299 lines
11 KiB
C
299 lines
11 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_RIGIDBODY
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#define PX_PHYSICS_NX_RIGIDBODY
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/** \addtogroup physics
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@{
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*/
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#include "PxRigidActor.h"
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#include "PxForceMode.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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/**
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\brief PxRigidBody is a base class shared between dynamic rigid body objects.
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@see PxRigidActor
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*/
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class PxRigidBody : public PxRigidActor
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{
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public:
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// Runtime modifications
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/************************************************************************************************/
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/** @name Mass Manipulation
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*/
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/**
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\brief Sets the pose of the center of mass relative to the actor.
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\note Changing this transform will not move the actor in the world!
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\note Setting an unrealistic center of mass which is a long way from the body can make it difficult for
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the SDK to solve constraints. Perhaps leading to instability and jittering bodies.
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<b>Default:</b> the identity transform
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<b>Sleeping:</b> This call wakes the actor if it is sleeping.
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\param[in] pose Mass frame offset transform relative to the actor frame. <b>Range:</b> rigid body transform.
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@see getCMassLocalPose() PxRigidBodyDesc.massLocalPose
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*/
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virtual void setCMassLocalPose(const PxTransform& pose) = 0;
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/**
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\brief Retrieves the center of mass pose relative to the actor frame.
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\return The center of mass pose relative to the actor frame.
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@see setCMassLocalPose() PxRigidBodyDesc.massLocalPose
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*/
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virtual PxTransform getCMassLocalPose() const = 0;
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/**
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\brief Sets the mass of a dynamic actor.
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The mass must be positive.
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setMass() does not update the inertial properties of the body, to change the inertia tensor
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use setMassSpaceInertiaTensor() or the PhysX extensions method #PxRigidBodyExt::updateMassAndInertia().
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<b>Default:</b> 1.0
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<b>Sleeping:</b> Does <b>NOT</b> wake the actor up automatically.
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\param[in] mass New mass value for the actor. <b>Range:</b> (0,inf)
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@see getMass() PxRigidBodyDesc.mass setMassSpaceInertiaTensor()
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*/
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virtual void setMass(PxReal mass) = 0;
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/**
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\brief Retrieves the mass of the actor.
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\return The mass of this actor.
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@see setMass() PxRigidBodyDesc.mass setMassSpaceInertiaTensor()
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*/
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virtual PxReal getMass() const = 0;
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/**
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\brief Sets the inertia tensor, using a parameter specified in mass space coordinates.
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Note that such matrices are diagonal -- the passed vector is the diagonal.
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If you have a non diagonal world/actor space inertia tensor(3x3 matrix). Then you need to
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diagonalize it and set an appropriate mass space transform. See #setCMassLocalPose().
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<b>Default:</b> (1.0, 1.0, 1.0)
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<b>Sleeping:</b> Does <b>NOT</b> wake the actor up automatically.
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\param[in] m New mass space inertia tensor for the actor. <b>Range:</b> inertia vector
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@see PxRigidBodyDesc.massSpaceInertia getMassSpaceInertia() setMass() setCMassLocalPose()
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*/
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virtual void setMassSpaceInertiaTensor(const PxVec3& m) = 0;
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/**
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\brief Retrieves the diagonal inertia tensor of the actor relative to the mass coordinate frame.
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This method retrieves a mass frame inertia vector.
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\return The mass space inertia tensor of this actor.
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@see PxRigidBodyDesc.massSpaceInertia setMassSpaceInertiaTensor() setMass() setCMassLocalPose()
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*/
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virtual PxVec3 getMassSpaceInertiaTensor() const = 0;
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/************************************************************************************************/
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/** @name Velocity
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*/
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/**
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\brief Retrieves the linear velocity of an actor.
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\return The linear velocity of the actor.
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@see PxRigidDynamic.setLinearVelocity() getAngularVelocity()
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*/
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virtual PxVec3 getLinearVelocity() const = 0;
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/**
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\brief Sets the linear velocity of the actor.
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Note that if you continuously set the velocity of an actor yourself,
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forces such as gravity or friction will not be able to manifest themselves, because forces directly
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influence only the velocity/momentum of an actor.
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<b>Default:</b> (0.0, 0.0, 0.0)
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<b>Sleeping:</b> This call wakes the actor if it is sleeping, the autowake parameter is true (default), and the
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new velocity is non-zero
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\param[in] linVel New linear velocity of actor. <b>Range:</b> velocity vector
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\param[in] autowake Whether to wake the object up if it is asleep and the velocity is non-zero
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@see getLinearVelocity() setAngularVelocity()
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*/
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virtual void setLinearVelocity(const PxVec3& linVel, bool autowake = true ) = 0;
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/**
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\brief Retrieves the angular velocity of the actor.
