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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
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00017 // However, NVIDIA Corporation assumes no responsibility for the consequences of use of such
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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) 2008-2012 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_RIGIDDYNAMIC
00032 #define PX_PHYSICS_NX_RIGIDDYNAMIC
00033 
00037 #include "PxRigidBody.h"
00038 
00039 #ifndef PX_DOXYGEN
00040 namespace physx
00041 {
00042 #endif
00043 
00049 struct PxRigidDynamicFlag
00050 {
00051     enum Enum
00052     {
00053 
00069         eKINEMATIC              = (1<<0),       
00070 
00071     };
00072 };
00073 
00079 typedef PxFlags<PxRigidDynamicFlag::Enum,PxU16> PxRigidDynamicFlags;
00080 PX_FLAGS_OPERATORS(PxRigidDynamicFlag::Enum,PxU16);
00081 
00100 class PxRigidDynamic : public PxRigidBody
00101 {
00102 public:
00103     // Runtime modifications
00104 
00105 
00106 /************************************************************************************************/
00132     virtual     void                setKinematicTarget(const PxTransform& destination) = 0;
00133 
00134 /************************************************************************************************/
00149     virtual     void                setLinearDamping(PxReal linDamp) = 0;
00150 
00158     virtual     PxReal              getLinearDamping() const = 0;
00159 
00173     virtual     void                setAngularDamping(PxReal angDamp) = 0;
00174 
00182     virtual     PxReal              getAngularDamping() const = 0;
00183 
00184 /************************************************************************************************/
00206     virtual     void                setMaxAngularVelocity(PxReal maxAngVel) = 0;
00207 
00215     virtual     PxReal              getMaxAngularVelocity() const = 0; 
00216 
00217 /************************************************************************************************/
00235     virtual     bool                isSleeping() const = 0;
00236 
00237 
00249     virtual     void                setSleepThreshold(PxReal threshold) = 0;
00250 
00260     virtual     PxReal              getSleepThreshold() const = 0;
00261 
00272     virtual     void                wakeUp(PxReal wakeCounterValue=PX_SLEEP_INTERVAL)   = 0;
00273 
00283     virtual     void                putToSleep()    = 0;
00284 
00285 /************************************************************************************************/
00286 
00303     virtual     void                setSolverIterationCounts(PxU32 minPositionIters, PxU32 minVelocityIters = 1) = 0;
00304 
00310     virtual     void                getSolverIterationCounts(PxU32& minPositionIters, PxU32& minVelocityIters) const = 0;
00311 
00331     virtual     PxReal              getContactReportThreshold() const = 0;
00332 
00342     virtual     void                setContactReportThreshold(PxReal threshold) = 0;
00343 
00358     virtual     void                setRigidDynamicFlag(PxRigidDynamicFlag::Enum flag, bool value) = 0;
00359     virtual     void                setRigidDynamicFlags(PxRigidDynamicFlags inFlags) = 0;
00360 
00370     virtual     PxRigidDynamicFlags getRigidDynamicFlags()  const = 0;
00371 
00372     virtual     const char*     getConcreteTypeName() const                 {   return "PxRigidDynamic"; }
00373 
00374 protected:
00375                                 PxRigidDynamic(PxRefResolver& v) : PxRigidBody(v)       {}
00376     PX_INLINE                   PxRigidDynamic() : PxRigidBody() {}
00377     virtual                     ~PxRigidDynamic()   {}
00378     virtual     bool            isKindOf(const char* name)  const       {   return !strcmp("PxRigidDynamic", name) || PxRigidBody::isKindOf(name); }
00379 
00380 };
00381 
00382 PX_INLINE   PxRigidDynamic*         PxActor::isRigidDynamic()               { return is<PxRigidDynamic>();      }
00383 PX_INLINE   const PxRigidDynamic*   PxActor::isRigidDynamic()       const   { return is<PxRigidDynamic>();      }
00384 
00385 
00386 #ifndef PX_DOXYGEN
00387 } // namespace physx
00388 #endif
00389 
00391 #endif