include/PxRigidBody.h
File members: include/PxRigidBody.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_RIGID_BODY_H
#define PX_RIGID_BODY_H
#include "PxRigidActor.h"
#include "PxForceMode.h"
#include "PxNodeIndex.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
struct PxRigidBodyFlag
{
enum Enum
{
eKINEMATIC = (1<<0),
eUSE_KINEMATIC_TARGET_FOR_SCENE_QUERIES = (1<<1),
eENABLE_CCD = (1<<2),
eENABLE_CCD_FRICTION = (1<<3),
eENABLE_SPECULATIVE_CCD = (1<<4),
eENABLE_POSE_INTEGRATION_PREVIEW = (1<<5),
eENABLE_CCD_MAX_CONTACT_IMPULSE = (1<<6),
eRETAIN_ACCELERATIONS = (1<<7),
eFORCE_KINE_KINE_NOTIFICATIONS = (1<<8),
eFORCE_STATIC_KINE_NOTIFICATIONS = (1<<9),
eENABLE_GYROSCOPIC_FORCES = (1<<10),
eRESERVED = (1<<15)
};
};
typedef PxFlags<PxRigidBodyFlag::Enum,PxU16> PxRigidBodyFlags;
PX_FLAGS_OPERATORS(PxRigidBodyFlag::Enum,PxU16)
class PxRigidBody : public PxRigidActor
{
public:
// Runtime modifications
/************************************************************************************************/
virtual void setCMassLocalPose(const PxTransform& pose) = 0;
virtual PxTransform getCMassLocalPose() const = 0;
virtual void setMass(PxReal mass) = 0;
virtual PxReal getMass() const = 0;
virtual PxReal getInvMass() const = 0;
virtual void setMassSpaceInertiaTensor(const PxVec3& m) = 0;
virtual PxVec3 getMassSpaceInertiaTensor() const = 0;
virtual PxVec3 getMassSpaceInvInertiaTensor() const = 0;
/************************************************************************************************/
virtual void setLinearDamping(PxReal linDamp) = 0;
virtual PxReal getLinearDamping() const = 0;
virtual void setAngularDamping(PxReal angDamp) = 0;
virtual PxReal getAngularDamping() const = 0;
/************************************************************************************************/
virtual PxVec3 getLinearVelocity() const = 0;
virtual PxVec3 getAngularVelocity() const = 0;
virtual void setMaxLinearVelocity(PxReal maxLinVel) = 0;
virtual PxReal getMaxLinearVelocity() const = 0;
virtual void setMaxAngularVelocity(PxReal maxAngVel) = 0;
virtual PxReal getMaxAngularVelocity() const = 0;
/************************************************************************************************/
virtual PxVec3 getLinearAcceleration() const = 0;
virtual PxVec3 getAngularAcceleration() const = 0;
/************************************************************************************************/
virtual void addForce(const PxVec3& force, PxForceMode::Enum mode = PxForceMode::eFORCE, bool autowake = true) = 0;
virtual void addTorque(const PxVec3& torque, PxForceMode::Enum mode = PxForceMode::eFORCE, bool autowake = true) = 0;
virtual void clearForce(PxForceMode::Enum mode = PxForceMode::eFORCE) = 0;
virtual void clearTorque(PxForceMode::Enum mode = PxForceMode::eFORCE) = 0;
virtual void setForceAndTorque(const PxVec3& force, const PxVec3& torque, PxForceMode::Enum mode = PxForceMode::eFORCE) = 0;
virtual void setRigidBodyFlag(PxRigidBodyFlag::Enum flag, bool value) = 0;
virtual void setRigidBodyFlags(PxRigidBodyFlags inFlags) = 0;
virtual PxRigidBodyFlags getRigidBodyFlags() const = 0;
virtual void setMinCCDAdvanceCoefficient(PxReal advanceCoefficient) = 0;
virtual PxReal getMinCCDAdvanceCoefficient() const = 0;
virtual void setMaxDepenetrationVelocity(PxReal biasClamp) = 0;
virtual PxReal getMaxDepenetrationVelocity() const = 0;
virtual void setMaxContactImpulse(PxReal maxImpulse) = 0;
virtual PxReal getMaxContactImpulse() const = 0;
virtual void setContactSlopCoefficient(PxReal slopCoefficient) = 0;
virtual PxReal getContactSlopCoefficient() const = 0;
virtual PxNodeIndex getInternalIslandNodeIndex() const = 0;
protected:
PX_INLINE PxRigidBody(PxType concreteType, PxBaseFlags baseFlags) : PxRigidActor(concreteType, baseFlags) {}
PX_INLINE PxRigidBody(PxBaseFlags baseFlags) : PxRigidActor(baseFlags) {}
virtual ~PxRigidBody() {}
virtual bool isKindOf(const char* name) const { PX_IS_KIND_OF(name, "PxRigidBody", PxRigidActor); }
};
#if !PX_DOXYGEN
} // namespace physx
#endif
#endif