text: // This code contains NVIDIA Confidential Information and is disclosed to you 
  // under a form of NVIDIA software license agreement provided separately to you.
  //
  // Notice
  // NVIDIA Corporation and its licensors retain all intellectual property and
  // proprietary rights in and to this software and related documentation and 
  // any modifications thereto. Any use, reproduction, disclosure, or 
  // distribution of this software and related documentation without an express 
  // license agreement from NVIDIA Corporation is strictly prohibited.
  // 
  // ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
  // NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
  // THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
  // MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
  //
  // Information and code furnished is believed to be accurate and reliable.
  // However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
  // information or for any infringement of patents or other rights of third parties that may
  // result from its use. No license is granted by implication or otherwise under any patent
  // or patent rights of NVIDIA Corporation. Details are subject to change without notice.
  // This code supersedes and replaces all information previously supplied.
  // NVIDIA Corporation products are not authorized for use as critical
  // components in life support devices or systems without express written approval of
  // NVIDIA Corporation.
  //
  // Copyright (c) 2008-2012 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_JOINT_REPX_EXTENSIONS_H
  #define PX_JOINT_REPX_EXTENSIONS_H
  /** \addtogroup extensions
    @{
  */
  
  #include "RepX/RepX.h"
  #include "foundation/PxSimpleTypes.h"
  #include "extensions/PxD6Joint.h"
  #include "extensions/PxDistanceJoint.h"
  #include "extensions/PxFixedJoint.h"
  #include "extensions/PxPrismaticJoint.h"
  #include "extensions/PxRevoluteJoint.h"
  #include "extensions/PxSphericalJoint.h"
  #include "foundation/PxAssert.h"
  #include "foundation/PxString.h"
  #include "PxConstraintExt.h"
  #include "PxConstraint.h"
  
  namespace physx { namespace repx {
  
  	class RepXCollection;
  
  
  	//Id auto-generating function.
  	PX_INLINE const void* getId( const PxJoint* inJoint )		{ return inJoint; }
  
  	//Mapping from datatype to repx extension name
  	PX_INLINE const char* getExtensionNameForType( const PxD6Joint* )		{ return "PxD6Joint"; }
  	PX_INLINE const char* getExtensionNameForType( const PxDistanceJoint* )	{ return "PxDistanceJoint"; }
  	PX_INLINE const char* getExtensionNameForType( const PxFixedJoint* )	{ return "PxFixedJoint"; }
  	PX_INLINE const char* getExtensionNameForType( const PxPrismaticJoint* ){ return "PxPrismaticJoint"; }
  	PX_INLINE const char* getExtensionNameForType( const PxRevoluteJoint* )	{ return "PxRevoluteJoint"; }
  	PX_INLINE const char* getExtensionNameForType( const PxSphericalJoint* ){ return "PxSphericalJoint"; }
  	PX_INLINE const char* getExtensionNameForType( const PxJoint* inJoint )
  	{
  		if ( inJoint )
  		{
  			switch( inJoint->getType() )
  			{
  			case PxJointType::eD6: return getExtensionNameForType( static_cast<const PxD6Joint*>( inJoint ) );
  			case PxJointType::eDISTANCE: return getExtensionNameForType( static_cast<const PxDistanceJoint*>( inJoint ) );
  			case PxJointType::eFIXED: return getExtensionNameForType( static_cast<const PxFixedJoint*>( inJoint ) );
  			case PxJointType::ePRISMATIC: return getExtensionNameForType( static_cast<const PxPrismaticJoint*>( inJoint ) );
  			case PxJointType::eREVOLUTE: return getExtensionNameForType( static_cast<const PxRevoluteJoint*>( inJoint ) );
  			case PxJointType::eSPHERICAL: return getExtensionNameForType( static_cast<const PxSphericalJoint*>( inJoint ) );
  			default:
  				break;
  			}
  		}
  		return "__unknown joint type__";
  	}
  	
