178 lines
6.9 KiB
C
178 lines
6.9 KiB
C
|
//
|
||
|
// Redistribution and use in source and binary forms, with or without
|
||
|
// modification, are permitted provided that the following conditions
|
||
|
// are met:
|
||
|
// * Redistributions of source code must retain the above copyright
|
||
|
// notice, this list of conditions and the following disclaimer.
|
||
|
// * Redistributions in binary form must reproduce the above copyright
|
||
|
// notice, this list of conditions and the following disclaimer in the
|
||
|
// documentation and/or other materials provided with the distribution.
|
||
|
// * Neither the name of NVIDIA CORPORATION nor the names of its
|
||
|
// contributors may be used to endorse or promote products derived
|
||
|
// from this software without specific prior written permission.
|
||
|
//
|
||
|
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
|
||
|
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||
|
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
|
||
|
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
|
||
|
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
|
||
|
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
|
||
|
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
|
||
|
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
|
||
|
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
||
|
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
||
|
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||
|
//
|
||
|
// 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_RIGIDDYNAMIC
|
||
|
#define PX_PHYSICS_NP_RIGIDDYNAMIC
|
||
|
|
||
|
#include "common/PxMetaData.h"
|
||
|
#include "PxRigidDynamic.h"
|
||
|
#include "NpRigidBodyTemplate.h"
|
||
|
#include "ScbBody.h"
|
||
|
|
||
|
namespace physx
|
||
|
{
|
||
|
|
||
|
class NpRigidDynamic;
|
||
|
typedef NpRigidBodyTemplate<PxRigidDynamic> NpRigidDynamicT;
|
||
|
|
||
|
class NpRigidDynamic : public NpRigidDynamicT
|
||
|
{
|
||
|
//= 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
|
||
|
NpRigidDynamic(PxBaseFlags baseFlags) : NpRigidDynamicT(baseFlags) {}
|
||
|
|
||
|
void preExportDataReset();
|
||
|
virtual void requiresObjects(PxProcessPxBaseCallback& c);
|
||
|
|
||
|
static NpRigidDynamic* createObject(PxU8*& address, PxDeserializationContext& context);
|
||
|
static void getBinaryMetaData(PxOutputStream& stream);
|
||
|
//~PX_SERIALIZATION
|
||
|
virtual ~NpRigidDynamic();
|
||
|
|
||
|
//---------------------------------------------------------------------------------
|
||
|
// PxActor implementation
|
||
|
//---------------------------------------------------------------------------------
|
||
|
|
||
|
virtual void release();
|
||
|
|
||
|
//---------------------------------------------------------------------------------
|
||
|
// PxRigidDynamic implementation
|
||
|
//---------------------------------------------------------------------------------
|
||
|
|
||
|
virtual PxActorType::Enum getType() const { return PxActorType::eRIGID_DYNAMIC; }
|
||
|
|
||
|
// Pose
|
||
|
virtual void setGlobalPose(const PxTransform& pose, bool autowake);
|
||
|
PX_FORCE_INLINE PxTransform getGlobalPoseFast() const
|
||
|
{
|
||
|
const Scb::Body& body=getScbBodyFast();
|
||
|
return body.getBody2World() * body.getBody2Actor().getInverse();
|
||
|
}
|
||
|
virtual PxTransform getGlobalPose() const
|
||
|
{
|
||
|
NP_READ_CHECK(NpActor::getOwnerScene(*this));
|
||
|
return getGlobalPoseFast();
|
||
|
}
|
||
|
|
||
|
virtual void setKinematicTarget(const PxTransform& destination);
