NVIDIA(R) PhysX(R) SDK 3.4 API Reference: PxRigidDynamic.h Source File

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+00026 // Copyright (c) 2008-2016 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 #if !PX_DOXYGEN
+00040 namespace physx
+00041 {
+00042 #endif
+00043 
+00044 
+00050 struct PxRigidDynamicLockFlag
+00051 {
+00052     enum Enum
+00053     {
+00054         eLOCK_LINEAR_X = (1 << 0),
+00055         eLOCK_LINEAR_Y = (1 << 1),
+00056         eLOCK_LINEAR_Z = (1 << 2),
+00057         eLOCK_ANGULAR_X = (1 << 3),
+00058         eLOCK_ANGULAR_Y = (1 << 4),
+00059         eLOCK_ANGULAR_Z = (1 << 5)
+00060     };
+00061 };
+00062 
+00063 typedef PxFlags<PxRigidDynamicLockFlag::Enum, PxU16> PxRigidDynamicLockFlags;
+00064 PX_FLAGS_OPERATORS(PxRigidDynamicLockFlag::Enum, PxU16)
+00065 
+00066 
+00084 class PxRigidDynamic : public PxRigidBody
+00085 {
+00086 public:
+00087     // Runtime modifications
+00088 
+00089 
+00090 /************************************************************************************************/
+00118     virtual     void                setKinematicTarget(const PxTransform& destination) = 0;
+00119 
+00128     virtual     bool                getKinematicTarget(PxTransform& target) = 0;
+00129 
+00130 /************************************************************************************************/
+00145     virtual     void                setLinearDamping(PxReal linDamp) = 0;
+00146 
+00154     virtual     PxReal              getLinearDamping() const = 0;
+00155 
+00169     virtual     void                setAngularDamping(PxReal angDamp) = 0;
+00170 
+00178     virtual     PxReal              getAngularDamping() const = 0;
+00179 
+00180 /************************************************************************************************/
+00202     virtual     void                setMaxAngularVelocity(PxReal maxAngVel) = 0;
+00203 
+00211     virtual     PxReal              getMaxAngularVelocity() const = 0; 
+00212 
+00213 /************************************************************************************************/
+00251     virtual     bool                isSleeping() const = 0;
+00252 
+00253 
+00265     virtual     void                setSleepThreshold(PxReal threshold) = 0;
+00266 
+00274     virtual     PxReal              getSleepThreshold() const = 0;
+00275 
+00289     virtual     void                setStabilizationThreshold(PxReal threshold) = 0;
+00290 
+00300     virtual     PxReal              getStabilizationThreshold() const = 0;
+00301 
+00302 
+00312     virtual     PxRigidDynamicLockFlags getRigidDynamicLockFlags() const = 0;
+00313 
+00327     virtual     void                setRigidDynamicLockFlag(PxRigidDynamicLockFlag::Enum flag, bool value) = 0;
+00328     virtual     void                setRigidDynamicLockFlags(PxRigidDynamicLockFlags flags) = 0;
+00329     
+00330 
+00331 
+00352     virtual     void                setWakeCounter(PxReal wakeCounterValue) = 0;
+00353 
+00361     virtual     PxReal              getWakeCounter() const = 0;
+00362 
+00377     virtual     void                wakeUp() = 0;
+00378 
+00393     virtual     void                putToSleep() = 0;
+00394 
+00395 /************************************************************************************************/
+00396 
+00415     virtual     void                setSolverIterationCounts(PxU32 minPositionIters, PxU32 minVelocityIters = 1) = 0;
+00416 
+00422     virtual     void                getSolverIterationCounts(PxU32& minPositionIters, PxU32& minVelocityIters) const = 0;
+00423 
+00443     virtual     PxReal              getContactReportThreshold() const = 0;
+00444 
+00454     virtual     void                setContactReportThreshold(PxReal threshold) = 0;
+00455 
+00456     virtual     const char*         getConcreteTypeName() const { return "PxRigidDynamic"; }
+00457 
+00458 protected:
+00459     PX_INLINE                       PxRigidDynamic(PxType concreteType, PxBaseFlags baseFlags) : PxRigidBody(concreteType, baseFlags) {}
+00460     PX_INLINE                       PxRigidDynamic(PxBaseFlags baseFlags) : PxRigidBody(baseFlags) {}
+00461     virtual                         ~PxRigidDynamic() {}
+00462     virtual     bool                isKindOf(const char* name) const { return !::strcmp("PxRigidDynamic", name) || PxRigidBody::isKindOf(name); }
+00463 
+00464 };
+00465 
+00466 #if !PX_DOXYGEN
+00467 } // namespace physx
+00468 #endif
+00469 
+00471 #endif
+