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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,
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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
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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_RIGIDBODY
00032 #define PX_PHYSICS_NX_RIGIDBODY
00033 
00037 #include "PxRigidActor.h"
00038 #include "PxForceMode.h"
00039 
00040 #ifndef PX_DOXYGEN
00041 namespace physx
00042 {
00043 #endif
00044 
00051 class PxRigidBody : public PxRigidActor
00052 {
00053 public:
00054     // Runtime modifications
00055 
00056 /************************************************************************************************/
00076     virtual     void            setCMassLocalPose(const PxTransform& pose) = 0;
00077 
00078 
00086     virtual     PxTransform     getCMassLocalPose() const = 0;
00087 
00088 
00105     virtual     void            setMass(PxReal mass) = 0;
00106 
00114     virtual     PxReal          getMass() const = 0;
00115 
00132     virtual     void            setMassSpaceInertiaTensor(const PxVec3& m) = 0;
00133 
00143     virtual     PxVec3          getMassSpaceInertiaTensor()         const = 0;
00144 
00145 
00146 /************************************************************************************************/
00158     virtual     PxVec3          getLinearVelocity()     const = 0;
00159 
00177     virtual     void            setLinearVelocity(const PxVec3& linVel, bool autowake = true ) = 0;
00178 
00179 
00180 
00188     virtual     PxVec3          getAngularVelocity()    const = 0;
00189 
00190 
00207     virtual     void            setAngularVelocity(const PxVec3& angVel, bool autowake = true ) = 0;
00208 
00209     
00210 /************************************************************************************************/
00231     virtual     void            addForce(const PxVec3& force, PxForceMode::Enum mode = PxForceMode::eFORCE, bool autowake = true) = 0;
00232 
00248     virtual     void            addTorque(const PxVec3& torque, PxForceMode::Enum mode = PxForceMode::eFORCE, bool autowake = true) = 0;
00249 
00264     virtual     void            clearForce(PxForceMode::Enum mode = PxForceMode::eFORCE, bool autowake = true) = 0;
00265 
00280     virtual     void            clearTorque(PxForceMode::Enum mode = PxForceMode::eFORCE, bool autowake = true) = 0;
00281 
00282 protected:
00283                                 PxRigidBody(PxRefResolver& v) : PxRigidActor(v)     {}
00284     PX_INLINE                   PxRigidBody() : PxRigidActor() {}
00285     virtual                     ~PxRigidBody()  {}
00286     virtual     bool            isKindOf(const char* name)const {   return !strcmp("PxRigidBody", name) || PxRigidActor::isKindOf(name); }
00287 };
00288 
00289 PX_INLINE PxRigidBody*          PxActor::isRigidBody()              { return is<PxRigidBody>();         }
00290 PX_INLINE const PxRigidBody*    PxActor::isRigidBody()      const   { return is<PxRigidBody>();         }
00291 
00292 
00293 #ifndef PX_DOXYGEN
00294 } // namespace physx
00295 #endif
00296 
00298 #endif