|
||
|
virtual bool getKinematicTarget(PxTransform& target) const;
|
||
|
|
||
|
// Center of mass pose
|
||
|
virtual void setCMassLocalPose(const PxTransform&);
|
||
|
|
||
|
// Damping
|
||
|
virtual void setLinearDamping(PxReal);
|
||
|
virtual PxReal getLinearDamping() const;
|
||
|
virtual void setAngularDamping(PxReal);
|
||
|
virtual PxReal getAngularDamping() const;
|
||
|
|
||
|
// Velocity
|
||
|
virtual void setLinearVelocity(const PxVec3&, bool autowake);
|
||
|
virtual void setAngularVelocity(const PxVec3&, bool autowake);
|
||
|
virtual void setMaxAngularVelocity(PxReal);
|
||
|
virtual PxReal getMaxAngularVelocity() const;
|
||
|
virtual void setMaxLinearVelocity(PxReal);
|
||
|
virtual PxReal getMaxLinearVelocity() const;
|
||
|
|
||
|
// Force/Torque modifiers
|
||
|
virtual void addForce(const PxVec3&, PxForceMode::Enum mode, bool autowake);
|
||
|
virtual void clearForce(PxForceMode::Enum mode);
|
||
|
virtual void addTorque(const PxVec3&, PxForceMode::Enum mode, bool autowake);
|
||
|
virtual void clearTorque(PxForceMode::Enum mode);
|
||
|
virtual void setForceAndTorque(const PxVec3& force, const PxVec3& torque, PxForceMode::Enum mode = PxForceMode::eFORCE);
|
||
|
|
||
|
|
||
|
|
||
|
// Sleeping
|
||
|
virtual bool isSleeping() const;
|
||
|
virtual PxReal getSleepThreshold() const;
|
||
|
virtual void setSleepThreshold(PxReal threshold);
|
||
|
virtual PxReal getStabilizationThreshold() const;
|
||
|
virtual void setStabilizationThreshold(PxReal threshold);
|
||
|
virtual void setWakeCounter(PxReal wakeCounterValue);
|
||
|
virtual PxReal getWakeCounter() const;
|
||
|
virtual void wakeUp();
|
||
|
virtual void putToSleep();
|
||
|
|
||
|
virtual void setSolverIterationCounts(PxU32 positionIters, PxU32 velocityIters);
|
||
|
virtual void getSolverIterationCounts(PxU32 & positionIters, PxU32 & velocityIters) const;
|
||
|
|
||
|
virtual void setContactReportThreshold(PxReal threshold);
|
||
|
virtual PxReal getContactReportThreshold() const;
|
||
|
|
||
|
virtual PxRigidDynamicLockFlags getRigidDynamicLockFlags() const;
|
||
|
virtual void setRigidDynamicLockFlags(PxRigidDynamicLockFlags flags);
|
||
|
virtual void setRigidDynamicLockFlag(PxRigidDynamicLockFlag::Enum flag, bool value);
|
||
|
|
||
|
//---------------------------------------------------------------------------------
|
||
|
// Miscellaneous
|
||
|
//---------------------------------------------------------------------------------
|
||
|
NpRigidDynamic(const PxTransform& bodyPose);
|
||
|
|
||
|
virtual void switchToNoSim();
|
||
|
virtual void switchFromNoSim();
|
||
|
|
||
|
PX_FORCE_INLINE void wakeUpInternal();
|
||
|
void wakeUpInternalNoKinematicTest(Scb::Body& body, bool forceWakeUp, bool autowake);
|
||
|
|
||
|
private:
|
||
|
PX_FORCE_INLINE void setKinematicTargetInternal(const PxTransform& destination);
|
||
|
|
||
|
#if PX_ENABLE_DEBUG_VISUALIZATION
|
||
|
public:
|
||
|
void visualize(Cm::RenderOutput& out, NpScene* scene);
|
||
|
#endif
|
||
|
};
|
||
|
|
||
|
|
||
|
|
||
|
|
||
|
PX_FORCE_INLINE void NpRigidDynamic::wakeUpInternal()
|
||
|
{
|
||
|
PX_ASSERT(NpActor::getOwnerScene(*this));
|
||
|
|
||
|
Scb::Body& body = getScbBodyFast();
|
||
|
const PxRigidBodyFlags currentFlags = body.getFlags();
|
||
|
|
||
|
if (!(currentFlags & PxRigidBodyFlag::eKINEMATIC)) // kinematics are only awake when a target is set, else they are asleep
|
||
|
wakeUpInternalNoKinematicTest(body, false, true);
|
||
|
}
|
||
|
|
||
|
|
||
|
}
|
||
|
|
||
|
#endif
|