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00021 // This code supersedes and replaces all information previously supplied.
00022 // NVIDIA Corporation products are not authorized for use as critical
00023 // components in life support devices or systems without express written approval of
00024 // NVIDIA Corporation.
00025 //
00026 // Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved.
00027 // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
00028 // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
00029 
00030 
00031 #ifndef PX_PHYSICS_NX_CLOTH
00032 #define PX_PHYSICS_NX_CLOTH
00033 
00037 #include "PxPhysXConfig.h"
00038 #include "PxActor.h"
00039 #include "PxLockedData.h"
00040 #include "PxFiltering.h"
00041 #include "cloth/PxClothFabric.h"
00042 #include "cloth/PxClothTypes.h"
00043 #include "cloth/PxClothCollisionData.h"
00044 
00045 #if !PX_DOXYGEN
00046 namespace physx
00047 {
00048 #endif
00049 
00050 class PxScene;
00051 
00058 struct PX_DEPRECATED PxClothStretchConfig
00059 {
00067     PxReal stiffness;
00068 
00074     PxReal stiffnessMultiplier;
00075 
00082     PxReal compressionLimit;
00083 
00090     PxReal stretchLimit;
00091 
00095     PX_INLINE PxClothStretchConfig( PxReal stiffness_=1.0f, 
00096         PxReal stiffnessMultiplier_=1.0f, PxReal compressionLimit_=1.0f, PxReal stretchLimit_=1.0f) 
00097         : stiffness(stiffness_)
00098         , stiffnessMultiplier(stiffnessMultiplier_)
00099         , compressionLimit(compressionLimit_) 
00100         , stretchLimit(stretchLimit_) 
00101     {}
00102 };
00103 
00110 struct PX_DEPRECATED PxClothTetherConfig
00111 {
00119     PxReal stiffness;
00120 
00127     PxReal stretchLimit;
00128 
00132     PX_INLINE PxClothTetherConfig(PxReal stiffness_ = 1.0f, PxReal stretchLimit_ = 1.0f) 
00133         : stiffness(stiffness_), stretchLimit(stretchLimit_) 
00134     {}
00135 };
00136 
00143 struct PX_DEPRECATED PxClothMotionConstraintConfig
00144 {
00151     PxReal scale;
00152 
00159     PxReal bias;
00160 
00168     PxReal stiffness;
00169 
00173     PX_INLINE PxClothMotionConstraintConfig(PxReal radiiScale = 1.0f, PxReal radiiBias = 0.0f, PxReal consStiffness = 1.0f) 
00174         : scale(radiiScale), bias(radiiBias), stiffness(consStiffness) 
00175     {}
00176 };
00177 
00194 class PX_DEPRECATED PxCloth : public PxActor
00195 {
00196 public:
00201     virtual void release() = 0;
00202 
00207     virtual PxClothFabric* getFabric() const = 0;
00208 
00214     virtual PxBounds3 getWorldBounds(float inflation=1.01f) const = 0;
00215 
00220     virtual PxU32 getNbParticles() const = 0;
00221 
00242     virtual PxClothParticleData* lockParticleData(PxDataAccessFlags flags) = 0;
00248     virtual PxClothParticleData* lockParticleData() const = 0;
00249 
00260     virtual void setParticles(const PxClothParticle* currentParticles, const PxClothParticle* previousParticles) = 0;
00261 
00267     virtual void setClothFlag(PxClothFlag::Enum flag, bool value)   = 0;
00272     virtual void setClothFlags(PxClothFlags inFlags)    = 0;
00277     virtual PxClothFlags getClothFlags() const = 0;
00278 
00282 
00283 
00291     virtual void setTargetPose(const PxTransform& pose) = 0;
00300     virtual void setGlobalPose(const PxTransform& pose) = 0;
00305     virtual PxTransform getGlobalPose() const = 0;
00306 
00314     virtual void setSolverFrequency(PxReal frequency) = 0;
00319     virtual PxReal getSolverFrequency() const = 0;
00320 
00326     virtual PxReal getPreviousTimeStep() const = 0;
00327 
00339     virtual void setStiffnessFrequency(PxReal frequency) = 0;
00345     virtual PxReal getStiffnessFrequency() const = 0;
00346 
