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<h1>PxRigidDynamic.h</h1><a href="PxRigidDynamic_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">//</span>
<a name="l00002"></a>00002 <span class="comment">// Redistribution and use in source and binary forms, with or without</span>
<a name="l00003"></a>00003 <span class="comment">// modification, are permitted provided that the following conditions</span>
<a name="l00004"></a>00004 <span class="comment">// are met:</span>
<a name="l00005"></a>00005 <span class="comment">// * Redistributions of source code must retain the above copyright</span>
<a name="l00006"></a>00006 <span class="comment">// notice, this list of conditions and the following disclaimer.</span>
<a name="l00007"></a>00007 <span class="comment">// * Redistributions in binary form must reproduce the above copyright</span>
<a name="l00008"></a>00008 <span class="comment">// notice, this list of conditions and the following disclaimer in the</span>
<a name="l00009"></a>00009 <span class="comment">// documentation and/or other materials provided with the distribution.</span>
<a name="l00010"></a>00010 <span class="comment">// * Neither the name of NVIDIA CORPORATION nor the names of its</span>
<a name="l00011"></a>00011 <span class="comment">// contributors may be used to endorse or promote products derived</span>
<a name="l00012"></a>00012 <span class="comment">// from this software without specific prior written permission.</span>
<a name="l00013"></a>00013 <span class="comment">//</span>
<a name="l00014"></a>00014 <span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY</span>
<a name="l00015"></a>00015 <span class="comment">// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE</span>
<a name="l00016"></a>00016 <span class="comment">// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR</span>
<a name="l00017"></a>00017 <span class="comment">// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR</span>
<a name="l00018"></a>00018 <span class="comment">// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,</span>
<a name="l00019"></a>00019 <span class="comment">// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,</span>
<a name="l00020"></a>00020 <span class="comment">// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span>
<a name="l00021"></a>00021 <span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY</span>
<a name="l00022"></a>00022 <span class="comment">// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span>
<a name="l00023"></a>00023 <span class="comment">// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE</span>
<a name="l00024"></a>00024 <span class="comment">// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span>
<a name="l00025"></a>00025 <span class="comment">//</span>
<a name="l00026"></a>00026 <span class="comment">// Copyright (c) 2008-2018 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_NX_RIGIDDYNAMIC</span>
<a name="l00032"></a>00032 <span class="preprocessor"></span><span class="preprocessor">#define PX_PHYSICS_NX_RIGIDDYNAMIC</span>
<a name="l00033"></a>00033 <span class="preprocessor"></span>
<a name="l00037"></a>00037 <span class="preprocessor">#include "<a class="code" href="PxRigidBody_8h.html">PxRigidBody.h</a>"</span>
<a name="l00038"></a>00038
<a name="l00039"></a>00039 <span class="preprocessor">#if !PX_DOXYGEN</span>
<a name="l00040"></a>00040 <span class="preprocessor"></span><span class="keyword">namespace </span>physx
<a name="l00041"></a>00041 {
<a name="l00042"></a>00042 <span class="preprocessor">#endif</span>
<a name="l00043"></a>00043 <span class="preprocessor"></span>
<a name="l00044"></a>00044
<a name="l00050"></a><a class="code" href="structPxRigidDynamicLockFlag.html">00050</a> <span class="keyword">struct </span><a class="code" href="structPxRigidDynamicLockFlag.html" title="Collection of flags providing a mechanism to lock motion along/around a specific...">PxRigidDynamicLockFlag</a>
<a name="l00051"></a>00051 {
<a name="l00052"></a><a class="code" href="structPxRigidDynamicLockFlag.html#e2e527a7cf32504d4b5c8c6d147280e1">00052</a> <span class="keyword">enum</span> <a class="code" href="structPxRigidDynamicLockFlag.html#e2e527a7cf32504d4b5c8c6d147280e1">Enum</a>
