331 lines
8.8 KiB
C
331 lines
8.8 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_NX_ACTOR
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#define PX_PHYSICS_NX_ACTOR
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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 "foundation/PxBounds3.h"
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#include "PxClient.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 PxRigidActor;
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class PxRigidBody;
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class PxRigidStatic;
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class PxRigidDynamic;
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class PxArticulation;
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class PxArticulationLink;
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/** Group index which allows to specify 1- or 2-way interaction */
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typedef PxU8 PxDominanceGroup; // Must be < 32, PxU8.
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/**
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\brief Flags which control the behavior of an actor.
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@see PxActorFlags PxActor PxActor.setActorFlag() PxActor.getActorFlags()
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*/
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struct PxActorFlag
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{
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enum Enum
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{
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/**
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\brief Enable debug renderer for this actor
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@see PxScene.getRenderBuffer() PxRenderBuffer PxVisualizationParameter
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*/
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eVISUALIZATION = (1<<0),
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/**
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\brief Disables scene gravity for this actor
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*/
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eDISABLE_GRAVITY = (1<<1),
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/**
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\brief Enables the sending of PxSimulationEventCallback::onWake() and PxSimulationEventCallback::onSleep() notify events
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@see PxSimulationEventCallback::onWake() PxSimulationEventCallback::onSleep()
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*/
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eSEND_SLEEP_NOTIFIES = (1<<2),
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/**
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\brief Disables simulation for the actor.
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\note This is only supported by PxRigidStatic and PxRigidDynamic actors and can be used to reduce the memory footprint when rigid actors are
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used for scene queries only.
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\note Setting this flag will remove all constraints attached to the actor from the scene.
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\note If this flag is set, the following calls are forbidden:
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\li PxRigidBody: setLinearVelocity(), setAngularVelocity(), addForce(), addTorque(), clearForce(), clearTorque()
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\li PxRigidDynamic: setKinematicTarget(), setWakeCounter(), wakeUp(), putToSleep()
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\par <b>Sleeping:</b>
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Raising this flag will set all velocities and the wake counter to 0, clear all forces, clear the kinematic target, put the actor
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to sleep and wake up all touching actors from the previous frame.
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*/
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eDISABLE_SIMULATION = (1<<3)
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};
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};
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/**
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\brief collection of set bits defined in PxActorFlag.
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@see PxActorFlag
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*/
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typedef PxFlags<PxActorFlag::Enum,PxU8> PxActorFlags;
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PX_FLAGS_OPERATORS(PxActorFlag::Enum,PxU8)
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/**
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\brief Identifies each type of actor.
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@see PxActor
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*/
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struct PxActorType
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{
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enum Enum
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{
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/**
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\brief A static rigid body
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@see PxRigidStatic
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*/
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eRIGID_STATIC,
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/**
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\brief A dynamic rigid body
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@see PxRigidDynamic
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*/
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eRIGID_DYNAMIC,
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/**
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\brief An articulation link
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@see PxArticulationLink
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*/
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eARTICULATION_LINK,
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//brief internal use only!
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eACTOR_COUNT,
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eACTOR_FORCE_DWORD = 0x7fffffff
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};
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};
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/**
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\brief PxActor is the base class for the main simulation objects in the physics SDK.
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The actor is owned by and contained in a PxScene.
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*/
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class PxActor : public PxBase
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{
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public:
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/**
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\brief Deletes the actor.
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Do not keep a reference to the deleted instance.
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If the actor belongs to a #PxAggregate object, it is automatically removed from the aggregate.
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@see PxBase.release(), PxAggregate
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*/
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virtual void release() = 0;
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/**
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\brief Retrieves the type of actor.
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\return The actor type of the actor.
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@see PxActorType
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*/
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virtual PxActorType::Enum getType() const = 0;
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/**
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\brief Retrieves the scene which this actor belongs to.
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\return Owner Scene. NULL if not part of a scene.
