include/PxPhysics.h
File members: include/PxPhysics.h
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// Copyright (c) 2008-2024 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_H
#define PX_PHYSICS_H
#include "PxPhysXConfig.h"
#include "PxDeletionListener.h"
#include "foundation/PxTransform.h"
#include "PxShape.h"
#include "PxAggregate.h"
#include "PxParticleSystem.h"
#include "foundation/PxPreprocessor.h"
#if PX_ENABLE_FEATURES_UNDER_CONSTRUCTION
#include "PxFEMCloth.h"
#include "PxHairSystem.h"
#endif
#if !PX_DOXYGEN
namespace physx
{
#endif
class PxScene;
class PxSceneDesc;
class PxTolerancesScale;
class PxPvd;
class PxOmniPvd;
class PxInsertionCallback;
class PxRigidActor;
class PxConstraintConnector;
struct PxConstraintShaderTable;
class PxGeometry;
class PxFoundation;
class PxPruningStructure;
class PxBVH;
class PxParticleClothBuffer;
class PxParticleRigidBuffer;
class PxSoftBodyMesh;
class PxPhysics
{
public:
//\{
virtual ~PxPhysics() {}
virtual void release() = 0;
virtual PxFoundation& getFoundation() = 0;
virtual PxOmniPvd* getOmniPvd() = 0;
virtual PxAggregate* createAggregate(PxU32 maxActor, PxU32 maxShape, PxAggregateFilterHint filterHint) = 0;
virtual const PxTolerancesScale& getTolerancesScale() const = 0;
//\}
//\{
virtual PxTriangleMesh* createTriangleMesh(PxInputStream& stream) = 0;
virtual PxU32 getNbTriangleMeshes() const = 0;
virtual PxU32 getTriangleMeshes(PxTriangleMesh** userBuffer, PxU32 bufferSize, PxU32 startIndex = 0) const = 0;
//\}
//\{
virtual PxTetrahedronMesh* createTetrahedronMesh(PxInputStream& stream) = 0;
virtual PxSoftBodyMesh* createSoftBodyMesh(PxInputStream& stream) = 0;
virtual PxU32 getNbTetrahedronMeshes() const = 0;
virtual PxU32 getTetrahedronMeshes(PxTetrahedronMesh** userBuffer, PxU32 bufferSize, PxU32 startIndex = 0) const = 0;
virtual PxHeightField* createHeightField(PxInputStream& stream) = 0;
virtual PxU32 getNbHeightFields() const = 0;
virtual PxU32 getHeightFields(PxHeightField** userBuffer, PxU32 bufferSize, PxU32 startIndex = 0) const = 0;
virtual PxConvexMesh* createConvexMesh(PxInputStream& stream) = 0;
virtual PxU32 getNbConvexMeshes() const = 0;
virtual PxU32 getConvexMeshes(PxConvexMesh** userBuffer, PxU32 bufferSize, PxU32 startIndex = 0) const = 0;
virtual PxBVH* createBVH(PxInputStream& stream) = 0;
virtual PxU32 getNbBVHs() const = 0;
virtual PxU32 getBVHs(PxBVH** userBuffer, PxU32 bufferSize, PxU32 startIndex = 0) const = 0;
//\}
//\{
virtual PxScene* createScene(const PxSceneDesc& sceneDesc) = 0;
virtual PxU32 getNbScenes() const = 0;
virtual PxU32 getScenes(PxScene** userBuffer, PxU32 bufferSize, PxU32 startIndex = 0) const = 0;
//\}
//\{
virtual PxRigidStatic* createRigidStatic(const PxTransform& pose) = 0;
virtual PxRigidDynamic* createRigidDynamic(const PxTransform& pose) = 0;
virtual PxPruningStructure* createPruningStructure(PxRigidActor*const* actors, PxU32 nbActors) = 0;
//\}
//\{
PX_FORCE_INLINE PxShape* createShape( const PxGeometry& geometry,
