text: //
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  // Copyright (c) 2008-2019 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_NP_CONSTRAINT
  #define PX_PHYSICS_NP_CONSTRAINT
  
  #include "PsUserAllocated.h"
  #include "PxConstraint.h"
  #include "ScbConstraint.h"
  
  namespace physx
  {
  
  class NpScene;
  class NpRigidDynamic;
  
  namespace Scb
  {
  	class RigidObject;
  }
  
  class NpConstraint : public PxConstraint, public Ps::UserAllocated
  {
  //= 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.
  //==================================================================================================
  public:
  // PX_SERIALIZATION
  													NpConstraint(PxBaseFlags baseFlags) : PxConstraint(baseFlags), mConstraint(PxEmpty) {}
  	virtual			void							setConstraintFunctions(PxConstraintConnector& n,
  																		   const PxConstraintShaderTable &t);
  	static			NpConstraint*					createObject(PxU8*& address, PxDeserializationContext& context);
  	static			void							getBinaryMetaData(PxOutputStream& stream);
  					void							exportExtraData(PxSerializationContext&)	{}
  					void							importExtraData(PxDeserializationContext&)	{ }
  					void							resolveReferences(PxDeserializationContext& context);
  	virtual			void							requiresObjects(PxProcessPxBaseCallback&){}
  	virtual		    bool			                isSubordinate()  const	 { return true; }  
  //~PX_SERIALIZATION
  													NpConstraint(PxRigidActor* actor0, PxRigidActor* actor1, PxConstraintConnector& connector, const PxConstraintShaderTable& shaders, PxU32 dataSize);
  													~NpConstraint();
  
  	virtual			void							release();
  
  	virtual			PxScene*						getScene() const;
  
  	virtual			void							getActors(PxRigidActor*& actor0, PxRigidActor*& actor1)		const;
  	virtual			void							setActors(PxRigidActor* actor0, PxRigidActor* actor1);
  
  	virtual			PxConstraintFlags				getFlags()													const;
  	virtual			void							setFlags(PxConstraintFlags flags);
  	virtual			void							setFlag(PxConstraintFlag::Enum flag, bool value);
  
  	virtual			void							getForce(PxVec3& linear, PxVec3& angular)					const;
  
  	virtual			void							markDirty();
  	
  	virtual			void							setBreakForce(PxReal linear, PxReal angular);
  	virtual			void							getBreakForce(PxReal& linear, PxReal& angular)				const;
  
  	virtual			void							setMinResponseThreshold(PxReal threshold);
  	virtual			PxReal							getMinResponseThreshold()									const;
  
  	virtual			bool							isValid() const;
  
  	virtual			void*							getExternalReference(PxU32& typeID);
  
  					void							initialize(const PxConstraintDesc&, Scb::Constraint*);
  					void							updateConstants();
  					void							comShift(PxRigidActor*);
  					void							actorDeleted(PxRigidActor*);
  
  
  
  					NpScene*						getNpScene() const;
  
  					NpScene*						getSceneFromActors() const;
  	PX_FORCE_INLINE	Scb::Constraint&				getScbConstraint()				{ return mConstraint; }
  	PX_FORCE_INLINE	const Scb::Constraint&			getScbConstraint() const		{ return mConstraint; }
  	PX_FORCE_INLINE	bool							isDirty() const					{ return mIsDirty; }
  
  
  					static Scb::RigidObject*		getScbRigidObject(PxRigidActor*);
  private:
  	PX_FORCE_INLINE	static NpScene*					getSceneFromActors(const PxRigidActor* actor0, const PxRigidActor* actor1);  // Returns the scene if both actors are in the scene, else NULL
  
  					PxRigidActor*					mActor0;
  					PxRigidActor*					mActor1;
  					Scb::Constraint					mConstraint;
  
  					// this used to be stored in Scb, but that doesn't really work since Scb::Constraint's 
  					// flags all get cleared on fetchResults. In any case, in order to support O(1) 
  					// insert/remove this really wants to be an index into NpScene's dirty joint array
  
  					bool							mIsDirty;
  					bool							mPaddingFromBool[3];	// PT: because of mIsDirty
  };
  
  }
  
  #endif
  