338 lines
11 KiB
C
338 lines
11 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_NXMATERIAL
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#define PX_PHYSICS_NXMATERIAL
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/** \addtogroup physics
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@{
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*/
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#include "PxPhysXConfig.h"
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#include "common/PxBase.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 PxScene;
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/**
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\brief Flags which control the behavior of a material.
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@see PxMaterial
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*/
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struct PxMaterialFlag
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{
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enum Enum
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{
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/**
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If this flag is set, friction computations are always skipped between shapes with this material and any other shape.
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*/
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eDISABLE_FRICTION = 1 << 0,
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/**
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The difference between "normal" and "strong" friction is that the strong friction feature
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remembers the "friction error" between simulation steps. The friction is a force trying to
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hold objects in place (or slow them down) and this is handled in the solver. But since the
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solver is only an approximation, the result of the friction calculation can include a small
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"error" - e.g. a box resting on a slope should not move at all if the static friction is in
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action, but could slowly glide down the slope because of a small friction error in each
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simulation step. The strong friction counter-acts this by remembering the small error and
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taking it to account during the next simulation step.
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However, in some cases the strong friction could cause problems, and this is why it is
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possible to disable the strong friction feature by setting this flag. One example is
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raycast vehicles, that are sliding fast across the surface, but still need a precise
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steering behavior. It may be a good idea to reenable the strong friction when objects
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are coming to a rest, to prevent them from slowly creeping down inclines.
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Note: This flag only has an effect if the PxMaterialFlag::eDISABLE_FRICTION bit is 0.
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*/
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eDISABLE_STRONG_FRICTION = 1 << 1,
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/**
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This flag only has an effect if PxFrictionType::ePATCH friction model is used.
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When using the patch friction model, up to 2 friction anchors are generated per patch. As the number of friction anchors
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can be smaller than the number of contacts, the normal force is accumulated over all contacts and used to compute friction
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for all anchors. Where there are more than 2 anchors, this can produce frictional behavior that is too strong (approximately 2x as strong
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as analytical models suggest).
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This flag causes the normal force to be distributed between the friction anchors such that the total amount of friction applied does not
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exceed the analyical results.
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*/
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eIMPROVED_PATCH_FRICTION = 1 << 2
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};
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};
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/**
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\brief collection of set bits defined in PxMaterialFlag.
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@see PxMaterialFlag
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*/
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typedef PxFlags<PxMaterialFlag::Enum,PxU16> PxMaterialFlags;
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PX_FLAGS_OPERATORS(PxMaterialFlag::Enum,PxU16)
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/**
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\brief enumeration that determines the way in which two material properties will be combined to yield a friction or restitution coefficient for a collision.
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When two actors come in contact with each other, they each have materials with various coefficients, but we only need a single set of coefficients for the pair.
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Physics doesn't have any inherent combinations because the coefficients are determined empirically on a case by case
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basis. However, simulating this with a pairwise lookup table is often impractical.
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For this reason the following combine behaviors are available:
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eAVERAGE
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eMIN
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eMULTIPLY
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eMAX
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The effective combine mode for the pair is maximum(material0.combineMode, material1.combineMode).
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@see PxMaterial.setFrictionCombineMode() PxMaterial.getFrictionCombineMode() PxMaterial.setRestitutionCombineMode() PxMaterial.getFrictionCombineMode()
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*/
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struct PxCombineMode
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{
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enum Enum
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{
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eAVERAGE = 0, //!< Average: (a + b)/2
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eMIN = 1, //!< Minimum: minimum(a,b)
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eMULTIPLY = 2, //!< Multiply: a*b
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eMAX = 3, //!< Maximum: maximum(a,b)
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eN_VALUES = 4, //!< This is not a valid combine mode, it is a sentinel to denote the number of possible values. We assert that the variable's value is smaller than this.
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ePAD_32 = 0x7fffffff //!< This is not a valid combine mode, it is to assure that the size of the enum type is big enough.
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};
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};
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/**
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\brief Material class to represent a set of surface properties.
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@see PxPhysics.createMaterial
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*/
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class PxMaterial : public PxBase
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{
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public:
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/**
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\brief Decrements the reference count of a material and releases it if the new reference count is zero.
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@see PxPhysics.createMaterial()
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*/
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virtual void release() = 0;
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/**
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\brief Returns the reference count of the material.
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At creation, the reference count of the material is 1. Every shape referencing this material increments the
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count by 1. When the reference count reaches 0, and only then, the material gets destroyed automatically.
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\return the current reference count.
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*/
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virtual PxU32 getReferenceCount() const = 0;
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/**
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\brief Acquires a counted reference to a material.
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This method increases the reference count of the material by 1. Decrement the reference count by calling release()
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*/
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virtual void acquireReference() = 0;
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/**
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\brief Sets the coefficient of dynamic friction.
