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_EXTENSIONS_SIMPLE_FACTORY_H
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#define PX_PHYSICS_EXTENSIONS_SIMPLE_FACTORY_H
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/** \addtogroup extensions
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@{
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*/
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#include "common/PxPhysXCommonConfig.h"
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#include "foundation/PxTransform.h"
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#include "foundation/PxPlane.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 PxPhysics;
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class PxMaterial;
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class PxRigidActor;
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class PxRigidDynamic;
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class PxRigidStatic;
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class PxGeometry;
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class PxShape;
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/** \brief simple method to create a PxRigidDynamic actor with a single PxShape.
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\param[in] sdk the PxPhysics object
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\param[in] transform the global pose of the new object
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\param[in] geometry the geometry of the new object's shape, which must be a sphere, capsule, box or convex
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\param[in] material the material for the new object's shape
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\param[in] density the density of the new object. Must be greater than zero.
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\param[in] shapeOffset an optional offset for the new shape, defaults to identity
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\return a new dynamic actor with the PxRigidBodyFlag, or NULL if it could
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not be constructed
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@see PxRigidDynamic PxShapeFlag
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*/
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PxRigidDynamic* PxCreateDynamic(PxPhysics& sdk,
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const PxTransform& transform,
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const PxGeometry& geometry,
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PxMaterial& material,
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PxReal density,
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const PxTransform& shapeOffset = PxTransform(PxIdentity));
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/** \brief simple method to create a PxRigidDynamic actor with a single PxShape.
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\param[in] sdk the PxPhysics object
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\param[in] transform the transform of the new object
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\param[in] shape the shape of the new object
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\param[in] density the density of the new object. Must be greater than zero.
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\return a new dynamic actor with the PxRigidBodyFlag, or NULL if it could
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not be constructed
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@see PxRigidDynamic PxShapeFlag
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*/
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PxRigidDynamic* PxCreateDynamic(PxPhysics& sdk,
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const PxTransform& transform,
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PxShape& shape,
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PxReal density);
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/** \brief simple method to create a kinematic PxRigidDynamic actor with a single PxShape.
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\param[in] sdk the PxPhysics object
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\param[in] transform the global pose of the new object
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\param[in] geometry the geometry of the new object's shape
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\param[in] material the material for the new object's shape
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\param[in] density the density of the new object. Must be greater than zero if the object is to participate in simulation.
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\param[in] shapeOffset an optional offset for the new shape, defaults to identity
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\note unlike PxCreateDynamic, the geometry is not restricted to box, capsule, sphere or convex. However,
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kinematics of other geometry types may not participate in simulation collision and may be used only for
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triggers or scene queries of moving objects under animation control. In this case the density parameter
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will be ignored and the created shape will be set up as a scene query only shape (see #PxShapeFlag::eSCENE_QUERY_SHAPE)
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\return a new dynamic actor with the PxRigidBodyFlag::eKINEMATIC set, or NULL if it could
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not be constructed
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@see PxRigidDynamic PxShapeFlag
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*/
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PxRigidDynamic* PxCreateKinematic(PxPhysics& sdk,
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const PxTransform& transform,
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const PxGeometry& geometry,
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PxMaterial& material,
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PxReal density,
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const PxTransform& shapeOffset = PxTransform(PxIdentity));
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/** \brief simple method to create a kinematic PxRigidDynamic actor with a single PxShape.
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\param[in] sdk the PxPhysics object
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\param[in] transform the global pose of the new object
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\param[in] density the density of the new object. Must be greater than zero if the object is to participate in simulation.
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\param[in] shape the shape of the new object
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\note unlike PxCreateDynamic, the geometry is not restricted to box, capsule, sphere or convex. However,
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kinematics of other geometry types may not participate in simulation collision and may be used only for
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triggers or scene queries of moving objects under animation control. In this case the density parameter
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will be ignored and the created shape will be set up as a scene query only shape (see #PxShapeFlag::eSCENE_QUERY_SHAPE)
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\return a new dynamic actor with the PxRigidBodyFlag::eKINEMATIC set, or NULL if it could
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not be constructed
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@see PxRigidDynamic PxShapeFlag
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*/
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PxRigidDynamic* PxCreateKinematic(PxPhysics& sdk,
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const PxTransform& transform,
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PxShape& shape,
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PxReal density);
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/** \brief simple method to create a PxRigidStatic actor with a single PxShape.
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\param[in] sdk the PxPhysics object
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\param[in] transform the global pose of the new object
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\param[in] geometry the geometry of the new object's shape
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\param[in] material the material for the new object's shape
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\param[in] shapeOffset an optional offset for the new shape, defaults to identity
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\return a new static actor, or NULL if it could not be constructed
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@see PxRigidStatic
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*/
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PxRigidStatic* PxCreateStatic(PxPhysics& sdk,
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const PxTransform& transform,
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const PxGeometry& geometry,
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PxMaterial& material,
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const PxTransform& shapeOffset = PxTransform(PxIdentity));
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/** \brief simple method to create a PxRigidStatic actor with a single PxShape.
