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| // | ||
| // 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) 2008-2021 NVIDIA Corporation. All rights reserved. | ||
| // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved. | ||
| // Copyright (c) 2001-2004 NovodeX AG. All rights reserved. | ||
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| #ifndef PX_PHYSICS_NX_ACTOR | ||
| #define PX_PHYSICS_NX_ACTOR | ||
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| /** \addtogroup physics | ||
| @{ | ||
| */ | ||
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| #include "PxPhysXConfig.h" | ||
| #include "foundation/PxBounds3.h" | ||
| #include "PxClient.h" | ||
| #include "common/PxBase.h" | ||
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| #if !PX_DOXYGEN | ||
| namespace physx | ||
| { | ||
| #endif | ||
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| class PxRigidActor; | ||
| class PxRigidBody; | ||
| class PxRigidStatic; | ||
| class PxRigidDynamic; | ||
| class PxArticulation; | ||
| class PxArticulationLink; | ||
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| /** Group index which allows to specify 1- or 2-way interaction */ | ||
| typedef PxU8 PxDominanceGroup; // Must be < 32, PxU8. | ||
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| /** | ||
| \brief Flags which control the behavior of an actor. | ||
| @see PxActorFlags PxActor PxActor.setActorFlag() PxActor.getActorFlags() | ||
| */ | ||
| struct PxActorFlag | ||
| { | ||
| enum Enum | ||
| { | ||
| /** | ||
| \brief Enable debug renderer for this actor | ||
| @see PxScene.getRenderBuffer() PxRenderBuffer PxVisualizationParameter | ||
| */ | ||
| eVISUALIZATION = (1<<0), | ||
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| /** | ||
| \brief Disables scene gravity for this actor | ||
| */ | ||
| eDISABLE_GRAVITY = (1<<1), | ||
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| /** | ||
| \brief Enables the sending of PxSimulationEventCallback::onWake() and PxSimulationEventCallback::onSleep() notify events | ||
| @see PxSimulationEventCallback::onWake() PxSimulationEventCallback::onSleep() | ||
| */ | ||
| eSEND_SLEEP_NOTIFIES = (1<<2), | ||
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| /** | ||
| \brief Disables simulation for the actor. | ||
| \note This is only supported by PxRigidStatic and PxRigidDynamic actors and can be used to reduce the memory footprint when rigid actors are | ||
| used for scene queries only. | ||
| \note Setting this flag will remove all constraints attached to the actor from the scene. | ||
| \note If this flag is set, the following calls are forbidden: | ||
| \li PxRigidBody: setLinearVelocity(), setAngularVelocity(), addForce(), addTorque(), clearForce(), clearTorque() | ||
| \li PxRigidDynamic: setKinematicTarget(), setWakeCounter(), wakeUp(), putToSleep() | ||
| \par <b>Sleeping:</b> | ||
| Raising this flag will set all velocities and the wake counter to 0, clear all forces, clear the kinematic target, put the actor | ||
| to sleep and wake up all touching actors from the previous frame. | ||
| */ | ||
| eDISABLE_SIMULATION = (1<<3) | ||
| }; | ||
| }; | ||
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| /** | ||
| \brief collection of set bits defined in PxActorFlag. | ||
| @see PxActorFlag | ||
| */ | ||
| typedef PxFlags<PxActorFlag::Enum,PxU8> PxActorFlags; | ||
| PX_FLAGS_OPERATORS(PxActorFlag::Enum,PxU8) | ||
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| /** | ||
| \brief Identifies each type of actor. | ||
| @see PxActor | ||
| */ | ||
| struct PxActorType | ||
| { | ||
| enum Enum | ||
| { | ||
| /** | ||
| \brief A static rigid body | ||
| @see PxRigidStatic | ||
| */ | ||
| eRIGID_STATIC, | ||
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| /** | ||
| \brief A dynamic rigid body | ||
| @see PxRigidDynamic | ||
| */ | ||
| eRIGID_DYNAMIC, | ||
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| /** | ||
| \brief An articulation link | ||
| @see PxArticulationLink | ||
| */ | ||
| eARTICULATION_LINK, | ||
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| //brief internal use only! | ||
| eACTOR_COUNT, | ||
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| eACTOR_FORCE_DWORD = 0x7fffffff | ||
| }; | ||
| }; | ||
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| /** | ||
| \brief PxActor is the base class for the main simulation objects in the physics SDK. | ||
| The actor is owned by and contained in a PxScene. | ||
| */ | ||
| class PxActor : public PxBase | ||
| { | ||
| public: | ||
| /** | ||
| \brief Deletes the actor. | ||
| Do not keep a reference to the deleted instance. | ||
| If the actor belongs to a #PxAggregate object, it is automatically removed from the aggregate. | ||
| @see PxBase.release(), PxAggregate | ||
| */ | ||
| virtual void release() = 0; | ||
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| /** | ||
| \brief Retrieves the type of actor. | ||
| \return The actor type of the actor. | ||
| @see PxActorType | ||
| */ | ||
| virtual PxActorType::Enum getType() const = 0; | ||
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| /** | ||
| \brief Retrieves the scene which this actor belongs to. | ||
