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<h1>PxRigidBodyExt.h</h1><a href="PxRigidBodyExt_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">// This code contains NVIDIA Confidential Information and is disclosed to you</span>
<a name="l00002"></a>00002 <span class="comment">// under a form of NVIDIA software license agreement provided separately to you.</span>
<a name="l00003"></a>00003 <span class="comment">//</span>
<a name="l00004"></a>00004 <span class="comment">// Notice</span>
<a name="l00005"></a>00005 <span class="comment">// NVIDIA Corporation and its licensors retain all intellectual property and</span>
<a name="l00006"></a>00006 <span class="comment">// proprietary rights in and to this software and related documentation and</span>
<a name="l00007"></a>00007 <span class="comment">// any modifications thereto. Any use, reproduction, disclosure, or</span>
<a name="l00008"></a>00008 <span class="comment">// distribution of this software and related documentation without an express</span>
<a name="l00009"></a>00009 <span class="comment">// license agreement from NVIDIA Corporation is strictly prohibited.</span>
<a name="l00010"></a>00010 <span class="comment">//</span>
<a name="l00011"></a>00011 <span class="comment">// ALL NVIDIA DESIGN SPECIFICATIONS, CODE ARE PROVIDED "AS IS.". NVIDIA MAKES</span>
<a name="l00012"></a>00012 <span class="comment">// NO WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO</span>
<a name="l00013"></a>00013 <span class="comment">// THE MATERIALS, AND EXPRESSLY DISCLAIMS ALL IMPLIED WARRANTIES OF NONINFRINGEMENT,</span>
<a name="l00014"></a>00014 <span class="comment">// MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE.</span>
<a name="l00015"></a>00015 <span class="comment">//</span>
<a name="l00016"></a>00016 <span class="comment">// Information and code furnished is believed to be accurate and reliable.</span>
<a name="l00017"></a>00017 <span class="comment">// However, NVIDIA Corporation assumes no responsibility for the consequences of use of such</span>
<a name="l00018"></a>00018 <span class="comment">// information or for any infringement of patents or other rights of third parties that may</span>
<a name="l00019"></a>00019 <span class="comment">// result from its use. No license is granted by implication or otherwise under any patent</span>
<a name="l00020"></a>00020 <span class="comment">// or patent rights of NVIDIA Corporation. Details are subject to change without notice.</span>
<a name="l00021"></a>00021 <span class="comment">// This code supersedes and replaces all information previously supplied.</span>
<a name="l00022"></a>00022 <span class="comment">// NVIDIA Corporation products are not authorized for use as critical</span>
<a name="l00023"></a>00023 <span class="comment">// components in life support devices or systems without express written approval of</span>
<a name="l00024"></a>00024 <span class="comment">// NVIDIA Corporation.</span>
<a name="l00025"></a>00025 <span class="comment">//</span>
<a name="l00026"></a>00026 <span class="comment">// Copyright (c) 2008-2017 NVIDIA Corporation. All rights reserved.</span>
<a name="l00027"></a>00027 <span class="comment">// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.</span>
<a name="l00028"></a>00028 <span class="comment">// Copyright (c) 2001-2004 NovodeX AG. All rights reserved. </span>
<a name="l00029"></a>00029
<a name="l00030"></a>00030
<a name="l00031"></a>00031 <span class="preprocessor">#ifndef PX_PHYSICS_EXTENSIONS_RIGIDBODY_H</span>
<a name="l00032"></a>00032 <span class="preprocessor"></span><span class="preprocessor">#define PX_PHYSICS_EXTENSIONS_RIGIDBODY_H</span>
<a name="l00033"></a>00033 <span class="preprocessor"></span>
<a name="l00037"></a>00037 <span class="preprocessor">#include "<a class="code" href="PxPhysXConfig_8h.html">PxPhysXConfig.h</a>"</span>
<a name="l00038"></a>00038 <span class="preprocessor">#include "<a class="code" href="PxRigidBody_8h.html">PxRigidBody.h</a>"</span>
<a name="l00039"></a>00039 <span class="preprocessor">#include "<a class="code" href="PxQueryReport_8h.html">PxQueryReport.h</a>"</span>
<a name="l00040"></a>00040 <span class="preprocessor">#include "<a class="code" href="PxQueryFiltering_8h.html">PxQueryFiltering.h</a>"</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include "<a class="code" href="PxMassProperties_8h.html">extensions/PxMassProperties.h</a>"</span>
<a name="l00042"></a>00042
<a name="l00043"></a>00043 <span class="preprocessor">#if !PX_DOXYGEN</span>
<a name="l00044"></a>00044 <span class="preprocessor"></span><span class="keyword">namespace </span>physx
<a name="l00045"></a>00045 {
<a name="l00046"></a>00046 <span class="preprocessor">#endif</span>
<a name="l00047"></a>00047 <span class="preprocessor"></span>
<a name="l00048"></a>00048 <span class="keyword">class </span><a class="code" href="classPxScene.html" title="A scene is a collection of bodies, particle systems and constraints which can interact...">PxScene</a>;