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@see PxScene
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*/
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virtual PxScene* getScene() const = 0;
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// Runtime modifications
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/**
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\brief Sets a name string for the object that can be retrieved with getName().
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This is for debugging and is not used by the SDK. The string is not copied by the SDK,
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only the pointer is stored.
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\param[in] name String to set the objects name to.
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<b>Default:</b> NULL
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@see getName()
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*/
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virtual void setName(const char* name) = 0;
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/**
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\brief Retrieves the name string set with setName().
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\return Name string associated with object.
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@see setName()
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*/
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virtual const char* getName() const = 0;
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/**
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\brief Retrieves the axis aligned bounding box enclosing the actor.
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\param[in] inflation Scale factor for computed world bounds. Box extents are multiplied by this value.
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\return The actor's bounding box.
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@see PxBounds3
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*/
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virtual PxBounds3 getWorldBounds(float inflation=1.01f) const = 0;
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/**
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\brief Raises or clears a particular actor flag.
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See the list of flags #PxActorFlag
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<b>Sleeping:</b> Does <b>NOT</b> wake the actor up automatically.
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\param[in] flag The PxActor flag to raise(set) or clear. See #PxActorFlag.
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\param[in] value The boolean value to assign to the flag.
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<b>Default:</b> PxActorFlag::eVISUALIZATION
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@see PxActorFlag getActorFlags()
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*/
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virtual void setActorFlag(PxActorFlag::Enum flag, bool value) = 0;
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/**
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\brief sets the actor flags
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See the list of flags #PxActorFlag
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@see PxActorFlag setActorFlag()
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*/
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virtual void setActorFlags( PxActorFlags inFlags ) = 0;
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/**
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\brief Reads the PxActor flags.
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See the list of flags #PxActorFlag
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\return The values of the PxActor flags.
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@see PxActorFlag setActorFlag()
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*/
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virtual PxActorFlags getActorFlags() const = 0;
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/**
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\brief Assigns dynamic actors a dominance group identifier.
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PxDominanceGroup is a 5 bit group identifier (legal range from 0 to 31).
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The PxScene::setDominanceGroupPair() lets you set certain behaviors for pairs of dominance groups.
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By default every dynamic actor is created in group 0.
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<b>Default:</b> 0
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<b>Sleeping:</b> Changing the dominance group does <b>NOT</b> wake the actor up automatically.
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\param[in] dominanceGroup The dominance group identifier. <b>Range:</b> [0..31]
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@see getDominanceGroup() PxDominanceGroup PxScene::setDominanceGroupPair()
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*/
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virtual void setDominanceGroup(PxDominanceGroup dominanceGroup) = 0;
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/**
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\brief Retrieves the value set with setDominanceGroup().
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\return The dominance group of this actor.
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@see setDominanceGroup() PxDominanceGroup PxScene::setDominanceGroupPair()
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*/
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virtual PxDominanceGroup getDominanceGroup() const = 0;
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/**
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\brief Sets the owner client of an actor.
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This cannot be done once the actor has been placed into a scene.
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<b>Default:</b> PX_DEFAULT_CLIENT
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@see PxClientID PxScene::createClient()
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*/
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virtual void setOwnerClient( PxClientID inClient ) = 0;
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/**
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\brief Returns the owner client that was specified with at creation time.
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This value cannot be changed once the object is placed into the scene.
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@see PxClientID PxScene::createClient()
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*/
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virtual PxClientID getOwnerClient() const = 0;
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/**
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\brief Retrieves the aggregate the actor might be a part of.
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\return The aggregate the actor is a part of, or NULL if the actor does not belong to an aggregate.
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@see PxAggregate
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*/
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virtual PxAggregate* getAggregate() 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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protected:
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PX_INLINE PxActor(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags), userData(NULL) {}
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PX_INLINE PxActor(PxBaseFlags baseFlags) : PxBase(baseFlags) {}
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virtual ~PxActor() {}
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virtual bool isKindOf(const char* name) const { return !::strcmp("PxActor", 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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