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The coefficient of dynamic friction should be in [0, PX_MAX_F32). If set to greater than staticFriction, the effective value of staticFriction will be increased to match.
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<b>Sleeping:</b> Does <b>NOT</b> wake any actors which may be affected.
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\param[in] coef Coefficient of dynamic friction. <b>Range:</b> [0, PX_MAX_F32)
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@see getDynamicFriction()
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*/
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virtual void setDynamicFriction(PxReal coef) = 0;
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/**
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\brief Retrieves the DynamicFriction value.
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\return The coefficient of dynamic friction.
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@see setDynamicFriction
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*/
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virtual PxReal getDynamicFriction() const = 0;
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/**
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\brief Sets the coefficient of static friction
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The coefficient of static friction should be in the range [0, PX_MAX_F32)
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<b>Sleeping:</b> Does <b>NOT</b> wake any actors which may be affected.
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\param[in] coef Coefficient of static friction. <b>Range:</b> [0, PX_MAX_F32)
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@see getStaticFriction()
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*/
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virtual void setStaticFriction(PxReal coef) = 0;
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/**
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\brief Retrieves the coefficient of static friction.
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\return The coefficient of static friction.
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@see setStaticFriction
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*/
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virtual PxReal getStaticFriction() const = 0;
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/**
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\brief Sets the coefficient of restitution
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A coefficient of 0 makes the object bounce as little as possible, higher values up to 1.0 result in more bounce.
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<b>Sleeping:</b> Does <b>NOT</b> wake any actors which may be affected.
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\param[in] rest Coefficient of restitution. <b>Range:</b> [0,1]
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@see getRestitution()
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*/
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virtual void setRestitution(PxReal rest) = 0;
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/**
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\brief Retrieves the coefficient of restitution.
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See #setRestitution.
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\return The coefficient of restitution.
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@see setRestitution()
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*/
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virtual PxReal getRestitution() const = 0;
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/**
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\brief Raises or clears a particular material flag.
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See the list of flags #PxMaterialFlag
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<b>Sleeping:</b> Does <b>NOT</b> wake any actors which may be affected.
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\param[in] flag The PxMaterial flag to raise(set) or clear.
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@see getFlags() PxMaterialFlag
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*/
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virtual void setFlag(PxMaterialFlag::Enum flag, bool) = 0;
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/**
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\brief sets all the material flags.
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See the list of flags #PxMaterialFlag
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<b>Sleeping:</b> Does <b>NOT</b> wake any actors which may be affected.
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*/
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virtual void setFlags( PxMaterialFlags inFlags ) = 0;
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/**
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\brief Retrieves the flags. See #PxMaterialFlag.
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\return The material flags.
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@see PxMaterialFlag setFlags()
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*/
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virtual PxMaterialFlags getFlags() const = 0;
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/**
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\brief Sets the friction combine mode.
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See the enum ::PxCombineMode .
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<b>Sleeping:</b> Does <b>NOT</b> wake any actors which may be affected.
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\param[in] combMode Friction combine mode to set for this material. See #PxCombineMode.
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@see PxCombineMode getFrictionCombineMode setStaticFriction() setDynamicFriction()
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*/
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virtual void setFrictionCombineMode(PxCombineMode::Enum combMode) = 0;
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/**
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\brief Retrieves the friction combine mode.
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See #setFrictionCombineMode.
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\return The friction combine mode for this material.
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@see PxCombineMode setFrictionCombineMode()
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*/
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virtual PxCombineMode::Enum getFrictionCombineMode() const = 0;
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/**
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\brief Sets the restitution combine mode.
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See the enum ::PxCombineMode .
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<b>Sleeping:</b> Does <b>NOT</b> wake any actors which may be affected.
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\param[in] combMode Restitution combine mode for this material. See #PxCombineMode.
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@see PxCombineMode getRestitutionCombineMode() setRestitution()
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*/
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virtual void setRestitutionCombineMode(PxCombineMode::Enum combMode) = 0;
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/**
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\brief Retrieves the restitution combine mode.
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See #setRestitutionCombineMode.
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\return The coefficient of restitution combine mode for this material.
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@see PxCombineMode setRestitutionCombineMode getRestitution()
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*/
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virtual PxCombineMode::Enum getRestitutionCombineMode() const = 0;
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//public variables:
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void* userData; //!< user can assign this to whatever, usually to create a 1:1 relationship with a user object.
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virtual const char* getConcreteTypeName() const { return "PxMaterial"; }
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protected:
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PX_INLINE PxMaterial(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags), userData(NULL) {}
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PX_INLINE PxMaterial(PxBaseFlags baseFlags) : PxBase(baseFlags) {}
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virtual ~PxMaterial() {}
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virtual bool isKindOf(const char* name) const { return !::strcmp("PxMaterial", name) || PxBase::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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