<a name="l00049"></a>00049 <span class="keyword">struct </span><a class="code" href="structPxQueryCache.html" title="single hit cache for scene queries.">PxQueryCache</a>;
<a name="l00050"></a>00050 <span class="keyword">class </span><a class="code" href="classPxShape.html" title="Abstract class for collision shapes.">PxShape</a>;
<a name="l00051"></a>00051
<a name="l00058"></a><a class="code" href="classPxRigidBodyExt.html">00058</a> <span class="keyword">class </span><a class="code" href="classPxRigidBodyExt.html" title="utility functions for use with PxRigidBody and subclasses">PxRigidBodyExt</a>
<a name="l00059"></a>00059 {
<a name="l00060"></a>00060 <span class="keyword">public</span>:
<a name="l00094"></a>00094 <span class="keyword">static</span> <span class="keywordtype">bool</span> updateMassAndInertia(<a class="code" href="classPxRigidBody.html" title="PxRigidBody is a base class shared between dynamic rigid body objects.">PxRigidBody</a>& body, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a>* shapeDensities, <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> shapeDensityCount, <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>* massLocalPose = NULL, <span class="keywordtype">bool</span> includeNonSimShapes = <span class="keyword">false</span>);
<a name="l00095"></a>00095
<a name="l00096"></a>00096
<a name="l00110"></a>00110 <span class="keyword">static</span> <span class="keywordtype">bool</span> updateMassAndInertia(<a class="code" href="classPxRigidBody.html" title="PxRigidBody is a base class shared between dynamic rigid body objects.">PxRigidBody</a>& body, <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> density, <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>* massLocalPose = NULL, <span class="keywordtype">bool</span> includeNonSimShapes = <span class="keyword">false</span>);
<a name="l00111"></a>00111
<a name="l00112"></a>00112
<a name="l00134"></a>00134 <span class="keyword">static</span> <span class="keywordtype">bool</span> setMassAndUpdateInertia(<a class="code" href="classPxRigidBody.html" title="PxRigidBody is a base class shared between dynamic rigid body objects.">PxRigidBody</a>& body, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a>* shapeMasses, <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> shapeMassCount, <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>* massLocalPose = NULL, <span class="keywordtype">bool</span> includeNonSimShapes = <span class="keyword">false</span>);
<a name="l00135"></a>00135
<a name="l00136"></a>00136
<a name="l00155"></a>00155 <span class="keyword">static</span> <span class="keywordtype">bool</span> setMassAndUpdateInertia(<a class="code" href="classPxRigidBody.html" title="PxRigidBody is a base class shared between dynamic rigid body objects.">PxRigidBody</a>& body, <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> mass, <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>* massLocalPose = NULL, <span class="keywordtype">bool</span> includeNonSimShapes = <span class="keyword">false</span>);
<a name="l00156"></a>00156
<a name="l00157"></a>00157
<a name="l00167"></a>00167 <span class="keyword">static</span> <a class="code" href="classPxMassProperties.html" title="Utility class to compute and manipulate mass and inertia tensor properties.">PxMassProperties</a> computeMassPropertiesFromShapes(<span class="keyword">const</span> <a class="code" href="classPxShape.html" title="Abstract class for collision shapes.">PxShape</a>* <span class="keyword">const</span>* shapes, <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> shapeCount);
<a name="l00168"></a>00168
<a name="l00169"></a>00169
<a name="l00196"></a>00196 <span class="keyword">static</span> <span class="keywordtype">void</span> addForceAtPos(<a class="code" href="classPxRigidBody.html" title="PxRigidBody is a base class shared between dynamic rigid body objects.">PxRigidBody</a>& body, <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& force, <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& pos, <a class="code" href="structPxForceMode.html#adaaafefe0478d829b816154c676e545">PxForceMode::Enum</a> mode = <a class="code" href="structPxForceMode.html#adaaafefe0478d829b816154c676e5456e707aa50e1612a2603643ee2df85f1a" title="parameter has unit of mass * distance/ time^2, i.e. a force">PxForceMode::eFORCE</a>, <span class="keywordtype">bool</span> wakeup = <span class="keyword">true</span>);
<a name="l00197"></a>00197
<a name="l00224"></a>00224 <span class="keyword">static</span> <span class="keywordtype">void</span> addForceAtLocalPos(<a class="code" href="classPxRigidBody.html" title="PxRigidBody is a base class shared between dynamic rigid body objects.">PxRigidBody</a>& body, <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& force, <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& pos, <a class="code" href="structPxForceMode.html#adaaafefe0478d829b816154c676e545">PxForceMode::Enum</a> mode = <a class="code" href="structPxForceMode.html#adaaafefe0478d829b816154c676e5456e707aa50e1612a2603643ee2df85f1a" title="parameter has unit of mass * distance/ time^2, i.e. a force">PxForceMode::eFORCE</a>, <span class="keywordtype">bool</span> wakeup = <span class="keyword">true</span>);
