228 lines
8.6 KiB
C++
228 lines
8.6 KiB
C++
// 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_EXTENSIONS_SIMPLE_FACTORY_H
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#define PX_PHYSICS_EXTENSIONS_SIMPLE_FACTORY_H
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/** \addtogroup extensions
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@{
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*/
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#include "common/PxPhysXCommon.h"
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#include "foundation/PxTransform.h"
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#include "foundation/PxPlane.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 PxPhysics;
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class PxMaterial;
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class PxRigidActor;
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class PxRigidDynamic;
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class PxRigidStatic;
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class PxGeometry;
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#ifndef PX_DOXYGEN
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} // namespace physx
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#endif
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/** \brief simple method to create a PxRigidDynamic actor with a single PxShape.
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\param[in] sdk the PxPhysics object
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\param[in] transform the global pose of the new object
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\param[in] geometry the geometry of the new object's shape, which must be a sphere, capsule, box or convex
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\param[in] material the material for the new object's shape
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\param[in] density the density of the new object. Must be greater than zero.
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\param[in] shapeOffset an optional offset for the new shape, defaults to identity
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\return a new dynamic actor with the PxRigidDynamicFlag, or NULL if it could
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not be constructed
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@see PxRigidDynamic PxShapeFlag
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*/
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PX_C_EXPORT physx::PxRigidDynamic* PX_CALL_CONV PxCreateDynamic(physx::PxPhysics& sdk,
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const physx::PxTransform& transform,
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const physx::PxGeometry& geometry,
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physx::PxMaterial& material,
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physx::PxReal density,
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const physx::PxTransform& shapeOffset = physx::PxTransform::createIdentity());
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/** \brief simple method to create a kinematic PxRigidDynamic actor with a single PxShape.
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\param[in] sdk the PxPhysics object
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\param[in] transform the global pose of the new object
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\param[in] geometry the geometry of the new object's shape
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\param[in] material the material for the new object's shape
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\param[in] density the density of the new object. Must be greater than zero if the object is to participate in simulation.
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\param[in] shapeOffset an optional offset for the new shape, defaults to identity
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\note unlike PxCreateDynamic, the geometry is not restricted to box, capsule, sphere or convex. However,
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kinematics of other geometry types may not participate in simulation collision and may be used only for
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triggers or scene queries of moving objects under animation control. In this case the density parameter
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will be ignored and the created shape will be set up as a scene query only shape (see #PxShapeFlag::eSCENE_QUERY_SHAPE)
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\return a new dynamic actor with the PxRigidDynamicFlag::eKINEMATIC set, or NULL if it could
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not be constructed
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@see PxRigidDynamic PxShapeFlag
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*/
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PX_C_EXPORT physx::PxRigidDynamic* PX_CALL_CONV PxCreateKinematic(physx::PxPhysics& sdk,
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const physx::PxTransform& transform,
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const physx::PxGeometry& geometry,
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physx::PxMaterial& material,
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physx::PxReal density,
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const physx::PxTransform& shapeOffset = physx::PxTransform::createIdentity());
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/** \brief simple method to create a PxRigidStatic actor with a single PxShape.
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\param[in] sdk the PxPhysics object
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\param[in] transform the global pose of the new object
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\param[in] geometry the geometry of the new object's shape
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\param[in] material the material for the new object's shape
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\param[in] shapeOffset an optional offset for the new shape, defaults to identity
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\return a new static actor, or NULL if it could not be constructed
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@see PxRigidStatic
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*/
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PX_C_EXPORT physx::PxRigidStatic* PX_CALL_CONV PxCreateStatic(physx::PxPhysics& sdk,
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const physx::PxTransform& transform,
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const physx::PxGeometry& geometry,
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physx::PxMaterial& material,
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const physx::PxTransform& shapeOffset = physx::PxTransform::createIdentity());
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/**
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\brief create a static body by copying attributes from another rigid actor
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The function clones a PxRigidDynamic as a PxRigidStatic. A uniform scale is applied. The following properties are copied:
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- shapes
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- actor flags
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- owner client and client behavior bits
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The following are not copied and retain their default values:
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- name
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- joints or observers
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- aggregate or scene membership
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- user data
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\note Transforms are not copied with bit-exact accuracy.
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\param[in] physicsSDK - the physics SDK used to allocate the rigid static
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\param[in] actor the rigid actor from which to take the attributes.
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\param[in] transform the transform of the new static.
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\return returns the newly-created rigid static
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*/
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PX_C_EXPORT physx::PxRigidStatic* PX_CALL_CONV PxCloneStatic(physx::PxPhysics& physicsSDK,
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const physx::PxTransform& transform,
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const physx::PxRigidActor& actor);
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/**
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\brief create a dynamic body by copying attributes from an existing body
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The following properties are copied:
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- shapes
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- actor flags and rigidDynamic flags
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- mass, moment of inertia, and center of mass frame
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- linear and angular velocity
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- linear and angular damping
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- maximum angular velocity
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- position and velocity solver iterations
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- sleep threshold
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- contact report threshold
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- dominance group
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- owner client and client behavior bits
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The following are not copied and retain their default values:
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- name
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- joints or observers
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- aggregate or scene membership
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- sleep timer
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- user data
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\note Transforms are not copied with bit-exact accuracy.
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\param[in] physicsSDK PxPhysics - the physics SDK used to allocate the rigid static
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\param[in] body the rigid dynamic to clone.
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\param[in] transform the transform of the new dynamic
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\return returns the newly-created rigid static
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*/
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PX_C_EXPORT physx::PxRigidDynamic* PX_CALL_CONV PxCloneDynamic(physx::PxPhysics& physicsSDK,
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const physx::PxTransform& transform,
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const physx::PxRigidDynamic& body);
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/** \brief create a plane actor. The plane equation is n.x + d = 0
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\param[in] sdk the PxPhysics object
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\param[in] plane a plane of the form n.x + d = 0
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\param[in] material the material for the new object's shape
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\return a new static actor, or NULL if it could not be constructed
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@see PxRigidStatic
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*/
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PX_C_EXPORT physx::PxRigidStatic* PX_CALL_CONV PxCreatePlane(physx::PxPhysics& sdk,
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const physx::PxPlane& plane,
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physx::PxMaterial& material);
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/**
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\brief scale a rigid actor by a uniform scale
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The geometry and relative positions of the actor are multiplied by the given scale value. If the actor is a rigid body or an
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articulation link and the scaleMassProps value is true, the mass properties are scaled assuming the density is constant: the
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center of mass is linearly scaled, the mass is multiplied by the cube of the scale, and the inertia tensor by the fifth power of the scale.
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\param[in] actor a rigid actor
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\param[in] scale the scale by which to multiply the actor
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\param[in] scaleMassProps whether to scale the mass properties
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*/
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PX_C_EXPORT void PX_CALL_CONV PxScaleRigidActor(physx::PxRigidActor& actor, physx::PxReal scale, bool scaleMassProps = true);
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/** @} */
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#endif
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