00354     virtual void setLinearInertiaScale(PxVec3 scale) = 0;
00359     virtual PxVec3 getLinearInertiaScale() const = 0;
00367     virtual void setAngularInertiaScale(PxVec3 scale) = 0;
00372     virtual PxVec3 getAngularInertiaScale() const = 0;
00380     virtual void setCentrifugalInertiaScale(PxVec3 scale) = 0;
00385     virtual PxVec3 getCentrifugalInertiaScale() const = 0;
00390     virtual void setInertiaScale(PxReal scale) = 0;
00391 
00399     virtual void setDampingCoefficient(PxVec3 dampingCoefficient) = 0;
00404     virtual PxVec3 getDampingCoefficient() const = 0;
00405 
00414     virtual void setLinearDragCoefficient(PxVec3 dragCoefficient) = 0;
00419     virtual PxVec3 getLinearDragCoefficient() const = 0;
00428     virtual void setAngularDragCoefficient(PxVec3 dragCoefficient) = 0;
00433     virtual PxVec3 getAngularDragCoefficient() const = 0;
00438     virtual void setDragCoefficient(PxReal scale) = 0;
00439 
00445     virtual void setExternalAcceleration(PxVec3 acceleration) = 0;
00450     virtual PxVec3 getExternalAcceleration() const = 0;
00451 
00458     virtual void setParticleAccelerations(const PxVec4* particleAccelerations) = 0;
00464     virtual bool getParticleAccelerations(PxVec4* particleAccelerationsBuffer) const = 0;
00469     virtual PxU32 getNbParticleAccelerations() const = 0; 
00470 
00474     virtual PxVec3 getWindVelocity() const = 0;
00478     virtual void setWindVelocity(PxVec3) = 0;
00482     virtual PxReal getWindDrag() const = 0;
00486     virtual void setWindDrag(PxReal) = 0;
00490     virtual PxReal getWindLift() const = 0;
00494     virtual void setWindLift(PxReal) = 0;
00495 
00497 
00501 
00502 
00510     virtual void setMotionConstraints(const PxClothParticleMotionConstraint* motionConstraints) = 0;
00516     virtual bool getMotionConstraints(PxClothParticleMotionConstraint* motionConstraintsBuffer) const = 0;
00521     virtual PxU32 getNbMotionConstraints() const = 0; 
00526     virtual void setMotionConstraintConfig(const PxClothMotionConstraintConfig& config) = 0;
00531     virtual PxClothMotionConstraintConfig getMotionConstraintConfig() const = 0;
00532 
00540     virtual void setSeparationConstraints(const PxClothParticleSeparationConstraint* separationConstraints) = 0;
00546     virtual bool getSeparationConstraints(PxClothParticleSeparationConstraint* separationConstraintsBuffer) const = 0;
00551     virtual PxU32 getNbSeparationConstraints() const = 0; 
00552 
00559     virtual void clearInterpolation() = 0;
00560 
00566     virtual void setStretchConfig(PxClothFabricPhaseType::Enum type, const PxClothStretchConfig& config) = 0;
00572     virtual PxClothStretchConfig getStretchConfig(PxClothFabricPhaseType::Enum type) const = 0;
00577     virtual void setTetherConfig(const PxClothTetherConfig& config) = 0;
00582     virtual PxClothTetherConfig getTetherConfig() const = 0;
00583 
00585 
00589 
00590 
00596     virtual void addCollisionSphere(const PxClothCollisionSphere& sphere) = 0;
00603     virtual void removeCollisionSphere(PxU32 index) = 0;
00612     virtual void setCollisionSpheres(const PxClothCollisionSphere* spheresBuffer, PxU32 count) = 0;
00617     virtual PxU32 getNbCollisionSpheres() const = 0;
00618 
00628     virtual void addCollisionCapsule(PxU32 first, PxU32 second) = 0;
00634     virtual void removeCollisionCapsule(PxU32 index) = 0;
00639     virtual PxU32 getNbCollisionCapsules() const = 0;
00640 
00647     virtual void addCollisionPlane(const PxClothCollisionPlane& plane) = 0;
00655     virtual void removeCollisionPlane(PxU32 index) = 0;
00664     virtual void setCollisionPlanes(const PxClothCollisionPlane* planesBuffer, PxU32 count) = 0;