<a name="l00225"></a>00225
<a name="l00252"></a>00252 <span class="keyword">static</span> <span class="keywordtype">void</span> addLocalForceAtPos(<a class="code" href="classPxRigidBody.html" title="PxRigidBody is a base class shared between dynamic rigid body objects.">PxRigidBody</a>& body, <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& force, <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& pos, <a class="code" href="structPxForceMode.html#adaaafefe0478d829b816154c676e545">PxForceMode::Enum</a> mode = <a class="code" href="structPxForceMode.html#adaaafefe0478d829b816154c676e5456e707aa50e1612a2603643ee2df85f1a" title="parameter has unit of mass * distance/ time^2, i.e. a force">PxForceMode::eFORCE</a>, <span class="keywordtype">bool</span> wakeup = <span class="keyword">true</span>);
<a name="l00253"></a>00253
<a name="l00280"></a>00280 <span class="keyword">static</span> <span class="keywordtype">void</span> addLocalForceAtLocalPos(<a class="code" href="classPxRigidBody.html" title="PxRigidBody is a base class shared between dynamic rigid body objects.">PxRigidBody</a>& body, <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& force, <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& pos, <a class="code" href="structPxForceMode.html#adaaafefe0478d829b816154c676e545">PxForceMode::Enum</a> mode = <a class="code" href="structPxForceMode.html#adaaafefe0478d829b816154c676e5456e707aa50e1612a2603643ee2df85f1a" title="parameter has unit of mass * distance/ time^2, i.e. a force">PxForceMode::eFORCE</a>, <span class="keywordtype">bool</span> wakeup = <span class="keyword">true</span>);
<a name="l00281"></a>00281
<a name="l00292"></a>00292 <span class="keyword">static</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a> getVelocityAtPos(<span class="keyword">const</span> <a class="code" href="classPxRigidBody.html" title="PxRigidBody is a base class shared between dynamic rigid body objects.">PxRigidBody</a>& body, <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& pos);
<a name="l00293"></a>00293
<a name="l00304"></a>00304 <span class="keyword">static</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a> getLocalVelocityAtLocalPos(<span class="keyword">const</span> <a class="code" href="classPxRigidBody.html" title="PxRigidBody is a base class shared between dynamic rigid body objects.">PxRigidBody</a>& body, <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& pos);
<a name="l00305"></a>00305
<a name="l00316"></a>00316 <span class="keyword">static</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a> getVelocityAtOffset(<span class="keyword">const</span> <a class="code" href="classPxRigidBody.html" title="PxRigidBody is a base class shared between dynamic rigid body objects.">PxRigidBody</a>& body, <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& pos);
<a name="l00317"></a>00317
<a name="l00318"></a>00318
<a name="l00347"></a>00347 <span class="keyword">static</span> <span class="keywordtype">bool</span> linearSweepSingle(
<a name="l00348"></a>00348 <a class="code" href="classPxRigidBody.html" title="PxRigidBody is a base class shared between dynamic rigid body objects.">PxRigidBody</a>& body, <a class="code" href="classPxScene.html" title="A scene is a collection of bodies, particle systems and constraints which can interact...">PxScene</a>& scene, <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& unitDir, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> distance,
<a name="l00349"></a>00349 PxHitFlags outputFlags,
<a name="l00350"></a>00350 <a class="code" href="structPxSweepHit.html" title="Stores results of sweep queries.">PxSweepHit</a>& closestHit, <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a>& shapeIndex,
<a name="l00351"></a>00351 <span class="keyword">const</span> <a class="code" href="structPxQueryFilterData.html" title="Scene query filtering data.">PxQueryFilterData</a>& filterData = <a class="code" href="structPxQueryFilterData.html" title="Scene query filtering data.">PxQueryFilterData</a>(),
<a name="l00352"></a>00352 <a class="code" href="classPxQueryFilterCallback.html" title="Scene query filtering callbacks.">PxQueryFilterCallback</a>* filterCall = NULL,
<a name="l00353"></a>00353 <span class="keyword">const</span> <a class="code" href="structPxQueryCache.html" title="single hit cache for scene queries.">PxQueryCache</a>* cache = NULL,
<a name="l00354"></a>00354 <span class="keyword">const</span> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> inflation=0.0f);
<a name="l00355"></a>00355
<a name="l00388"></a>00388 <span class="keyword">static</span> <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> linearSweepMultiple(
