178 lines
6.9 KiB
C++
178 lines
6.9 KiB
C++
//
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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_NP_RIGIDDYNAMIC
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#define PX_PHYSICS_NP_RIGIDDYNAMIC
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#include "common/PxMetaData.h"
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#include "PxRigidDynamic.h"
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#include "NpRigidBodyTemplate.h"
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#include "ScbBody.h"
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namespace physx
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{
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class NpRigidDynamic;
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typedef NpRigidBodyTemplate<PxRigidDynamic> NpRigidDynamicT;
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class NpRigidDynamic : public NpRigidDynamicT
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{
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//= ATTENTION! =====================================================================================
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// Changing the data layout of this class breaks the binary serialization format. See comments for
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// PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData
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// function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
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// accordingly.
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//==================================================================================================
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public:
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// PX_SERIALIZATION
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NpRigidDynamic(PxBaseFlags baseFlags) : NpRigidDynamicT(baseFlags) {}
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void preExportDataReset();
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virtual void requiresObjects(PxProcessPxBaseCallback& c);
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static NpRigidDynamic* createObject(PxU8*& address, PxDeserializationContext& context);
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static void getBinaryMetaData(PxOutputStream& stream);
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//~PX_SERIALIZATION
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virtual ~NpRigidDynamic();
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//---------------------------------------------------------------------------------
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// PxActor implementation
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//---------------------------------------------------------------------------------
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virtual void release();
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//---------------------------------------------------------------------------------
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// PxRigidDynamic implementation
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//---------------------------------------------------------------------------------
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virtual PxActorType::Enum getType() const { return PxActorType::eRIGID_DYNAMIC; }
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// Pose
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virtual void setGlobalPose(const PxTransform& pose, bool autowake);
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PX_FORCE_INLINE PxTransform getGlobalPoseFast() const
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{
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const Scb::Body& body=getScbBodyFast();
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return body.getBody2World() * body.getBody2Actor().getInverse();
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}
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virtual PxTransform getGlobalPose() const
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{
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NP_READ_CHECK(NpActor::getOwnerScene(*this));
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return getGlobalPoseFast();
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}
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virtual void setKinematicTarget(const PxTransform& destination);
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virtual bool getKinematicTarget(PxTransform& target) const;
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// Center of mass pose
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virtual void setCMassLocalPose(const PxTransform&);
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// Damping
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virtual void setLinearDamping(PxReal);
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virtual PxReal getLinearDamping() const;
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virtual void setAngularDamping(PxReal);
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virtual PxReal getAngularDamping() const;
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// Velocity
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virtual void setLinearVelocity(const PxVec3&, bool autowake);
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virtual void setAngularVelocity(const PxVec3&, bool autowake);
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virtual void setMaxAngularVelocity(PxReal);
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virtual PxReal getMaxAngularVelocity() const;
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virtual void setMaxLinearVelocity(PxReal);
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virtual PxReal getMaxLinearVelocity() const;
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// Force/Torque modifiers
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virtual void addForce(const PxVec3&, PxForceMode::Enum mode, bool autowake);
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virtual void clearForce(PxForceMode::Enum mode);
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virtual void addTorque(const PxVec3&, PxForceMode::Enum mode, bool autowake);
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virtual void clearTorque(PxForceMode::Enum mode);
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virtual void setForceAndTorque(const PxVec3& force, const PxVec3& torque, PxForceMode::Enum mode = PxForceMode::eFORCE);
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// Sleeping
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virtual bool isSleeping() const;
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virtual PxReal getSleepThreshold() const;
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virtual void setSleepThreshold(PxReal threshold);
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virtual PxReal getStabilizationThreshold() const;
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virtual void setStabilizationThreshold(PxReal threshold);
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virtual void setWakeCounter(PxReal wakeCounterValue);
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virtual PxReal getWakeCounter() const;
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virtual void wakeUp();
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virtual void putToSleep();
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virtual void setSolverIterationCounts(PxU32 positionIters, PxU32 velocityIters);
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virtual void getSolverIterationCounts(PxU32 & positionIters, PxU32 & velocityIters) const;
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virtual void setContactReportThreshold(PxReal threshold);
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virtual PxReal getContactReportThreshold() const;
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virtual PxRigidDynamicLockFlags getRigidDynamicLockFlags() const;
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virtual void setRigidDynamicLockFlags(PxRigidDynamicLockFlags flags);
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virtual void setRigidDynamicLockFlag(PxRigidDynamicLockFlag::Enum flag, bool value);
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//---------------------------------------------------------------------------------
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// Miscellaneous
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//---------------------------------------------------------------------------------
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NpRigidDynamic(const PxTransform& bodyPose);
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virtual void switchToNoSim();
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virtual void switchFromNoSim();
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PX_FORCE_INLINE void wakeUpInternal();
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void wakeUpInternalNoKinematicTest(Scb::Body& body, bool forceWakeUp, bool autowake);
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private:
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PX_FORCE_INLINE void setKinematicTargetInternal(const PxTransform& destination);
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#if PX_ENABLE_DEBUG_VISUALIZATION
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public:
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void visualize(Cm::RenderOutput& out, NpScene* scene);
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#endif
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};
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PX_FORCE_INLINE void NpRigidDynamic::wakeUpInternal()
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{
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PX_ASSERT(NpActor::getOwnerScene(*this));
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Scb::Body& body = getScbBodyFast();
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const PxRigidBodyFlags currentFlags = body.getFlags();
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if (!(currentFlags & PxRigidBodyFlag::eKINEMATIC)) // kinematics are only awake when a target is set, else they are asleep
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wakeUpInternalNoKinematicTest(body, false, true);
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}
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}
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#endif
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