<a name="l00053"></a>00053 {
<a name="l00054"></a><a class="code" href="structPxRigidDynamicLockFlag.html#e2e527a7cf32504d4b5c8c6d147280e13c845939174811074c1829316c942efa">00054</a> eLOCK_LINEAR_X = (1 << 0),
<a name="l00055"></a><a class="code" href="structPxRigidDynamicLockFlag.html#e2e527a7cf32504d4b5c8c6d147280e11ea9c4f30ecf9f98b6a9057b805fee50">00055</a> eLOCK_LINEAR_Y = (1 << 1),
<a name="l00056"></a><a class="code" href="structPxRigidDynamicLockFlag.html#e2e527a7cf32504d4b5c8c6d147280e192189af0472e35c788923f75be44396f">00056</a> eLOCK_LINEAR_Z = (1 << 2),
<a name="l00057"></a><a class="code" href="structPxRigidDynamicLockFlag.html#e2e527a7cf32504d4b5c8c6d147280e1cd29b90fdd453256db7d95f8d168ffd4">00057</a> eLOCK_ANGULAR_X = (1 << 3),
<a name="l00058"></a><a class="code" href="structPxRigidDynamicLockFlag.html#e2e527a7cf32504d4b5c8c6d147280e1a8df9ce7f49c12ce3f686bd862f86fe6">00058</a> eLOCK_ANGULAR_Y = (1 << 4),
<a name="l00059"></a><a class="code" href="structPxRigidDynamicLockFlag.html#e2e527a7cf32504d4b5c8c6d147280e1e18e7d6c8b2eb5281e3f8ef8c8502133">00059</a> eLOCK_ANGULAR_Z = (1 << 5)
<a name="l00060"></a>00060 };
<a name="l00061"></a>00061 };
<a name="l00062"></a>00062
<a name="l00063"></a><a class="code" href="group__physics.html#gb35e15599f740af43f399ed4ad9f04e8">00063</a> <span class="keyword">typedef</span> <a class="code" href="classPxFlags.html" title="Container for bitfield flag variables associated with a specific enum type.">PxFlags<PxRigidDynamicLockFlag::Enum, PxU16></a> <a class="code" href="classPxFlags.html" title="Container for bitfield flag variables associated with a specific enum type.">PxRigidDynamicLockFlags</a>;
<a name="l00064"></a>00064 <a class="code" href="group__foundation.html#g092f922a63fdc7a95ae4f4e24b3768c1">PX_FLAGS_OPERATORS</a>(<a class="code" href="structPxRigidDynamicLockFlag.html#e2e527a7cf32504d4b5c8c6d147280e1">PxRigidDynamicLockFlag::Enum</a>, <a class="code" href="namespacephysx.html#9caf1cbcda071b6d2a9c069faa99da23">PxU16</a>)
<a name="l00065"></a>00065
<a name="l00066"></a>00066
<a name="l00083"></a><a class="code" href="classPxRigidDynamic.html">00083</a> class <a class="code" href="classPxRigidDynamic.html" title="PxRigidDynamic represents a dynamic rigid simulation object in the physics SDK.">PxRigidDynamic</a> : public <a class="code" href="classPxRigidBody.html" title="PxRigidBody is a base class shared between dynamic rigid body objects.">PxRigidBody</a>
<a name="l00084"></a>00084 {
<a name="l00085"></a>00085 <span class="keyword">public</span>:
<a name="l00086"></a>00086 <span class="comment">// Runtime modifications</span>
<a name="l00087"></a>00087
<a name="l00088"></a>00088
<a name="l00089"></a>00089 <span class="comment">/************************************************************************************************/</span>
<a name="l00117"></a>00117 <span class="keyword">virtual</span> <span class="keywordtype">void</span> setKinematicTarget(<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>& destination) = 0;
<a name="l00118"></a>00118
<a name="l00127"></a>00127 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> getKinematicTarget(<a class="code" href="classPxTransform.html" title="class representing a rigid euclidean transform as a quaternion and a vector">PxTransform</a>& target) <span class="keyword">const</span> = 0;
<a name="l00128"></a>00128
<a name="l00129"></a>00129 <span class="comment">/************************************************************************************************/</span>
<a name="l00144"></a>00144 <span class="keyword">virtual</span> <span class="keywordtype">void</span> setLinearDamping(<a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> linDamp) = 0;
<a name="l00145"></a>00145
<a name="l00153"></a>00153 <span class="keyword">virtual</span> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> getLinearDamping() <span class="keyword">const</span> = 0;
<a name="l00154"></a>00154
