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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
00023 // components in life support devices or systems without express written approval of
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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_EXTENSIONS_RIGIDBODY_H
00032 #define PX_PHYSICS_EXTENSIONS_RIGIDBODY_H
00033 
00037 #include "PxPhysX.h"
00038 #include "PxRigidBody.h"
00039 #include "PxSceneQueryReport.h"
00040 #include "PxFiltering.h"
00041 #include "PxSceneQueryFiltering.h"
00042 
00043 #ifndef PX_DOXYGEN
00044 namespace physx
00045 {
00046 #endif
00047 
00048 class PxBatchQuery;
00049 class PxSweepCache;
00050 
00057 class PxRigidBodyExt
00058 {
00059 public:
00092     static      bool            updateMassAndInertia(PxRigidBody& body, const PxReal* shapeDensities, PxU32 shapeDensityCount, const PxVec3* massLocalPose = NULL);
00093 
00094 
00107     static      bool            updateMassAndInertia(PxRigidBody& body, PxReal density, const PxVec3* massLocalPose = NULL);
00108     
00109 
00130     static      bool            setMassAndUpdateInertia(PxRigidBody& body, const PxReal* shapeMasses, PxU32 shapeMassCount, const PxVec3* massLocalPose = NULL);
00131 
00132 
00150     static      bool            setMassAndUpdateInertia(PxRigidBody& body, PxReal mass, const PxVec3* massLocalPose = NULL);
00151     
00152 
00174     static      void            addForceAtPos(PxRigidBody& body, const PxVec3& force, const PxVec3& pos, PxForceMode::Enum mode = PxForceMode::eFORCE, bool wakeup = true);
00175 
00197     static      void            addForceAtLocalPos(PxRigidBody& body, const PxVec3& force, const PxVec3& pos, PxForceMode::Enum mode = PxForceMode::eFORCE, bool wakeup = true);
00198 
00220     static      void            addLocalForceAtPos(PxRigidBody& body, const PxVec3& force, const PxVec3& pos, PxForceMode::Enum mode = PxForceMode::eFORCE, bool wakeup = true);
00221 
00243     static      void            addLocalForceAtLocalPos(PxRigidBody& body, const PxVec3& force, const PxVec3& pos, PxForceMode::Enum mode = PxForceMode::eFORCE, bool wakeup = true);
00244 
00255     static      PxVec3          getVelocityAtPos(const PxRigidBody& body, const PxVec3& pos);
00256 
00267     static      PxVec3          getLocalVelocityAtLocalPos(const PxRigidBody& body, const PxVec3& pos);
00268 
00279     static      PxVec3          getVelocityAtOffset(const PxRigidBody& body, const PxVec3& pos);
00280 
00307     static      void            linearSweepSingle(PxRigidBody& body, PxBatchQuery& batchQuery, const PxVec3& unitDir, const PxReal distance, PxSceneQueryFilterFlags filterFlags, bool useShapeFilterData = true, PxFilterData* filterDataList=NULL, PxU32 filterDataCount=0, void* userData=NULL, const PxSweepCache* sweepCache=NULL);
00308 
00335     static      void            linearSweepMultiple(PxRigidBody& body, PxBatchQuery& batchQuery, const PxVec3& unitDir, const PxReal distance,  PxSceneQueryFilterFlags filterFlags, bool useShapeFilterData = true, PxFilterData* filterDataList=NULL, PxU32 filterDataCount=0, void* userData=NULL, const PxSweepCache* sweepCache=NULL);
00336 
00337 };
00338 
00339 #ifndef PX_DOXYGEN
00340 } // namespace physx
00341 #endif
00342 
00344 #endif