260 lines
10 KiB
C
260 lines
10 KiB
C
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// This code contains NVIDIA Confidential Information and is disclosed to you
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// under a form of NVIDIA software license agreement provided separately to you.
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//
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// Notice
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// NVIDIA Corporation and its licensors retain all intellectual property and
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// proprietary rights in and to this software and related documentation and
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// any modifications thereto. Any use, reproduction, disclosure, or
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// distribution of this software and related documentation without an express
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// license agreement from NVIDIA Corporation is strictly prohibited.
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//
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// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES
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// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
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// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,
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// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.
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//
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// Information and code furnished is believed to be accurate and reliable.
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// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
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// information or for any infringement of patents or other rights of third parties that may
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// result from its use. No license is granted by implication or otherwise under any patent
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// or patent rights of NVIDIA Corporation. Details are subject to change without notice.
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// This code supersedes and replaces all information previously supplied.
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// NVIDIA Corporation products are not authorized for use as critical
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// components in life support devices or systems without express written approval of
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// NVIDIA Corporation.
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//
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// Copyright (c) 2008-2013 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_NX_RIGIDACTOR
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#define PX_PHYSICS_NX_RIGIDACTOR
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/** \addtogroup physics
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@{
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*/
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#include "PxActor.h"
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#ifndef PX_DOXYGEN
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namespace physx
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{
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#endif
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class PxConstraint;
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class PxShape;
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/**
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\brief PxRigidActor represents a base class shared between dynamic and static rigid bodies in the physics SDK.
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PxRigidActor objects specify the geometry of the object by defining a set of attached shapes (see #PxShape, #createShape()).
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@see PxActor
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*/
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class PxRigidActor : public PxActor
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{
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public:
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/**
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\brief Deletes the rigid actor object.
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Also releases any shapes associated with the actor.
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Releasing an actor will affect any objects that are connected to the actor (constraint shaders like joints etc.).
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Such connected objects will be deleted upon scene deletion, or explicitly by the user by calling release()
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on these objects. It is recommended to always remove all objects that reference actors before the actors
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themselves are removed. It is not possible to retrieve list of dead connected objects.
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Calls #PxActor::release() so you might want to check the documentation of that method as well.
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@see PxActor::release()
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*/
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virtual void release() = 0;
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/************************************************************************************************/
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/** @name Global Pose Manipulation
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*/
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/**
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\brief Retrieves the actors world space transform.
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The getGlobalPose() method retrieves the actor's current actor space to world space transformation.
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\return Global pose of object.
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@see PxRigidDynamic.setGlobalPose() PxRigidStatic.setGlobalPose()
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*/
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virtual PxTransform getGlobalPose() const = 0;
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/**
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\brief Method for setting an actor's pose in the world.
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This method instantaneously changes the actor space to world space transformation.
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This method is mainly for dynamic rigid bodies (see #PxRigidDynamic). Calling this method on static actors is
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likely to result in a performance penalty, since internal optimization structures for static actors may need to be
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recomputed. In addition, moving static actors will not interact correctly with dynamic actors or joints.
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To directly control an actor's position and have it correctly interact with dynamic bodies and joints, create a dynamic
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body with the PxRigidDynamicFlag::eKINEMATIC flag, then use the setKinematicTarget() commands to define its path.
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Even when moving dynamic actors, exercise restraint in making use of this method. Where possible, avoid:
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\li moving actors into other actors, thus causing interpenetration (an invalid physical state)
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\li moving an actor that is connected by a joint to another away from the other (thus causing joint error)
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<b>Sleeping:</b> This call wakes dynamic actors if they are sleeping and the wake parameter is true (default).
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\param[in] pose Transformation from the actors local frame to the global frame. <b>Range:</b> rigid body transform.
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\param[in] wake whether to wake the object if it is dynamic. This parameter has no effect for static actors
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@see getGlobalPose()
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*/
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virtual void setGlobalPose(const PxTransform& pose, bool wake = true) = 0;
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/************************************************************************************************/
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/** @name Shapes
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*/
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/**
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\brief Creates a new shape with default properties and a list of materials and adds it to the list of shapes of this actor.
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\note Mass properties of dynamic rigid actors will not automatically be recomputed
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to reflect the new mass distribution implied by the shape. Follow this call with a call to
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the PhysX extensions method #PxRigidBodyExt::updateMassAndInertia() to do that.
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\note The default shape flags to be set are: eVISUALIZATION, eSIMULATION_SHAPE, eSCENE_QUERY_SHAPE (see #PxShapeFlag).
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The only exception are triangle mesh, heightfield or plane geometry shapes if the actor is not a PxRigidStatic. In these
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cases the eSIMULATION_SHAPE flag is omitted.