const PxMaterial& material,
bool isExclusive = false,
PxShapeFlags shapeFlags = PxShapeFlag::eVISUALIZATION | PxShapeFlag::eSCENE_QUERY_SHAPE | PxShapeFlag::eSIMULATION_SHAPE)
{
PxMaterial* materialPtr = const_cast<PxMaterial*>(&material);
return createShape(geometry, &materialPtr, 1, isExclusive, shapeFlags);
}
PX_FORCE_INLINE PxShape* createShape( const PxGeometry& geometry,
const PxFEMSoftBodyMaterial& material,
bool isExclusive = false,
PxShapeFlags shapeFlags = PxShapeFlag::eVISUALIZATION | PxShapeFlag::eSCENE_QUERY_SHAPE | PxShapeFlag::eSIMULATION_SHAPE)
{
PxFEMSoftBodyMaterial* materialPtr = const_cast<PxFEMSoftBodyMaterial*>(&material);
return createShape(geometry, &materialPtr, 1, isExclusive, shapeFlags);
}
#if PX_ENABLE_FEATURES_UNDER_CONSTRUCTION
PX_FORCE_INLINE PxShape* createShape( const PxGeometry& geometry,
const PxFEMClothMaterial& material,
bool isExclusive = false,
PxShapeFlags shapeFlags = PxShapeFlag::eVISUALIZATION | PxShapeFlag::eSCENE_QUERY_SHAPE | PxShapeFlag::eSIMULATION_SHAPE)
{
PxFEMClothMaterial* materialPtr = const_cast<PxFEMClothMaterial*>(&material);
return createShape(geometry, &materialPtr, 1, isExclusive, shapeFlags);
}
#endif
virtual PxShape* createShape( const PxGeometry& geometry,
PxMaterial*const * materials,
PxU16 materialCount,
bool isExclusive = false,
PxShapeFlags shapeFlags = PxShapeFlag::eVISUALIZATION | PxShapeFlag::eSCENE_QUERY_SHAPE | PxShapeFlag::eSIMULATION_SHAPE) = 0;
virtual PxShape* createShape( const PxGeometry& geometry,
PxFEMSoftBodyMaterial*const * materials,
PxU16 materialCount,
bool isExclusive = false,
PxShapeFlags shapeFlags = PxShapeFlag::eVISUALIZATION | PxShapeFlag::eSCENE_QUERY_SHAPE | PxShapeFlag::eSIMULATION_SHAPE) = 0;
virtual PxShape* createShape( const PxGeometry& geometry,
PxFEMClothMaterial*const * materials,
PxU16 materialCount,
bool isExclusive = false,
PxShapeFlags shapeFlags = PxShapeFlag::eVISUALIZATION | PxShapeFlag::eSCENE_QUERY_SHAPE | PxShapeFlag::eSIMULATION_SHAPE) = 0;
virtual PxU32 getNbShapes() const = 0;
virtual PxU32 getShapes(PxShape** userBuffer, PxU32 bufferSize, PxU32 startIndex = 0) const = 0;
//\}
//\{
virtual PxConstraint* createConstraint(PxRigidActor* actor0, PxRigidActor* actor1, PxConstraintConnector& connector, const PxConstraintShaderTable& shaders, PxU32 dataSize) = 0;
virtual PxArticulationReducedCoordinate* createArticulationReducedCoordinate() = 0;
virtual PxFEMCloth* createFEMCloth(PxCudaContextManager& cudaContextManager) = 0;
virtual PxSoftBody* createSoftBody(PxCudaContextManager& cudaContextManager) = 0;
virtual PxHairSystem* createHairSystem(PxCudaContextManager& cudaContextManager) = 0;
virtual PxPBDParticleSystem* createPBDParticleSystem(PxCudaContextManager& cudaContextManager, PxU32 maxNeighborhood = 96, PxReal neighborhoodScale = 1.01f) = 0;
virtual PxParticleBuffer* createParticleBuffer(PxU32 maxParticles, PxU32 maxVolumes, PxCudaContextManager* cudaContextManager) = 0;
