Program Listing for include/extensions/PxRigidBodyExt.h

↰ Return to documentation for include/extensions/PxRigidBodyExt.h

// 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) 2008-2022 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_RIGID_BODY_EXT_H
#define PX_RIGID_BODY_EXT_H

#include "PxPhysXConfig.h"
#include "PxRigidBody.h"
#include "PxQueryReport.h"
#include "PxQueryFiltering.h"
#include "extensions/PxMassProperties.h"

#if !PX_DOXYGEN
namespace physx
{
#endif

class PxScene;
struct PxQueryCache;
class PxShape;

class PxRigidBodyExt
{
public:
    static      bool            updateMassAndInertia(PxRigidBody& body, const PxReal* shapeDensities, PxU32 shapeDensityCount, const PxVec3* massLocalPose = NULL, bool includeNonSimShapes = false);

    static      bool            updateMassAndInertia(PxRigidBody& body, PxReal density, const PxVec3* massLocalPose = NULL, bool includeNonSimShapes = false);

    static      bool            setMassAndUpdateInertia(PxRigidBody& body, const PxReal* shapeMasses, PxU32 shapeMassCount, const PxVec3* massLocalPose = NULL, bool includeNonSimShapes = false);

    static      bool            setMassAndUpdateInertia(PxRigidBody& body, PxReal mass, const PxVec3* massLocalPose = NULL, bool includeNonSimShapes = false);

    static      PxMassProperties    computeMassPropertiesFromShapes(const PxShape* const* shapes, PxU32 shapeCount);

    static      void            addForceAtPos(PxRigidBody& body, const PxVec3& force, const PxVec3& pos, PxForceMode::Enum mode = PxForceMode::eFORCE, bool wakeup = true);

    static      void            addForceAtLocalPos(PxRigidBody& body, const PxVec3& force, const PxVec3& pos, PxForceMode::Enum mode = PxForceMode::eFORCE, bool wakeup = true);

    static      void            addLocalForceAtPos(PxRigidBody& body, const PxVec3& force, const PxVec3& pos, PxForceMode::Enum mode = PxForceMode::eFORCE, bool wakeup = true);

    static      void            addLocalForceAtLocalPos(PxRigidBody& body, const PxVec3& force, const PxVec3& pos, PxForceMode::Enum mode = PxForceMode::eFORCE, bool wakeup = true);

    static      PxVec3          getVelocityAtPos(const PxRigidBody& body, const PxVec3& pos);

    static      PxVec3          getLocalVelocityAtLocalPos(const PxRigidBody& body, const PxVec3& pos);

    static      PxVec3          getVelocityAtOffset(const PxRigidBody& body, const PxVec3& pos);

    static      void            computeVelocityDeltaFromImpulse(const PxRigidBody& body, const PxVec3& impulsiveForce, const PxVec3& impulsiveTorque, PxVec3& deltaLinearVelocity, PxVec3& deltaAngularVelocity);

    static void                 computeVelocityDeltaFromImpulse(const PxRigidBody& body, const PxTransform& globalPose, const PxVec3& point, const PxVec3& impulse, const PxReal invMassScale,
                                                        const PxReal invInertiaScale, PxVec3& deltaLinearVelocity, PxVec3& deltaAngularVelocity);

    static void                 computeLinearAngularImpulse(const PxRigidBody& body, const PxTransform& globalPose, const PxVec3& point, const PxVec3& impulse, const PxReal invMassScale,
                                                        const PxReal invInertiaScale, PxVec3& linearImpulse, PxVec3& angularImpulse);

    static      bool            linearSweepSingle(
                                    PxRigidBody& body, PxScene& scene, const PxVec3& unitDir, const PxReal distance,
                                    PxHitFlags outputFlags,
                                    PxSweepHit& closestHit, PxU32& shapeIndex,
                                    const PxQueryFilterData& filterData = PxQueryFilterData(),
                                    PxQueryFilterCallback* filterCall = NULL,
                                    const PxQueryCache* cache = NULL,
                                    const PxReal inflation=0.0f);

    static      PxU32           linearSweepMultiple(
                                    PxRigidBody& body, PxScene& scene, const PxVec3& unitDir, const PxReal distance,
                                    PxHitFlags outputFlags,
                                    PxSweepHit* touchHitBuffer, PxU32* touchHitShapeIndices, PxU32 touchHitBufferSize,
                                    PxSweepHit& block, PxI32& blockingShapeIndex, bool& overflow,
                                    const PxQueryFilterData& filterData = PxQueryFilterData(),
                                    PxQueryFilterCallback* filterCall = NULL,
                                    const PxQueryCache* cache = NULL, const PxReal inflation = 0.0f);
};

#if !PX_DOXYGEN
} // namespace physx
#endif

#endif