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\note Creating compounds with a very large number of shapes may adversly affect performance and stability.
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<b>Sleeping:</b> Does <b>NOT</b> wake the actor up automatically.
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\param[in] geometry the geometry of the shape.
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\param[in] materials a pointer to an array of material pointers.
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\param[in] materialCount the count of materials
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\param[in] localPose optional actor-relative pose of the shape
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\return The newly created shape.
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@see PxShape PxShape::release()
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*/
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virtual PxShape* createShape(const PxGeometry& geometry, PxMaterial*const* materials, PxU32 materialCount, const PxTransform& localPose = PxTransform::createIdentity()) = 0;
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/**
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\brief Creates a new shape with default properties and a single material adds it to the list of shapes of this actor.
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\note Mass properties of dynamic rigid actors will not automatically be recomputed
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to reflect the new mass distribution implied by the shape. Follow this call with a call to
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the PhysX extensions method #PxRigidBodyExt::updateMassAndInertia() to do that.
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\note The default shape flags to be set are: eVISUALIZATION, eSIMULATION_SHAPE, eSCENE_QUERY_SHAPE (see #PxShapeFlag).
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The only exception are triangle mesh, heightfield or plane geometry shapes if the actor is not a PxRigidStatic. In these
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cases the eSIMULATION_SHAPE flag is omitted.
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\note Creating compounds with a very large number of shapes may adversly affect performance and stability.
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<b>Sleeping:</b> Does <b>NOT</b> wake the actor up automatically.
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\param[in] geometry the geometry of the shape.
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\param[in] material the material for the shape
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\param[in] localPose optional actor-relative pose of the shape
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\return The newly created shape.
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@see PxShape PxShape::release()
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*/
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PX_FORCE_INLINE PxShape* createShape(const PxGeometry& geometry, const PxMaterial& material, const PxTransform& localPose = PxTransform::createIdentity())
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{
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PxMaterial* materialPtr = const_cast<PxMaterial*>(&material);
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return createShape(geometry, &materialPtr, 1, localPose);
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}
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/**
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\brief Returns the number of shapes assigned to the actor.
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You can use #getShapes() to retrieve the shape pointers.
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\return Number of shapes associated with this actor.
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@see PxShape getShapes()
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*/
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virtual PxU32 getNbShapes() const = 0;
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/**
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\brief Retrieve all the shape pointers belonging to the actor.
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These are the shapes used by the actor for collision detection.
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You can retrieve the number of shape pointers by calling #getNbShapes()
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Note: Removing shapes with #PxShape::release() will invalidate the pointer of the released shape.
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\param[out] userBuffer The buffer to store the shape pointers.
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\param[in] bufferSize Size of provided user buffer.
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\param[in] startIndex Index of first shape pointer to be retrieved
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\return Number of shape pointers written to the buffer.
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@see PxShape getNbShapes() PxShape::release()
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*/
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virtual PxU32 getShapes(PxShape** userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const = 0;
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/************************************************************************************************/
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/** @name Constraints
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*/
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/**
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\brief Returns the number of constraint shaders attached to the actor.
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You can use #getConstraints() to retrieve the constraint shader pointers.
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\return Number of constraint shaders attached to this actor.
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@see PxConstraint getConstraints()
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*/
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virtual PxU32 getNbConstraints() const = 0;
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/**
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\brief Retrieve all the constraint shader pointers belonging to the actor.
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You can retrieve the number of constraint shader pointers by calling #getNbConstraints()
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Note: Removing constraint shaders with #PxConstraint::release() will invalidate the pointer of the released constraint.
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\param[out] userBuffer The buffer to store the constraint shader pointers.
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\param[in] bufferSize Size of provided user buffer.
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\param[in] startIndex Index of first constraint pointer to be retrieved
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\return Number of constraint shader pointers written to the buffer.
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@see PxConstraint getNbConstraints() PxConstraint::release()
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*/
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virtual PxU32 getConstraints(PxConstraint** userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const = 0;
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protected:
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PxRigidActor(PxRefResolver& v) : PxActor(v) {}
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PX_INLINE PxRigidActor() : PxActor() {}
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virtual ~PxRigidActor() {}
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virtual bool isKindOf(const char* name) const { return !strcmp("PxRigidActor", name) || PxActor::isKindOf(name); }
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};
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PX_INLINE PxRigidActor* PxActor::isRigidActor() { return is<PxRigidActor>(); }
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PX_INLINE const PxRigidActor* PxActor::isRigidActor() const { return is<PxRigidActor>(); }
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#ifndef PX_DOXYGEN
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} // namespace physx
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#endif
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/** @} */
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#endif
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