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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_NX_RIGIDBODY
00032 #define PX_PHYSICS_NX_RIGIDBODY
00033 
00037 #include "PxRigidActor.h"
00038 #include "PxForceMode.h"
00039 
00040 #if !PX_DOXYGEN
00041 namespace physx
00042 {
00043 #endif
00044 
00045 
00052 struct PxRigidBodyFlag
00053 {
00054     enum Enum
00055     {
00056 
00078         eKINEMATIC                                  = (1<<0),       
00079 
00089         eUSE_KINEMATIC_TARGET_FOR_SCENE_QUERIES     = (1<<1),
00090 
00101         eENABLE_CCD                 = (1<<2),       
00102 
00112         eENABLE_CCD_FRICTION            = (1<<3),
00113 
00124         eENABLE_POSE_INTEGRATION_PREVIEW    = (1 << 4),
00125 
00129         eENABLE_SPECULATIVE_CCD             = (1 << 5),
00130 
00134         eENABLE_CCD_MAX_CONTACT_IMPULSE     = (1 << 6)
00135     };
00136 };
00137 
00143 typedef PxFlags<PxRigidBodyFlag::Enum,PxU8> PxRigidBodyFlags;
00144 PX_FLAGS_OPERATORS(PxRigidBodyFlag::Enum,PxU8)
00145 
00146 
00152 class PxRigidBody : public PxRigidActor
00153 {
00154 public:
00155     // Runtime modifications
00156 
00157 /************************************************************************************************/
00175     virtual     void            setCMassLocalPose(const PxTransform& pose) = 0;
00176 
00177 
00185     virtual     PxTransform     getCMassLocalPose() const = 0;
00186 
00187 
00207     virtual     void            setMass(PxReal mass) = 0;
00208 
00218     virtual     PxReal          getMass() const = 0;
00219 
00227     virtual     PxReal          getInvMass() const = 0;
00228 
00250     virtual     void            setMassSpaceInertiaTensor(const PxVec3& m) = 0;
00251 
00263     virtual     PxVec3          getMassSpaceInertiaTensor()         const = 0;
00264 
00276     virtual     PxVec3          getMassSpaceInvInertiaTensor()          const = 0;
00277 
00278 
00279 /************************************************************************************************/
00291     virtual     PxVec3          getLinearVelocity()     const = 0;
00292 
00312     virtual     void            setLinearVelocity(const PxVec3& linVel, bool autowake = true ) = 0;
00313 
00314 
00315 
00323     virtual     PxVec3          getAngularVelocity()    const = 0;
00324 
00325 
00345     virtual     void            setAngularVelocity(const PxVec3& angVel, bool autowake = true ) = 0;
00346 
00347     
00348 /************************************************************************************************/
00382     virtual     void            addForce(const PxVec3& force, PxForceMode::Enum mode = PxForceMode::eFORCE, bool autowake = true) = 0;
00383 
00412     virtual     void            addTorque(const PxVec3& torque, PxForceMode::Enum mode = PxForceMode::eFORCE, bool autowake = true) = 0;
00413 
00433     virtual     void            clearForce(PxForceMode::Enum mode = PxForceMode::eFORCE) = 0;
00434 
00454     virtual     void            clearTorque(PxForceMode::Enum mode = PxForceMode::eFORCE) = 0;
00455 
00471     virtual     void                setRigidBodyFlag(PxRigidBodyFlag::Enum flag, bool value) = 0;
00472     virtual     void                setRigidBodyFlags(PxRigidBodyFlags inFlags) = 0;
00473 
00483     virtual     PxRigidBodyFlags    getRigidBodyFlags() const = 0;
00484 
00506     virtual void setMinCCDAdvanceCoefficient(PxReal advanceCoefficient) = 0;
00507 
00517     virtual PxReal getMinCCDAdvanceCoefficient() const = 0;
00518 
00519 
00525     virtual void setMaxDepenetrationVelocity(PxReal biasClamp) = 0;
00526 
00532     virtual PxReal getMaxDepenetrationVelocity() const = 0;
00533 
00534 
00546     virtual void setMaxContactImpulse(PxReal maxImpulse) = 0;
00547 
00555     virtual PxReal getMaxContactImpulse() const = 0;
00556 
00557 
00558 protected:
00559     PX_INLINE                   PxRigidBody(PxType concreteType, PxBaseFlags baseFlags) : PxRigidActor(concreteType, baseFlags) {}
00560     PX_INLINE                   PxRigidBody(PxBaseFlags baseFlags) : PxRigidActor(baseFlags) {}
00561     virtual                     ~PxRigidBody()  {}
00562     virtual     bool            isKindOf(const char* name)const {   return !::strcmp("PxRigidBody", name) || PxRigidActor::isKindOf(name); }
00563 };
00564 
00565 
00566 #if !PX_DOXYGEN
00567 } // namespace physx
00568 #endif
00569 
00571 #endif