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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_NP_RIGIDDYNAMIC
#define PX_PHYSICS_NP_RIGIDDYNAMIC
#include "NpRigidBodyTemplate.h"
#include "PxRigidDynamic.h"
#include "ScbBody.h"
#include "PxMetaData.h"
namespace physx
{
class NpRigidDynamic;
typedef NpRigidBodyTemplate<PxRigidDynamic> NpRigidDynamicT;
class NpRigidDynamic : public NpRigidDynamicT
{
//= ATTENTION! =====================================================================================
// Changing the data layout of this class breaks the binary serialization format. See comments for
// PX_BINARY_SERIAL_VERSION. If a modification is required, please adjust the getBinaryMetaData
// function. If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
// accordingly.
//==================================================================================================
public:
// PX_SERIALIZATION
NpRigidDynamic(PxBaseFlags baseFlags) : NpRigidDynamicT(baseFlags) {}
virtual void requiresObjects(PxProcessPxBaseCallback& c);
static NpRigidDynamic* createObject(PxU8*& address, PxDeserializationContext& context);
static void getBinaryMetaData(PxOutputStream& stream);
//~PX_SERIALIZATION
virtual ~NpRigidDynamic();
//---------------------------------------------------------------------------------
// PxActor implementation
//---------------------------------------------------------------------------------
virtual void release();
//---------------------------------------------------------------------------------
// PxRigidDynamic implementation
//---------------------------------------------------------------------------------
virtual PxActorType::Enum getType() const { return PxActorType::eRIGID_DYNAMIC; }
// Pose
virtual void setGlobalPose(const PxTransform& pose, bool autowake);
PX_FORCE_INLINE PxTransform getGlobalPoseFast() const
{
const Scb::Body& body=getScbBodyFast();
return body.getBody2World() * body.getBody2Actor().getInverse();
}
virtual PxTransform getGlobalPose() const
{
NP_READ_CHECK(NpActor::getOwnerScene(*this));
return getGlobalPoseFast();
}
virtual void setKinematicTarget(const PxTransform& destination);
virtual bool getKinematicTarget(PxTransform& target) const;
// Center of mass pose
virtual void setCMassLocalPose(const PxTransform&);
// Damping
virtual void setLinearDamping(PxReal);
virtual PxReal getLinearDamping() const;
virtual void setAngularDamping(PxReal);
virtual PxReal getAngularDamping() const;
// Velocity
virtual void setLinearVelocity(const PxVec3&, bool autowake);
virtual void setAngularVelocity(const PxVec3&, bool autowake);
virtual void setMaxAngularVelocity(PxReal);
virtual PxReal getMaxAngularVelocity() const;
// Force/Torque modifiers
virtual void addForce(const PxVec3&, PxForceMode::Enum mode, bool autowake);
virtual void clearForce(PxForceMode::Enum mode);
virtual void addTorque(const PxVec3&, PxForceMode::Enum mode, bool autowake);
virtual void clearTorque(PxForceMode::Enum mode);
// Sleeping
virtual bool isSleeping() const;
virtual PxReal getSleepThreshold() const;
virtual void setSleepThreshold(PxReal threshold);
virtual PxReal getStabilizationThreshold() const;
virtual void setStabilizationThreshold(PxReal threshold);
virtual void setWakeCounter(PxReal wakeCounterValue);
virtual PxReal getWakeCounter() const;
virtual void wakeUp();
virtual void putToSleep();
virtual void setSolverIterationCounts(PxU32 positionIters, PxU32 velocityIters);
virtual void getSolverIterationCounts(PxU32 & positionIters, PxU32 & velocityIters) const;
virtual void setContactReportThreshold(PxReal threshold);
virtual PxReal getContactReportThreshold() const;
virtual PxRigidDynamicLockFlags getRigidDynamicLockFlags() const;
virtual void setRigidDynamicLockFlags(PxRigidDynamicLockFlags flags);
virtual void setRigidDynamicLockFlag(PxRigidDynamicLockFlag::Enum flag, bool value);
//---------------------------------------------------------------------------------
// Miscellaneous
//---------------------------------------------------------------------------------
NpRigidDynamic(const PxTransform& bodyPose);
virtual void switchToNoSim();
virtual void switchFromNoSim();
PX_FORCE_INLINE void wakeUpInternal();
void wakeUpInternalNoKinematicTest(Scb::Body& body, bool forceWakeUp, bool autowake);
private:
PX_FORCE_INLINE void setKinematicTargetInternal(const PxTransform& destination);
#if PX_ENABLE_DEBUG_VISUALIZATION
public:
void visualize(Cm::RenderOutput& out, NpScene* scene);
#endif
};
PX_FORCE_INLINE void NpRigidDynamic::wakeUpInternal()
{
PX_ASSERT(NpActor::getOwnerScene(*this));
Scb::Body& body = getScbBodyFast();
const PxRigidBodyFlags currentFlags = body.getFlags();
if (!(currentFlags & PxRigidBodyFlag::eKINEMATIC)) // kinematics are only awake when a target is set, else they are asleep
wakeUpInternalNoKinematicTest(body, false, true);
}
}
#endif
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