rs
