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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_EXTENSIONS_RIGIDBODY_H
00032 #define PX_PHYSICS_EXTENSIONS_RIGIDBODY_H
00033 
00037 #include "PxPhysXConfig.h"
00038 #include "PxRigidBody.h"
00039 #include "PxQueryReport.h"
00040 #include "PxQueryFiltering.h"
00041 #include "extensions/PxMassProperties.h"
00042 
00043 #if !PX_DOXYGEN
00044 namespace physx
00045 {
00046 #endif
00047 
00048 class PxScene;
00049 struct PxQueryCache;
00050 class PxShape;
00051 
00058 class PxRigidBodyExt
00059 {
00060 public:
00094     static      bool            updateMassAndInertia(PxRigidBody& body, const PxReal* shapeDensities, PxU32 shapeDensityCount, const PxVec3* massLocalPose = NULL, bool includeNonSimShapes = false);
00095 
00096 
00110     static      bool            updateMassAndInertia(PxRigidBody& body, PxReal density, const PxVec3* massLocalPose = NULL, bool includeNonSimShapes = false);
00111     
00112 
00134     static      bool            setMassAndUpdateInertia(PxRigidBody& body, const PxReal* shapeMasses, PxU32 shapeMassCount, const PxVec3* massLocalPose = NULL, bool includeNonSimShapes = false);
00135 
00136 
00155     static      bool            setMassAndUpdateInertia(PxRigidBody& body, PxReal mass, const PxVec3* massLocalPose = NULL, bool includeNonSimShapes = false);
00156 
00157 
00167     static      PxMassProperties    computeMassPropertiesFromShapes(const PxShape* const* shapes, PxU32 shapeCount);
00168     
00169 
00196     static      void            addForceAtPos(PxRigidBody& body, const PxVec3& force, const PxVec3& pos, PxForceMode::Enum mode = PxForceMode::eFORCE, bool wakeup = true);
00197 
00224     static      void            addForceAtLocalPos(PxRigidBody& body, const PxVec3& force, const PxVec3& pos, PxForceMode::Enum mode = PxForceMode::eFORCE, bool wakeup = true);
00225 
00252     static      void            addLocalForceAtPos(PxRigidBody& body, const PxVec3& force, const PxVec3& pos, PxForceMode::Enum mode = PxForceMode::eFORCE, bool wakeup = true);
00253 
00280     static      void            addLocalForceAtLocalPos(PxRigidBody& body, const PxVec3& force, const PxVec3& pos, PxForceMode::Enum mode = PxForceMode::eFORCE, bool wakeup = true);
00281 
00292     static      PxVec3          getVelocityAtPos(const PxRigidBody& body, const PxVec3& pos);
00293 
00304     static      PxVec3          getLocalVelocityAtLocalPos(const PxRigidBody& body, const PxVec3& pos);
00305 
00316     static      PxVec3          getVelocityAtOffset(const PxRigidBody& body, const PxVec3& pos);
00317 
00318 
00347     static      bool            linearSweepSingle(
00348                                     PxRigidBody& body, PxScene& scene, const PxVec3& unitDir, const PxReal distance,
00349                                     PxHitFlags outputFlags,
00350                                     PxSweepHit& closestHit, PxU32& shapeIndex,
00351                                     const PxQueryFilterData& filterData = PxQueryFilterData(),
00352                                     PxQueryFilterCallback* filterCall = NULL,
00353                                     const PxQueryCache* cache = NULL,
00354                                     const PxReal inflation=0.0f);
00355 
00388     static      PxU32           linearSweepMultiple(
00389                                     PxRigidBody& body, PxScene& scene, const PxVec3& unitDir, const PxReal distance,
00390                                     PxHitFlags outputFlags,
00391                                     PxSweepHit* touchHitBuffer, PxU32* touchHitShapeIndices, PxU32 touchHitBufferSize,
00392                                     PxSweepHit& block, PxI32& blockingShapeIndex, bool& overflow,
00393                                     const PxQueryFilterData& filterData = PxQueryFilterData(),
00394                                     PxQueryFilterCallback* filterCall = NULL,
00395                                     const PxQueryCache* cache = NULL, const PxReal inflation = 0.0f);
00396 
00397 
00413     static      void            computeVelocityDeltaFromImpulse(const PxRigidBody& body, const PxVec3& impulsiveForce, const PxVec3& impulsiveTorque, PxVec3& deltaLinearVelocity, PxVec3& deltaAngularVelocity);
00414 
00432     static void                 computeVelocityDeltaFromImpulse(const PxRigidBody& body, const PxTransform& globalPose, const PxVec3& point, const PxVec3& impulse, const PxReal invMassScale, 
00433                                                         const PxReal invInertiaScale, PxVec3& deltaLinearVelocity, PxVec3& deltaAngularVelocity);
00434 
00449     static void                 computeLinearAngularImpulse(const PxRigidBody& body, const PxTransform& globalPose, const PxVec3& point, const PxVec3& impulse, const PxReal invMassScale, 
00450                                                         const PxReal invInertiaScale, PxVec3& linearImpulse, PxVec3& angularImpulse);
00451 
00452 
00453 };
00454 
00455 #if !PX_DOXYGEN
00456 } // namespace physx
00457 #endif
00458 
00460 #endif