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00012 // NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
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00017 // However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
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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) 2008-2012 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 "PxPhysX.h"
00038 #include "PxActor.h"
00039 #include "cloth/PxClothFabricTypes.h"
00040 #include "cloth/PxClothTypes.h"
00041 #include "cloth/PxClothCollisionData.h"
00042 
00043 #ifndef PX_DOXYGEN
00044 namespace physx
00045 {
00046 #endif
00047 
00048 class PxScene;
00049 
00062 class PxCloth : public PxActor
00063 {
00064 public:
00065     virtual void release() = 0;
00066 
00071     virtual PxClothFabric* getFabric() const = 0;
00072 
00083     virtual void setParticles(const PxClothParticle* currentParticles, const PxClothParticle* previousParticles) = 0;
00088     virtual PxU32 getNbParticles() const = 0;
00089 
00097     virtual void setMotionConstraints(const PxClothParticleMotionConstraint* motionConstraints) = 0;
00103     virtual bool getMotionConstraints(PxClothParticleMotionConstraint* motionConstraintBuffer) const = 0;
00108     virtual PxU32 getNbMotionConstraints() const = 0; 
00114     virtual void setMotionConstraintScaleBias(PxReal scale, PxReal bias) = 0;
00119     virtual void getMotionConstraintScaleBias(PxReal& scale, PxReal& bias) const = 0;
00120 
00128     virtual void setSeparationConstraints(const PxClothParticleSeparationConstraint* separationConstraints) = 0;
00134     virtual bool getSeparationConstraints(PxClothParticleSeparationConstraint* separationConstraintBuffer) const = 0;
00139     virtual PxU32 getNbSeparationConstraints() const = 0; 
00140 
00147     virtual void clearInterpolation() = 0;
00148 
00155     virtual void setParticleAccelerations(const PxVec4* particleAccelerations) = 0;
00161     virtual bool getParticleAccelerations(PxVec4* particleAccelerationsBuffer) const = 0;
00166     virtual PxU32 getNbParticleAccelerations() const = 0; 
00167 
00174     virtual void setCollisionSpheres(const PxClothCollisionSphere* sphereBuffer) = 0;
00185     virtual void getCollisionData(PxClothCollisionSphere* sphereBuffer, PxU32* pairIndexBuffer,
00186         PxClothCollisionPlane* planesBuffer, PxU32* convexMaskBuffer) const = 0;
00191     virtual PxU32 getNbCollisionSpheres() const = 0;
00196     virtual PxU32 getNbCollisionSpherePairs() const = 0;
00197 
00204     virtual void addCollisionPlane(const PxClothCollisionPlane& plane) = 0;
00212     virtual void removeCollisionPlane(PxU32 index) = 0;
00218     virtual void setCollisionPlanes(const PxClothCollisionPlane* planesBuffer) = 0;
00224     virtual void addCollisionConvex(PxU32 mask) = 0;
00231     virtual void removeCollisionConvex(PxU32 index) = 0;
00236     virtual PxU32 getNbCollisionPlanes() const = 0;
00241     virtual PxU32 getNbCollisionConvexes() const = 0;
00242 
00259     virtual void setVirtualParticles(PxU32 numParticles, const PxU32* triangleVertexAndWeightIndices, PxU32 weightTableSize, const PxVec3* triangleVertexWeightTable) = 0;
00264     virtual PxU32 getNbVirtualParticles() const = 0;
00270     virtual void getVirtualParticles(PxU32* userTriangleVertexAndWeightIndices) const = 0;
00275     virtual PxU32 getNbVirtualParticleWeights() const = 0;
00280     virtual void getVirtualParticleWeights(PxVec3* userTriangleVertexWeightTable) const = 0;
00281 
00290     virtual void setGlobalPose(const PxTransform& pose) = 0;
00295     virtual PxTransform getGlobalPose() const = 0;
00296 
00304     virtual void setTargetPose(const PxTransform& pose) = 0;
00305 
00312     virtual void setInertiaScale(PxReal scale) = 0;
00317     virtual PxReal getInertiaScale() const = 0;
00323     virtual void setExternalAcceleration(PxVec3 acceleration) = 0;
00328     virtual PxVec3 getExternalAcceleration() const = 0;
00329 
00335     virtual void setDampingCoefficient(PxReal dampingCoefficient) = 0;
00340     virtual PxReal getDampingCoefficient() const = 0;
00341 
00347     virtual void setFrictionCoefficient(PxReal frictionCoefficient) = 0;
00352     virtual PxReal getFrictionCoefficient() const = 0;
00353 
00360     virtual void setDragCoefficient(PxReal dragCoefficient) = 0;
00365     virtual PxReal getDragCoefficient() const = 0;
00366 
00375     virtual void setCollisionMassScale(PxReal scalingCoefficient) = 0;
00380     virtual PxReal getCollisionMassScale() const = 0;
00381 
00389     virtual void setSolverFrequency(PxReal frequency) = 0;
00394     virtual PxReal getSolverFrequency() const = 0;
00395 
00402     virtual void setPhaseSolverConfig(PxClothFabricPhaseType::Enum phaseType, const PxClothPhaseSolverConfig& config) = 0;
00409     virtual PxClothPhaseSolverConfig getPhaseSolverConfig(PxClothFabricPhaseType::Enum phaseType) const = 0;
00410 
00416     virtual void setClothFlag(PxClothFlag::Enum flag, bool value)   = 0;
00421     virtual PxClothFlags getClothFlags() const = 0;
00422 
00427     virtual bool isSleeping() const = 0;
00432     virtual PxReal getSleepLinearVelocity() const = 0;
00440     virtual void setSleepLinearVelocity(PxReal threshold) = 0;
00447     virtual void wakeUp(PxReal wakeCounterValue = PX_SLEEP_INTERVAL) = 0;
00451     virtual void putToSleep() = 0;
00452 
00457     virtual PxClothReadData* lockClothReadData() const = 0;
00458 
00464     virtual PxReal getPreviousTimeStep() const = 0;
00465 
00470     virtual PxBounds3 getWorldBounds() const = 0;
00471 
00472     virtual     const char*                 getConcreteTypeName() const                 {   return "PxCloth"; }
00473 
00474 protected:
00475     PxCloth(PxRefResolver& v) : PxActor(v)      {}
00476     PX_INLINE PxCloth() : PxActor() {}
00477     virtual ~PxCloth() {}
00478     virtual     bool                        isKindOf(const char* name)  const       {   return !strcmp("PxCloth", name) || PxActor::isKindOf(name);     }
00479 };
00480 
00481 PX_INLINE PxCloth*          PxActor::isCloth()              { return is<PxCloth>();         }
00482 PX_INLINE const PxCloth*    PxActor::isCloth()      const   { return is<PxCloth>();         }
00483 
00484 
00485 #ifndef PX_DOXYGEN
00486 } // namespace physx
00487 #endif
00488 
00490 #endif