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\return The angular velocity of the actor.
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@see PxRigidDynamic.setAngularVelocity() getLinearVelocity()
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*/
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virtual PxVec3 getAngularVelocity() const = 0;
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/**
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\brief Sets the angular velocity of the actor.
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Note that if you continuously set the angular velocity of an actor yourself,
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forces such as friction will not be able to rotate the actor, because forces directly influence only the velocity/momentum.
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<b>Default:</b> (0.0, 0.0, 0.0)
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<b>Sleeping:</b> This call wakes the actor if it is sleeping, the autowake parameter is true (default), and the
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new velocity is non-zero
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\param[in] angVel New angular velocity of actor. <b>Range:</b> angular velocity vector
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\param[in] autowake Whether to wake the object up if it is asleep and the velocity is non-zero
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@see getAngularVelocity() setLinearVelocity()
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*/
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virtual void setAngularVelocity(const PxVec3& angVel, bool autowake = true ) = 0;
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/************************************************************************************************/
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/** @name Forces
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*/
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/**
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\brief Applies a force (or impulse) defined in the global coordinate frame to the actor.
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<b>This will not induce a torque</b>.
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::PxForceMode determines if the force is to be conventional or impulsive.
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\note The force modes PxForceMode::eIMPULSE and PxForceMode::eVELOCITY_CHANGE can not be applied to articulation links
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<b>Sleeping:</b> This call wakes the actor if it is sleeping and the autowake parameter is true (default).
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\param[in] force Force/Impulse to apply defined in the global frame. <b>Range:</b> force vector
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\param[in] mode The mode to use when applying the force/impulse(see #PxForceMode)
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\param[in] autowake Specify if the call should wake up the actor if it is currently asleep.
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@see PxForceMode addTorque
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*/
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virtual void addForce(const PxVec3& force, PxForceMode::Enum mode = PxForceMode::eFORCE, bool autowake = true) = 0;
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/**
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\brief Applies an impulsive torque defined in the global coordinate frame to the actor.
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::PxForceMode determines if the torque is to be conventional or impulsive.
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\note The force modes PxForceMode::eIMPULSE and PxForceMode::eVELOCITY_CHANGE can not be applied to articulation links
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<b>Sleeping:</b> This call wakes the actor if it is sleeping and the autowake parameter is true (default).
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\param[in] torque Torque to apply defined in the global frame. <b>Range:</b> torque vector
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\param[in] mode The mode to use when applying the force/impulse(see #PxForceMode).
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\param[in] autowake whether to wake up the object if it is asleep
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@see PxForceMode addForce()
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*/
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virtual void addTorque(const PxVec3& torque, PxForceMode::Enum mode = PxForceMode::eFORCE, bool autowake = true) = 0;
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/**
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\brief Clears the accumulated forces (sets the accumulated force back to zero).
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::PxForceMode determines if the cleared force is to be conventional or impulsive.
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\note The force modes PxForceMode::eIMPULSE and PxForceMode::eVELOCITY_CHANGE can not be applied to articulation links
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<b>Sleeping:</b> This call wakes the actor if it is sleeping and the autowake parameter is true (default).
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\param[in] mode The mode to use when clearing the force/impulse(see #PxForceMode)
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\param[in] autowake Specify if the call should wake up the actor if it is currently asleep.
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@see PxForceMode addForce
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*/
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virtual void clearForce(PxForceMode::Enum mode = PxForceMode::eFORCE, bool autowake = true) = 0;
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/**
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\brief Clears the impulsive torque defined in the global coordinate frame to the actor.
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::PxForceMode determines if the cleared torque is to be conventional or impulsive.
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\note The force modes PxForceMode::eIMPULSE and PxForceMode::eVELOCITY_CHANGE can not be applied to articulation links
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<b>Sleeping:</b> This call wakes the actor if it is sleeping and the autowake parameter is true (default).
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\param[in] mode The mode to use when clearing the force/impulse(see #PxForceMode).
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\param[in] autowake whether to wake up the object if it is asleep
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@see PxForceMode addTorque
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*/
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virtual void clearTorque(PxForceMode::Enum mode = PxForceMode::eFORCE, bool autowake = true) = 0;
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protected:
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PxRigidBody(PxRefResolver& v) : PxRigidActor(v) {}
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PX_INLINE PxRigidBody() : PxRigidActor() {}
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virtual ~PxRigidBody() {}
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virtual bool isKindOf(const char* name)const { return !strcmp("PxRigidBody", name) || PxRigidActor::isKindOf(name); }
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};
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PX_INLINE PxRigidBody* PxActor::isRigidBody() { return is<PxRigidBody>(); }
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PX_INLINE const PxRigidBody* PxActor::isRigidBody() const { return is<PxRigidBody>(); }
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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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