PxRigidBodyExt.h
Go to the documentation of this file.00001 // This code contains NVIDIA Confidential Information and is disclosed to you 00002 // under a form of NVIDIA software license agreement provided separately to you. 00003 // 00004 // Notice 00005 // NVIDIA Corporation and its licensors retain all intellectual property and 00006 // proprietary rights in and to this software and related documentation and 00007 // any modifications thereto. Any use, reproduction, disclosure, or 00008 // distribution of this software and related documentation without an express 00009 // license agreement from NVIDIA Corporation is strictly prohibited. 00010 // 00011 // ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES 00012 // NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO 00013 // THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT, 00014 // MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE. 00015 // 00016 // Information and code furnished is believed to be accurate and reliable. 00017 // However, NVIDIA Corporation assumes no responsibility for the consequences of use of such 00018 // information or for any infringement of patents or other rights of third parties that may 00019 // result from its use. No license is granted by implication or otherwise under any patent 00020 // or patent rights of NVIDIA Corporation. Details are subject to change without notice. 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_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
Copyright © 2008-2017 NVIDIA Corporation, 2701 San Tomas Expressway, Santa Clara, CA 95050 U.S.A. All rights reserved. www.nvidia.com