238 lines
8.9 KiB
C
238 lines
8.9 KiB
C
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2019 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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#include "PxShape.h"
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#if !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 PxMaterial;
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class PxGeometry;
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class PxBVHStructure;
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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).
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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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<b>Sleeping:</b> This call will awaken any sleeping actors contacting the deleted actor (directly or indirectly).
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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 PxRigidBodyFlag::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 overlap (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 autowake 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] autowake whether to wake the object if it is dynamic. This parameter has no effect for static or kinematic actors. If true and the current wake counter value is smaller than #PxSceneDesc::wakeCounterResetValue it will get increased to the reset value.
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@see getGlobalPose()
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*/
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virtual void setGlobalPose(const PxTransform& pose, bool autowake = true) = 0;
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/************************************************************************************************/
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/** @name Shapes
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*/
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/** attach a shared shape to an actor
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This call will increment the reference count of the shape.
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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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Attaching a triangle mesh, heightfield or plane geometry shape configured as eSIMULATION_SHAPE is not supported for
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non-kinematic PxRigidDynamic instances.
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<b>Sleeping:</b> Does <b>NOT</b> wake the actor up automatically.
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\param[in] shape the shape to attach.
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\return True if success.
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*/
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virtual bool attachShape(PxShape& shape) = 0;
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/** detach a shape from an actor.
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This will also decrement the reference count of the PxShape, and if the reference count is zero, will cause it to be deleted.
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<b>Sleeping:</b> Does <b>NOT</b> wake the actor up automatically.
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\param[in] shape the shape to detach.
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\param[in] wakeOnLostTouch Specifies whether touching objects from the previous frame should get woken up in the next frame. Only applies to PxArticulation and PxRigidActor types.
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*/
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virtual void detachShape(PxShape& shape, bool wakeOnLostTouch = true) = 0;
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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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PX_INLINE PxRigidActor(PxType concreteType, PxBaseFlags baseFlags) : PxActor(concreteType, baseFlags) {}
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PX_INLINE PxRigidActor(PxBaseFlags baseFlags) : PxActor(baseFlags) {}
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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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#if !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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