<a name="l00389"></a>00389 <a class="code" href="classPxRigidBody.html" title="PxRigidBody is a base class shared between dynamic rigid body objects.">PxRigidBody</a>& body, <a class="code" href="classPxScene.html" title="A scene is a collection of bodies, particle systems and constraints which can interact...">PxScene</a>& scene, <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& unitDir, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> distance,
<a name="l00390"></a>00390 PxHitFlags outputFlags,
<a name="l00391"></a>00391 <a class="code" href="structPxSweepHit.html" title="Stores results of sweep queries.">PxSweepHit</a>* touchHitBuffer, <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a>* touchHitShapeIndices, <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> touchHitBufferSize,
<a name="l00392"></a>00392 <a class="code" href="structPxSweepHit.html" title="Stores results of sweep queries.">PxSweepHit</a>& block, <a class="code" href="namespacephysx.html#2d0d277fc9b3eb2bff0fcfa416ae6ae4">PxI32</a>& blockingShapeIndex, <span class="keywordtype">bool</span>& overflow,
<a name="l00393"></a>00393 <span class="keyword">const</span> <a class="code" href="structPxQueryFilterData.html" title="Scene query filtering data.">PxQueryFilterData</a>& filterData = <a class="code" href="structPxQueryFilterData.html" title="Scene query filtering data.">PxQueryFilterData</a>(),
<a name="l00394"></a>00394 <a class="code" href="classPxQueryFilterCallback.html" title="Scene query filtering callbacks.">PxQueryFilterCallback</a>* filterCall = NULL,
<a name="l00395"></a>00395 <span class="keyword">const</span> <a class="code" href="structPxQueryCache.html" title="single hit cache for scene queries.">PxQueryCache</a>* cache = NULL, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> inflation = 0.0f);
<a name="l00396"></a>00396
<a name="l00397"></a>00397
<a name="l00413"></a>00413 <span class="keyword">static</span> <span class="keywordtype">void</span> computeVelocityDeltaFromImpulse(<span class="keyword">const</span> <a class="code" href="classPxRigidBody.html" title="PxRigidBody is a base class shared between dynamic rigid body objects.">PxRigidBody</a>& body, <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& impulsiveForce, <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& impulsiveTorque, <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& deltaLinearVelocity, <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& deltaAngularVelocity);
<a name="l00414"></a>00414
<a name="l00432"></a>00432 <span class="keyword">static</span> <span class="keywordtype">void</span> computeVelocityDeltaFromImpulse(<span class="keyword">const</span> <a class="code" href="classPxRigidBody.html" title="PxRigidBody is a base class shared between dynamic rigid body objects.">PxRigidBody</a>& body, <span class="keyword">const</span> <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a>& globalPose, <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& point, <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& impulse, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> invMassScale,
<a name="l00433"></a>00433 <span class="keyword">const</span> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> invInertiaScale, <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& deltaLinearVelocity, <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& deltaAngularVelocity);
<a name="l00434"></a>00434
<a name="l00449"></a>00449 <span class="keyword">static</span> <span class="keywordtype">void</span> computeLinearAngularImpulse(<span class="keyword">const</span> <a class="code" href="classPxRigidBody.html" title="PxRigidBody is a base class shared between dynamic rigid body objects.">PxRigidBody</a>& body, <span class="keyword">const</span> <a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a>& globalPose, <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& point, <span class="keyword">const</span> <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& impulse, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> invMassScale,
<a name="l00450"></a>00450 <span class="keyword">const</span> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> invInertiaScale, <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& linearImpulse, <a class="code" href="classPxVec3.html" title="3 Element vector class.">PxVec3</a>& angularImpulse);
<a name="l00451"></a>00451
<a name="l00452"></a>00452
<a name="l00453"></a>00453 };
<a name="l00454"></a>00454
<a name="l00455"></a>00455 <span class="preprocessor">#if !PX_DOXYGEN</span>
<a name="l00456"></a>00456 <span class="preprocessor"></span>} <span class="comment">// namespace physx</span>
<a name="l00457"></a>00457 <span class="preprocessor">#endif</span>
<a name="l00458"></a>00458 <span class="preprocessor"></span>
<a name="l00460"></a>00460 <span class="preprocessor">#endif</span>
</pre></div></div>
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