//
// 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_EXTENSIONS_RIGIDACTOR_H
#define PX_PHYSICS_EXTENSIONS_RIGIDACTOR_H
/** \addtogroup extensions
  @{
*/

#include "PxPhysXConfig.h"
#include "PxPhysics.h"
#include "PxRigidActor.h"

#if !PX_DOXYGEN
namespace physx
{
#endif

/**
\brief utility functions for use with PxRigidActor and subclasses

@see PxRigidActor PxRigidStatic PxRigidBody PxRigidDynamic PxArticulationLink
*/

class PxRigidActorExt
{
public:

	/**
	\brief Creates a new shape with default properties and a list of materials and adds it to the list of shapes of this actor.
	
	This is equivalent to the following

	PxShape* shape(...) = PxGetPhysics().createShape(...);	// reference count is 1
	actor->attachShape(shape);								// increments reference count
	shape->release();										// releases user reference, leaving reference count at 1

	As a consequence, detachShape() will result in the release of the last reference, and the shape will be deleted.

	\note The default shape flags to be set are: eVISUALIZATION, eSIMULATION_SHAPE, eSCENE_QUERY_SHAPE (see #PxShapeFlag).
	Triangle mesh, heightfield or plane geometry shapes configured as eSIMULATION_SHAPE are not supported for 
	non-kinematic PxRigidDynamic instances.

	\note Creating compounds with a very large number of shapes may adversely affect performance and stability.

	<b>Sleeping:</b> Does <b>NOT</b> wake the actor up automatically.

	\param[in] actor the actor to which to attach the shape
	\param[in] geometry	the geometry of the shape
	\param[in] materials a pointer to an array of material pointers
	\param[in] materialCount the count of materials
	\param[in] shapeFlags optional PxShapeFlags

	\return The newly created shape.

	@see PxShape PxShape::release(), PxPhysics::createShape(), PxRigidActor::attachShape()
	*/

	static PxShape* createExclusiveShape(PxRigidActor& actor, const PxGeometry& geometry, PxMaterial*const* materials, PxU16 materialCount, 
								         PxShapeFlags shapeFlags = PxShapeFlag::eVISUALIZATION | PxShapeFlag::eSCENE_QUERY_SHAPE | PxShapeFlag::eSIMULATION_SHAPE)
	{
		PxShape* shape = PxGetPhysics().createShape(geometry, materials, materialCount, true, shapeFlags);
		if(shape)
		{
			bool status = actor.attachShape(*shape);	// attach can fail, if e.g. we try and attach a trimesh simulation shape to a dynamic actor
			shape->release();		// if attach fails, we hold the only counted reference, and so this cleans up properly
			if(!status)
				shape = NULL;
		}
		return shape;
	}
	
	/**
	\brief Creates a new shape with default properties and a single material adds it to the list of shapes of this actor.

	This is equivalent to the following

	PxShape* shape(...) = PxGetPhysics().createShape(...);	// reference count is 1
	actor->attachShape(shape);								// increments reference count
	shape->release();										// releases user reference, leaving reference count at 1

	As a consequence, detachShape() will result in the release of the last reference, and the shape will be deleted.

	\note The default shape flags to be set are: eVISUALIZATION, eSIMULATION_SHAPE, eSCENE_QUERY_SHAPE (see #PxShapeFlag).
	Triangle mesh, heightfield or plane geometry shapes configured as eSIMULATION_SHAPE are not supported for 
	non-kinematic PxRigidDynamic instances.

	\note Creating compounds with a very large number of shapes may adversely affect performance and stability.

	<b>Sleeping:</b> Does <b>NOT</b> wake the actor up automatically.

	\param[in] actor the actor to which to attach the shape
	\param[in] geometry	the geometry of the shape
	\param[in] material	the material for the shape
	\param[in] shapeFlags optional PxShapeFlags

	\return The newly created shape.

	@see PxShape PxShape::release(), PxPhysics::createShape(), PxRigidActor::attachShape()
	*/

	static PX_FORCE_INLINE	PxShape*	createExclusiveShape(PxRigidActor& actor, const PxGeometry& geometry, const PxMaterial& material, 
													         PxShapeFlags shapeFlags = PxShapeFlag::eVISUALIZATION | PxShapeFlag::eSCENE_QUERY_SHAPE | PxShapeFlag::eSIMULATION_SHAPE)
	{
		PxMaterial* materialPtr = const_cast<PxMaterial*>(&material);
		return createExclusiveShape(actor, geometry, &materialPtr, 1, shapeFlags);
	}


	/**
	\brief Gets a list of bounds based on shapes in rigid actor. This list can be used to cook/create
	bounding volume hierarchy though PxCooking API.

	\param[in] actor The actor from which the bounds list is retrieved.
	\param[out] numBounds Number of bounds in returned list.

	@see PxShape PxBVHStructure PxCooking::createBVHStructure PxCooking::cookBVHStructure
	*/
	static PxBounds3*					getRigidActorShapeLocalBoundsList(const PxRigidActor& actor, PxU32& numBounds);

};

#if !PX_DOXYGEN
} // namespace physx
#endif

/** @} */
#endif