include/PxRigidActor.h

File members: include/PxRigidActor.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) 2008-2024 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_RIGID_ACTOR_H
#define PX_RIGID_ACTOR_H

#include "PxActor.h"
#include "PxShape.h"

#if !PX_DOXYGEN
namespace physx
{
#endif

class PxConstraint;

class PxRigidActor : public PxActor
{
public:
    virtual     void            release() = 0;

    virtual PxU32               getInternalActorIndex() const = 0;

/************************************************************************************************/
    virtual     PxTransform     getGlobalPose()     const = 0;

    virtual     void            setGlobalPose(const PxTransform& pose, bool autowake = true) = 0;

/************************************************************************************************/
    virtual bool                attachShape(PxShape& shape) = 0;

    virtual void                detachShape(PxShape& shape, bool wakeOnLostTouch = true) = 0;

    virtual     PxU32           getNbShapes()       const   = 0;

    virtual     PxU32           getShapes(PxShape** userBuffer, PxU32 bufferSize, PxU32 startIndex=0)           const   = 0;

/************************************************************************************************/
    virtual     PxU32           getNbConstraints()      const   = 0;

    virtual     PxU32           getConstraints(PxConstraint** userBuffer, PxU32 bufferSize, PxU32 startIndex=0)     const   = 0;

protected:
    PX_INLINE                   PxRigidActor(PxType concreteType, PxBaseFlags baseFlags) : PxActor(concreteType, baseFlags) {}
    PX_INLINE                   PxRigidActor(PxBaseFlags baseFlags) : PxActor(baseFlags) {}
    virtual                     ~PxRigidActor() {}
    virtual     bool            isKindOf(const char* name)  const   {   PX_IS_KIND_OF(name, "PxRigidActor", PxActor); }
};

#if !PX_DOXYGEN
} // namespace physx
#endif

#endif