00669     virtual PxU32 getNbCollisionPlanes() const = 0;
00670 
00678     virtual void addCollisionConvex(PxU32 mask) = 0;
00685     virtual void removeCollisionConvex(PxU32 index) = 0;
00690     virtual PxU32 getNbCollisionConvexes() const = 0;
00691 
00697     virtual void addCollisionTriangle(const PxClothCollisionTriangle& triangle) = 0;
00703     virtual void removeCollisionTriangle(PxU32 index) = 0;
00712     virtual void setCollisionTriangles(const PxClothCollisionTriangle* trianglesBuffer, PxU32 count) = 0;
00717     virtual PxU32 getNbCollisionTriangles() const = 0;
00718 
00730     virtual void getCollisionData(PxClothCollisionSphere* spheresBuffer, PxU32* capsulesBuffer,
00731         PxClothCollisionPlane* planesBuffer, PxU32* convexesBuffer, PxClothCollisionTriangle* trianglesBuffer) const = 0;
00732 
00749     virtual void setVirtualParticles(PxU32 numVirtualParticles, const PxU32* indices, PxU32 numWeights, const PxVec3* weights) = 0;
00754     virtual PxU32 getNbVirtualParticles() const = 0;
00760     virtual void getVirtualParticles(PxU32* indicesBuffer) const = 0;
00765     virtual PxU32 getNbVirtualParticleWeights() const = 0;
00770     virtual void getVirtualParticleWeights(PxVec3* weightsBuffer) const = 0;
00771 
00777     virtual void setFrictionCoefficient(PxReal frictionCoefficient) = 0;
00782     virtual PxReal getFrictionCoefficient() const = 0;
00783 
00792     virtual void setCollisionMassScale(PxReal scalingCoefficient) = 0;
00797     virtual PxReal getCollisionMassScale() const = 0;
00798 
00800 
00804 
00805 
00811     virtual void setSelfCollisionDistance(PxReal distance) = 0;
00816     virtual PxReal getSelfCollisionDistance() const = 0;
00823     virtual void setSelfCollisionStiffness(PxReal stiffness) = 0;
00828     virtual PxReal getSelfCollisionStiffness() const = 0;
00829 
00840     virtual void setSelfCollisionIndices(const PxU32* indices, PxU32 nbIndices) = 0;
00846     virtual bool getSelfCollisionIndices(PxU32* indices) const = 0;
00847 
00852     virtual PxU32 getNbSelfCollisionIndices() const = 0;
00853 
00865     virtual void setRestPositions(const PxVec4* restPositions) = 0;
00871     virtual bool getRestPositions(PxVec4* restPositions) const = 0;
00876     virtual PxU32 getNbRestPositions() const = 0; 
00877 
00879 
00883 
00884 
00892     virtual void setSimulationFilterData(const PxFilterData& data) = 0;
00893 
00899     virtual PxFilterData getSimulationFilterData() const = 0;
00900 
00902 
00906 
00907 
00915     virtual void setContactOffset(PxReal offset) = 0;
00916 
00921     virtual PxReal getContactOffset() const = 0;
00922 
00930     virtual void setRestOffset(PxReal offset) = 0;
00931 
00936     virtual PxReal getRestOffset() const = 0;
00937 
00939 
00943 
00944 
00952     virtual void setSleepLinearVelocity(PxReal threshold) = 0;
00957     virtual PxReal getSleepLinearVelocity() const = 0;
00967     virtual void setWakeCounter(PxReal wakeCounterValue) = 0;
00973     virtual PxReal getWakeCounter() const = 0;
00980     virtual void wakeUp() = 0;
00985     virtual void putToSleep() = 0;
00991     virtual bool isSleeping() const = 0;
00992 
00994 
00995     virtual const char* getConcreteTypeName() const { return "PxCloth"; }
00996 
00997 protected:
00998     PX_INLINE PxCloth(PxType concreteType, PxBaseFlags baseFlags) : PxActor(concreteType, baseFlags) {}
00999     PX_INLINE PxCloth(PxBaseFlags baseFlags) : PxActor(baseFlags) {}
01000     virtual ~PxCloth() {}
01001     virtual bool isKindOf(const char* name) const { return !::strcmp("PxCloth", name) || PxActor::isKindOf(name); }
01002 };
01003 
01004 #if !PX_DOXYGEN
01005 } // namespace physx
01006 #endif
01007 
01009 #endif