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//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright
// notice, this list of conditions and the following disclaimer in the
// documentation and/or other materials provided with the distribution.
// * Neither the name of NVIDIA CORPORATION nor the names of its
// contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2018 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
#ifndef PX_PHYSICS_EXTENSIONS_RIGIDACTOR_H
#define PX_PHYSICS_EXTENSIONS_RIGIDACTOR_H
/** \addtogroup extensions
@{
*/
#include "PxPhysXConfig.h"
#include "PxPhysics.h"
#include "PxRigidActor.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
/**
\brief utility functions for use with PxRigidActor and subclasses
@see PxRigidActor PxRigidStatic PxRigidBody PxRigidDynamic PxArticulationLink
*/
class PxRigidActorExt
{
public:
/**
\brief Creates a new shape with default properties and a list of materials and adds it to the list of shapes of this actor.
This is equivalent to the following
PxShape* shape(...) = PxGetPhysics().createShape(...); // reference count is 1
actor->attachShape(shape); // increments reference count
shape->release(); // releases user reference, leaving reference count at 1
As a consequence, detachShape() will result in the release of the last reference, and the shape will be deleted.
\note The default shape flags to be set are: eVISUALIZATION, eSIMULATION_SHAPE, eSCENE_QUERY_SHAPE (see #PxShapeFlag).
Triangle mesh, heightfield or plane geometry shapes configured as eSIMULATION_SHAPE are not supported for
non-kinematic PxRigidDynamic instances.
\note Creating compounds with a very large number of shapes may adversely affect performance and stability.
<b>Sleeping:</b> Does <b>NOT</b> wake the actor up automatically.
\param[in] actor the actor to which to attach the shape
\param[in] geometry the geometry of the shape
\param[in] materials a pointer to an array of material pointers
\param[in] materialCount the count of materials
\param[in] shapeFlags optional PxShapeFlags
\return The newly created shape.
@see PxShape PxShape::release(), PxPhysics::createShape(), PxRigidActor::attachShape()
*/
static PxShape* createExclusiveShape(PxRigidActor& actor, const PxGeometry& geometry, PxMaterial*const* materials, PxU16 materialCount,
PxShapeFlags shapeFlags = PxShapeFlag::eVISUALIZATION | PxShapeFlag::eSCENE_QUERY_SHAPE | PxShapeFlag::eSIMULATION_SHAPE)
{
PxShape* shape = PxGetPhysics().createShape(geometry, materials, materialCount, true, shapeFlags);
if(shape)
{
actor.attachShape(*shape); // attach can fail, if e.g. we try and attach a trimesh simulation shape to a dynamic actor
shape->release(); // if attach fails, we hold the only counted reference, and so this cleans up properly
}
return shape;
}
/**
\brief Creates a new shape with default properties and a single material adds it to the list of shapes of this actor.
This is equivalent to the following
PxShape* shape(...) = PxGetPhysics().createShape(...); // reference count is 1
actor->attachShape(shape); // increments reference count
shape->release(); // releases user reference, leaving reference count at 1
As a consequence, detachShape() will result in the release of the last reference, and the shape will be deleted.
\note The default shape flags to be set are: eVISUALIZATION, eSIMULATION_SHAPE, eSCENE_QUERY_SHAPE (see #PxShapeFlag).
Triangle mesh, heightfield or plane geometry shapes configured as eSIMULATION_SHAPE are not supported for
non-kinematic PxRigidDynamic instances.
\note Creating compounds with a very large number of shapes may adversely affect performance and stability.
<b>Sleeping:</b> Does <b>NOT</b> wake the actor up automatically.
\param[in] actor the actor to which to attach the shape
\param[in] geometry the geometry of the shape
\param[in] material the material for the shape
\param[in] shapeFlags optional PxShapeFlags
\return The newly created shape.
@see PxShape PxShape::release(), PxPhysics::createShape(), PxRigidActor::attachShape()
*/
static PX_FORCE_INLINE PxShape* createExclusiveShape(PxRigidActor& actor, const PxGeometry& geometry, const PxMaterial& material,
PxShapeFlags shapeFlags = PxShapeFlag::eVISUALIZATION | PxShapeFlag::eSCENE_QUERY_SHAPE | PxShapeFlag::eSIMULATION_SHAPE)
{
PxMaterial* materialPtr = const_cast<PxMaterial*>(&material);
return createExclusiveShape(actor, geometry, &materialPtr, 1, shapeFlags);
}
};
#if !PX_DOXYGEN
} // namespace physx
#endif
/** @} */
#endif
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