<a name="l00168"></a>00168 <span class="keyword">virtual</span> <span class="keywordtype">void</span> setAngularDamping(<a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> angDamp) = 0;
<a name="l00169"></a>00169
<a name="l00177"></a>00177 <span class="keyword">virtual</span> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> getAngularDamping() <span class="keyword">const</span> = 0;
<a name="l00178"></a>00178
<a name="l00179"></a>00179 <span class="comment">/************************************************************************************************/</span>
<a name="l00201"></a>00201 <span class="keyword">virtual</span> <span class="keywordtype">void</span> setMaxAngularVelocity(<a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> maxAngVel) = 0;
<a name="l00202"></a>00202
<a name="l00210"></a>00210 <span class="keyword">virtual</span> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> getMaxAngularVelocity() <span class="keyword">const</span> = 0;
<a name="l00211"></a>00211
<a name="l00212"></a>00212 <span class="comment">/************************************************************************************************/</span>
<a name="l00250"></a>00250 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> isSleeping() <span class="keyword">const</span> = 0;
<a name="l00251"></a>00251
<a name="l00252"></a>00252
<a name="l00264"></a>00264 <span class="keyword">virtual</span> <span class="keywordtype">void</span> setSleepThreshold(<a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> threshold) = 0;
<a name="l00265"></a>00265
<a name="l00273"></a>00273 <span class="keyword">virtual</span> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> getSleepThreshold() <span class="keyword">const</span> = 0;
<a name="l00274"></a>00274
<a name="l00288"></a>00288 <span class="keyword">virtual</span> <span class="keywordtype">void</span> setStabilizationThreshold(<a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> threshold) = 0;
<a name="l00289"></a>00289
<a name="l00299"></a>00299 <span class="keyword">virtual</span> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> getStabilizationThreshold() <span class="keyword">const</span> = 0;
<a name="l00300"></a>00300
<a name="l00301"></a>00301
<a name="l00311"></a>00311 <span class="keyword">virtual</span> <a class="code" href="classPxFlags.html" title="Container for bitfield flag variables associated with a specific enum type.">PxRigidDynamicLockFlags</a> getRigidDynamicLockFlags() <span class="keyword">const</span> = 0;
<a name="l00312"></a>00312
<a name="l00326"></a>00326 <span class="keyword">virtual</span> <span class="keywordtype">void</span> setRigidDynamicLockFlag(<a class="code" href="structPxRigidDynamicLockFlag.html#e2e527a7cf32504d4b5c8c6d147280e1">PxRigidDynamicLockFlag::Enum</a> flag, <span class="keywordtype">bool</span> value) = 0;
<a name="l00327"></a>00327 <span class="keyword">virtual</span> <span class="keywordtype">void</span> setRigidDynamicLockFlags(<a class="code" href="classPxFlags.html" title="Container for bitfield flag variables associated with a specific enum type.">PxRigidDynamicLockFlags</a> flags) = 0;
<a name="l00328"></a>00328
<a name="l00329"></a>00329
<a name="l00330"></a>00330
<a name="l00351"></a>00351 <span class="keyword">virtual</span> <span class="keywordtype">void</span> setWakeCounter(<a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> wakeCounterValue) = 0;
<a name="l00352"></a>00352
<a name="l00360"></a>00360 <span class="keyword">virtual</span> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> getWakeCounter() <span class="keyword">const</span> = 0;
<a name="l00361"></a>00361
<a name="l00376"></a>00376 <span class="keyword">virtual</span> <span class="keywordtype">void</span> wakeUp() = 0;
<a name="l00377"></a>00377
<a name="l00392"></a>00392 <span class="keyword">virtual</span> <span class="keywordtype">void</span> putToSleep() = 0;
<a name="l00393"></a>00393
<a name="l00394"></a>00394 <span class="comment">/************************************************************************************************/</span>
<a name="l00395"></a>00395
