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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
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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_RIGIDDYNAMIC
00032 #define PX_PHYSICS_NX_RIGIDDYNAMIC
00033 
00037 #include "PxRigidBody.h"
00038 
00039 #if !PX_DOXYGEN
00040 namespace physx
00041 {
00042 #endif
00043 
00044 
00050 struct PxRigidDynamicLockFlag
00051 {
00052     enum Enum
00053     {
00054         eLOCK_LINEAR_X = (1 << 0),
00055         eLOCK_LINEAR_Y = (1 << 1),
00056         eLOCK_LINEAR_Z = (1 << 2),
00057         eLOCK_ANGULAR_X = (1 << 3),
00058         eLOCK_ANGULAR_Y = (1 << 4),
00059         eLOCK_ANGULAR_Z = (1 << 5)
00060     };
00061 };
00062 
00063 typedef PxFlags<PxRigidDynamicLockFlag::Enum, PxU16> PxRigidDynamicLockFlags;
00064 PX_FLAGS_OPERATORS(PxRigidDynamicLockFlag::Enum, PxU16)
00065 
00066 
00083 class PxRigidDynamic : public PxRigidBody
00084 {
00085 public:
00086     // Runtime modifications
00087 
00088 
00089 /************************************************************************************************/
00117     virtual     void                setKinematicTarget(const PxTransform& destination) = 0;
00118 
00127     virtual     bool                getKinematicTarget(PxTransform& target) const   = 0;
00128 
00129 /************************************************************************************************/
00144     virtual     void                setLinearDamping(PxReal linDamp) = 0;
00145 
00153     virtual     PxReal              getLinearDamping() const = 0;
00154 
00168     virtual     void                setAngularDamping(PxReal angDamp) = 0;
00169 
00177     virtual     PxReal              getAngularDamping() const = 0;
00178 
00179 /************************************************************************************************/
00201     virtual     void                setMaxAngularVelocity(PxReal maxAngVel) = 0;
00202 
00210     virtual     PxReal              getMaxAngularVelocity() const = 0; 
00211 
00212 /************************************************************************************************/
00250     virtual     bool                isSleeping() const = 0;
00251 
00252 
00264     virtual     void                setSleepThreshold(PxReal threshold) = 0;
00265 
00273     virtual     PxReal              getSleepThreshold() const = 0;
00274 
00288     virtual     void                setStabilizationThreshold(PxReal threshold) = 0;
00289 
00299     virtual     PxReal              getStabilizationThreshold() const = 0;
00300 
00301 
00311     virtual     PxRigidDynamicLockFlags getRigidDynamicLockFlags() const = 0;
00312 
00326     virtual     void                setRigidDynamicLockFlag(PxRigidDynamicLockFlag::Enum flag, bool value) = 0;
00327     virtual     void                setRigidDynamicLockFlags(PxRigidDynamicLockFlags flags) = 0;
00328     
00329 
00330 
00351     virtual     void                setWakeCounter(PxReal wakeCounterValue) = 0;
00352 
00360     virtual     PxReal              getWakeCounter() const = 0;
00361 
00376     virtual     void                wakeUp() = 0;
00377 
00392     virtual     void                putToSleep() = 0;
00393 
00394 /************************************************************************************************/
00395 
00414     virtual     void                setSolverIterationCounts(PxU32 minPositionIters, PxU32 minVelocityIters = 1) = 0;
00415 
00421     virtual     void                getSolverIterationCounts(PxU32& minPositionIters, PxU32& minVelocityIters) const = 0;
00422 
00442     virtual     PxReal              getContactReportThreshold() const = 0;
00443 
00453     virtual     void                setContactReportThreshold(PxReal threshold) = 0;
00454 
00455     virtual     const char*         getConcreteTypeName() const { return "PxRigidDynamic"; }
00456 
00457 protected:
00458     PX_INLINE                       PxRigidDynamic(PxType concreteType, PxBaseFlags baseFlags) : PxRigidBody(concreteType, baseFlags) {}
00459     PX_INLINE                       PxRigidDynamic(PxBaseFlags baseFlags) : PxRigidBody(baseFlags) {}
00460     virtual                         ~PxRigidDynamic() {}
00461     virtual     bool                isKindOf(const char* name) const { return !::strcmp("PxRigidDynamic", name) || PxRigidBody::isKindOf(name); }
00462 
00463 };
00464 
00465 #if !PX_DOXYGEN
00466 } // namespace physx
00467 #endif
00468 
00470 #endif