  	//Mapping from abstract pointer to specific point so that 
  	//when converted to/from a void* we know exactly what we
  	//are getting.
  	PX_INLINE const void* getBasePtr( const PxJoint* inJoint )
  	{
  		if ( inJoint )
  		{
  			switch( inJoint->getType() )
  			{
  			case PxJointType::eD6: return static_cast<const PxD6Joint*>( inJoint );
  			case PxJointType::eDISTANCE: return static_cast<const PxDistanceJoint*>( inJoint );
  			case PxJointType::eFIXED: return static_cast<const PxFixedJoint*>( inJoint );
  			case PxJointType::ePRISMATIC: return static_cast<const PxPrismaticJoint*>( inJoint );
  			case PxJointType::eREVOLUTE: return static_cast<const PxRevoluteJoint*>( inJoint );
  			case PxJointType::eSPHERICAL: return static_cast<const PxSphericalJoint*>( inJoint );
  			default:
  				break;
  			}
  		}
  		return NULL;
  	}
  	
  	//Operator on the actual data underlying the generic type.
  	template<typename TResultType, typename TOperator>
  	PX_INLINE TResultType visitJointRepXObject( const TRepXId inId, void* inLiveObject, const char* inRepXExtensionName, TOperator inOperator )
  	{
  		if ( PxStricmp( inRepXExtensionName, getExtensionNameForType( (PxD6Joint*)NULL ) ) == 0 )
  			return inOperator( inId, reinterpret_cast<PxD6Joint*>( inLiveObject ) );
  		else if ( PxStricmp( inRepXExtensionName, getExtensionNameForType( (PxDistanceJoint*)NULL ) ) == 0 )
  			return inOperator( inId, reinterpret_cast<PxDistanceJoint*>( inLiveObject ) );
  		else if ( PxStricmp( inRepXExtensionName, getExtensionNameForType( (PxFixedJoint*)NULL ) ) == 0 )
  			return inOperator( inId, reinterpret_cast<PxFixedJoint*>( inLiveObject ) );
  		else if ( PxStricmp( inRepXExtensionName, getExtensionNameForType( (PxPrismaticJoint*)NULL ) ) == 0 )
  			return inOperator( inId, reinterpret_cast<PxPrismaticJoint*>( inLiveObject ) );
  		else if ( PxStricmp( inRepXExtensionName, getExtensionNameForType( (PxRevoluteJoint*)NULL ) ) == 0 )
  			return inOperator( inId, reinterpret_cast<PxRevoluteJoint*>( inLiveObject ) );
  		else if ( PxStricmp( inRepXExtensionName, getExtensionNameForType( (PxSphericalJoint*)NULL ) ) == 0 )
  			return inOperator( inId, reinterpret_cast<PxSphericalJoint*>( inLiveObject ) );
  		else
  			return inOperator( inId, inLiveObject, inRepXExtensionName );
  	}
  	
  
  	PX_INLINE RepXAddToCollectionResult addToRepXCollection( RepXCollection& inCollection, RepXIdToRepXObjectMap& inIdMap, const PxConstraint& inType )
  	{
  		PxU32 constraintType = 0;
  		void* joint = const_cast<PxConstraint*>( &inType )->getExternalReference( constraintType );
  		if ( constraintType == PxConstraintExtIDs::eJOINT )
  		{
  			PxJoint* theJoint = reinterpret_cast<PxJoint*>( joint );
  			return inCollection.addRepXObjectToCollection( RepXObject( getExtensionNameForType( theJoint ), joint, static_cast<TRepXId>(reinterpret_cast<size_t>(joint)) ), inIdMap );
  		}
  		else //RepX doesn't support non-joint constraints.
  		{
  			return RepXAddToCollectionResult::InvalidParameters;
  		}
  	}
  	
  	PxU32 getNumJointExtensions();
  	//The repx collection is responsible for freeing these extensions.
  	PxU32 createJointExtensions( RepXExtension** outExtensions, PxU32 outBufferSize, PxAllocatorCallback& inCallback );
  
  }}
  
  /** @} */
  #endif
  