<a name="l00414"></a>00414 <span class="keyword">virtual</span> <span class="keywordtype">void</span> setSolverIterationCounts(<a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> minPositionIters, <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a> minVelocityIters = 1) = 0;
<a name="l00415"></a>00415
<a name="l00421"></a>00421 <span class="keyword">virtual</span> <span class="keywordtype">void</span> getSolverIterationCounts(<a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a>& minPositionIters, <a class="code" href="namespacephysx.html#9b7fbd746d18bf5b6545713a8d818f41">PxU32</a>& minVelocityIters) <span class="keyword">const</span> = 0;
<a name="l00422"></a>00422
<a name="l00442"></a>00442 <span class="keyword">virtual</span> <a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> getContactReportThreshold() <span class="keyword">const</span> = 0;
<a name="l00443"></a>00443
<a name="l00453"></a>00453 <span class="keyword">virtual</span> <span class="keywordtype">void</span> setContactReportThreshold(<a class="code" href="namespacephysx.html#727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> threshold) = 0;
<a name="l00454"></a>00454
<a name="l00455"></a><a class="code" href="classPxRigidDynamic.html#8402fd801e4ce9f6ee2a1fb3e80721dc">00455</a> <span class="keyword">virtual</span> <span class="keyword">const</span> <span class="keywordtype">char</span>* <a class="code" href="classPxRigidDynamic.html#8402fd801e4ce9f6ee2a1fb3e80721dc" title="Returns string name of dynamic type.">getConcreteTypeName</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <span class="stringliteral">"PxRigidDynamic"</span>; }
<a name="l00456"></a>00456
<a name="l00457"></a>00457 <span class="keyword">protected</span>:
<a name="l00458"></a><a class="code" href="classPxRigidDynamic.html#b21ed0e4e1be20fc975fcd3ceeb4e064">00458</a> <a class="code" href="group__foundation.html#gcb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a> <a class="code" href="classPxRigidDynamic.html#b21ed0e4e1be20fc975fcd3ceeb4e064">PxRigidDynamic</a>(<a class="code" href="group__common.html#gc1fb4b256a5d900d394e89db170a2b79">PxType</a> concreteType, <a class="code" href="classPxFlags.html">PxBaseFlags</a> baseFlags) : PxRigidBody(concreteType, baseFlags) {}
<a name="l00459"></a><a class="code" href="classPxRigidDynamic.html#9e63c1ec6872048e16f7d6b744ec3eef">00459</a> <a class="code" href="group__foundation.html#gcb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a> <a class="code" href="classPxRigidDynamic.html#9e63c1ec6872048e16f7d6b744ec3eef">PxRigidDynamic</a>(<a class="code" href="classPxFlags.html">PxBaseFlags</a> baseFlags) : PxRigidBody(baseFlags) {}
<a name="l00460"></a><a class="code" href="classPxRigidDynamic.html#9380b2f317161026b39c6a296ba9e273">00460</a> <span class="keyword">virtual</span> <a class="code" href="classPxRigidDynamic.html#9380b2f317161026b39c6a296ba9e273">~PxRigidDynamic</a>() {}
<a name="l00461"></a><a class="code" href="classPxRigidDynamic.html#0ed60c0a05771d8679069a46b778f8f8">00461</a> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classPxRigidDynamic.html#0ed60c0a05771d8679069a46b778f8f8" title="Returns whether a given type name matches with the type of this instance.">isKindOf</a>(<span class="keyword">const</span> <span class="keywordtype">char</span>* name)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> !::strcmp(<span class="stringliteral">"PxRigidDynamic"</span>, name) || <a class="code" href="classPxRigidBody.html#d2e17e08871d8a2f492aee495550a0a0" title="Returns whether a given type name matches with the type of this instance.">PxRigidBody::isKindOf</a>(name); }
<a name="l00462"></a>00462
<a name="l00463"></a>00463 };
<a name="l00464"></a>00464
<a name="l00465"></a>00465 <span class="preprocessor">#if !PX_DOXYGEN</span>
<a name="l00466"></a>00466 <span class="preprocessor"></span>} <span class="comment">// namespace physx</span>
<a name="l00467"></a>00467 <span class="preprocessor">#endif</span>
<a name="l00468"></a>00468 <span class="preprocessor"></span>
<a name="l00470"></a>00470 <span class="preprocessor">#endif</span>
</pre></div></div>
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