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\param[in] sdk the PxPhysics object
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\param[in] transform the global pose of the new object
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\param[in] shape the new object's shape
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\return a new static actor, or NULL if it could not be constructed
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@see PxRigidStatic
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*/
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PxRigidStatic* PxCreateStatic(PxPhysics& sdk,
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const PxTransform& transform,
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PxShape& shape);
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/** \brief simple method to create a PxRigidStatic actor with a single PxShape.
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\param[in] sdk the PxPhysics object
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\param[in] transform the global pose of the new object
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\param[in] shape the new object's shape
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\return a new static actor, or NULL if it could not be constructed
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@see PxRigidStatic
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*/
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PxRigidStatic* PxCreateStatic(PxPhysics& sdk,
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const PxTransform& transform,
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PxShape& shape);
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/**
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\brief create a shape by copying attributes from another shape
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The function clones a PxShape. The following properties are copied:
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- geometry
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- flags
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- materials
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- actor-local pose
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- contact offset
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- rest offset
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- simulation filter data
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- query filter data
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The following are not copied and retain their default values:
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- name
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- user data
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\param[in] physicsSDK - the physics SDK used to allocate the shape
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\param[in] shape the shape from which to take the attributes.
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\param[in] isExclusive whether the new shape should be an exclusive or shared shape.
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\return the newly-created rigid static
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*/
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PxShape* PxCloneShape(PxPhysics& physicsSDK,
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const PxShape& shape,
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bool isExclusive);
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/**
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\brief create a static body by copying attributes from another rigid actor
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The function clones a PxRigidDynamic or PxRigidStatic as a PxRigidStatic. A uniform scale is applied. The following properties are copied:
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- shapes
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- actor flags
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- owner client and client behavior bits
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The following are not copied and retain their default values:
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- name
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- joints or observers
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- aggregate or scene membership
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- user data
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\note Transforms are not copied with bit-exact accuracy.
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\param[in] physicsSDK - the physics SDK used to allocate the rigid static
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\param[in] actor the rigid actor from which to take the attributes.
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\param[in] transform the transform of the new static.
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\return the newly-created rigid static
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*/
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PxRigidStatic* PxCloneStatic(PxPhysics& physicsSDK,
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const PxTransform& transform,
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const PxRigidActor& actor);
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/**
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\brief create a dynamic body by copying attributes from an existing body
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The following properties are copied:
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- shapes
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- actor flags and rigidDynamic flags
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- mass, moment of inertia, and center of mass frame
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- linear and angular velocity
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- linear and angular damping
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- maximum angular velocity
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- position and velocity solver iterations
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- maximum depenetration velocity
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- sleep threshold
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- contact report threshold
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- dominance group
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- owner client and client behavior bits
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- name pointer
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The following are not copied and retain their default values:
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- name
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- joints or observers
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- aggregate or scene membership
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- sleep timer
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- user data
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\note Transforms are not copied with bit-exact accuracy.
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\param[in] physicsSDK PxPhysics - the physics SDK used to allocate the rigid static
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\param[in] body the rigid dynamic to clone.
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\param[in] transform the transform of the new dynamic
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\return the newly-created rigid static
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*/
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PxRigidDynamic* PxCloneDynamic(PxPhysics& physicsSDK,
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const PxTransform& transform,
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const PxRigidDynamic& body);
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/** \brief create a plane actor. The plane equation is n.x + d = 0
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\param[in] sdk the PxPhysics object
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\param[in] plane a plane of the form n.x + d = 0
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\param[in] material the material for the new object's shape
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\return a new static actor, or NULL if it could not be constructed
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@see PxRigidStatic
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*/
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PxRigidStatic* PxCreatePlane(PxPhysics& sdk,
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const PxPlane& plane,
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PxMaterial& material);
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/**
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\brief scale a rigid actor by a uniform scale
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The geometry and relative positions of the actor are multiplied by the given scale value. If the actor is a rigid body or an
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articulation link and the scaleMassProps value is true, the mass properties are scaled assuming the density is constant: the
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center of mass is linearly scaled, the mass is multiplied by the cube of the scale, and the inertia tensor by the fifth power of the scale.
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\param[in] actor a rigid actor
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\param[in] scale the scale by which to multiply the actor. Must be >0.
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\param[in] scaleMassProps whether to scale the mass properties
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*/
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void PxScaleRigidActor(PxRigidActor& actor, PxReal scale, bool scaleMassProps = true);
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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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