| \return Owner Scene. NULL if not part of a scene. | ||
| @see PxScene | ||
| */ | ||
| virtual PxScene* getScene() const = 0; | ||
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| // Runtime modifications | ||
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| /** | ||
| \brief Sets a name string for the object that can be retrieved with getName(). | ||
| This is for debugging and is not used by the SDK. The string is not copied by the SDK, | ||
| only the pointer is stored. | ||
| \param[in] name String to set the objects name to. | ||
| <b>Default:</b> NULL | ||
| @see getName() | ||
| */ | ||
| virtual void setName(const char* name) = 0; | ||
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| /** | ||
| \brief Retrieves the name string set with setName(). | ||
| \return Name string associated with object. | ||
| @see setName() | ||
| */ | ||
| virtual const char* getName() const = 0; | ||
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| /** | ||
| \brief Retrieves the axis aligned bounding box enclosing the actor. | ||
| \param[in] inflation Scale factor for computed world bounds. Box extents are multiplied by this value. | ||
| \return The actor's bounding box. | ||
| @see PxBounds3 | ||
| */ | ||
| virtual PxBounds3 getWorldBounds(float inflation=1.01f) const = 0; | ||
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| /** | ||
| \brief Raises or clears a particular actor flag. | ||
| See the list of flags #PxActorFlag | ||
| <b>Sleeping:</b> Does <b>NOT</b> wake the actor up automatically. | ||
| \param[in] flag The PxActor flag to raise(set) or clear. See #PxActorFlag. | ||
| \param[in] value The boolean value to assign to the flag. | ||
| <b>Default:</b> PxActorFlag::eVISUALIZATION | ||
| @see PxActorFlag getActorFlags() | ||
| */ | ||
| virtual void setActorFlag(PxActorFlag::Enum flag, bool value) = 0; | ||
| /** | ||
| \brief sets the actor flags | ||
| See the list of flags #PxActorFlag | ||
| @see PxActorFlag setActorFlag() | ||
| */ | ||
| virtual void setActorFlags( PxActorFlags inFlags ) = 0; | ||
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| /** | ||
| \brief Reads the PxActor flags. | ||
| See the list of flags #PxActorFlag | ||
| \return The values of the PxActor flags. | ||
| @see PxActorFlag setActorFlag() | ||
| */ | ||
| virtual PxActorFlags getActorFlags() const = 0; | ||
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| /** | ||
| \brief Assigns dynamic actors a dominance group identifier. | ||
| PxDominanceGroup is a 5 bit group identifier (legal range from 0 to 31). | ||
| The PxScene::setDominanceGroupPair() lets you set certain behaviors for pairs of dominance groups. | ||
| By default every dynamic actor is created in group 0. | ||
| <b>Default:</b> 0 | ||
| <b>Sleeping:</b> Changing the dominance group does <b>NOT</b> wake the actor up automatically. | ||
| \param[in] dominanceGroup The dominance group identifier. <b>Range:</b> [0..31] | ||
| @see getDominanceGroup() PxDominanceGroup PxScene::setDominanceGroupPair() | ||
| */ | ||
| virtual void setDominanceGroup(PxDominanceGroup dominanceGroup) = 0; | ||
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| /** | ||
| \brief Retrieves the value set with setDominanceGroup(). | ||
| \return The dominance group of this actor. | ||
| @see setDominanceGroup() PxDominanceGroup PxScene::setDominanceGroupPair() | ||
| */ | ||
| virtual PxDominanceGroup getDominanceGroup() const = 0; | ||
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| /** | ||
| \brief Sets the owner client of an actor. | ||
| This cannot be done once the actor has been placed into a scene. | ||
| <b>Default:</b> PX_DEFAULT_CLIENT | ||
| @see PxClientID PxScene::createClient() | ||
| */ | ||
| virtual void setOwnerClient( PxClientID inClient ) = 0; | ||
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| /** | ||
| \brief Returns the owner client that was specified with at creation time. | ||
| This value cannot be changed once the object is placed into the scene. | ||
| @see PxClientID PxScene::createClient() | ||
| */ | ||
| virtual PxClientID getOwnerClient() const = 0; | ||
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| /** | ||
| \brief Retrieves the aggregate the actor might be a part of. | ||
| \return The aggregate the actor is a part of, or NULL if the actor does not belong to an aggregate. | ||
| @see PxAggregate | ||
| */ | ||
| virtual PxAggregate* getAggregate() const = 0; | ||
|
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| //public variables: | ||
| void* userData; //!< user can assign this to whatever, usually to create a 1:1 relationship with a user object. | ||
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| protected: | ||
| PX_INLINE PxActor(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags), userData(NULL) {} | ||
| PX_INLINE PxActor(PxBaseFlags baseFlags) : PxBase(baseFlags) {} | ||
| virtual ~PxActor() {} | ||
| 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 | ||
| } // namespace physx | ||
| #endif | ||
|
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| /** @} */ | ||
| #endif |
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