virtual PxParticleAndDiffuseBuffer* createParticleAndDiffuseBuffer(PxU32 maxParticles, PxU32 maxVolumes, PxU32 maxDiffuseParticles, PxCudaContextManager* cudaContextManager) = 0;
virtual PxParticleClothBuffer* createParticleClothBuffer(PxU32 maxParticles, PxU32 maxNumVolumes, PxU32 maxNumCloths, PxU32 maxNumTriangles, PxU32 maxNumSprings, PxCudaContextManager* cudaContextManager) = 0;
virtual PxParticleRigidBuffer* createParticleRigidBuffer(PxU32 maxParticles, PxU32 maxNumVolumes, PxU32 maxNumRigids, PxCudaContextManager* cudaContextManager) = 0;
//\}
//\{
virtual PxMaterial* createMaterial(PxReal staticFriction, PxReal dynamicFriction, PxReal restitution) = 0;
virtual PxU32 getNbMaterials() const = 0;
virtual PxU32 getMaterials(PxMaterial** userBuffer, PxU32 bufferSize, PxU32 startIndex = 0) const = 0;
virtual PxFEMSoftBodyMaterial* createFEMSoftBodyMaterial(PxReal youngs, PxReal poissons, PxReal dynamicFriction) = 0;
virtual PxU32 getNbFEMSoftBodyMaterials() const = 0;
virtual PxU32 getFEMSoftBodyMaterials(PxFEMSoftBodyMaterial** userBuffer, PxU32 bufferSize, PxU32 startIndex = 0) const = 0;
virtual PxFEMClothMaterial* createFEMClothMaterial(PxReal youngs, PxReal poissons, PxReal dynamicFriction, PxReal thickness = 0.001f) = 0;
virtual PxU32 getNbFEMClothMaterials() const = 0;
virtual PxU32 getFEMClothMaterials(PxFEMClothMaterial** userBuffer, PxU32 bufferSize, PxU32 startIndex = 0) const = 0;
virtual PxPBDMaterial* createPBDMaterial(PxReal friction, PxReal damping, PxReal adhesion, PxReal viscosity, PxReal vorticityConfinement, PxReal surfaceTension, PxReal cohesion, PxReal lift, PxReal drag, PxReal cflCoefficient = 1.f, PxReal gravityScale = 1.f) = 0;
virtual PxU32 getNbPBDMaterials() const = 0;
virtual PxU32 getPBDMaterials(PxPBDMaterial** userBuffer, PxU32 bufferSize, PxU32 startIndex = 0) const = 0;
//\}
//\{
virtual void registerDeletionListener(PxDeletionListener& observer, const PxDeletionEventFlags& deletionEvents, bool restrictedObjectSet = false) = 0;
virtual void unregisterDeletionListener(PxDeletionListener& observer) = 0;
virtual void registerDeletionListenerObjects(PxDeletionListener& observer, const PxBase* const* observables, PxU32 observableCount) = 0;
virtual void unregisterDeletionListenerObjects(PxDeletionListener& observer, const PxBase* const* observables, PxU32 observableCount) = 0;
virtual PxInsertionCallback& getPhysicsInsertionCallback() = 0;
//\}
};
#if !PX_DOXYGEN
} // namespace physx
#endif
PX_C_EXPORT PX_PHYSX_CORE_API physx::PxPhysics* PxCreatePhysics(physx::PxU32 version,
physx::PxFoundation& foundation,
const physx::PxTolerancesScale& scale,
bool trackOutstandingAllocations = false,
physx::PxPvd* pvd = NULL,
physx::PxOmniPvd* omniPvd = NULL);
#ifdef __clang__
#pragma clang diagnostic push
#pragma clang diagnostic ignored "-Wreturn-type-c-linkage"
#endif
PX_C_EXPORT PX_PHYSX_CORE_API physx::PxPhysics& PX_CALL_CONV PxGetPhysics();
#ifdef __clang__
#pragma clang diagnostic pop
#endif
#endif