include/PxRigidDynamic.h
File members: include/PxRigidDynamic.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_DYNAMIC_H
#define PX_RIGID_DYNAMIC_H
#include "PxRigidBody.h"
#include "foundation/PxSimpleTypes.h"
#if !PX_DOXYGEN
namespace physx
{
#endif
struct PxRigidDynamicLockFlag
{
enum Enum
{
eLOCK_LINEAR_X = (1 << 0),
eLOCK_LINEAR_Y = (1 << 1),
eLOCK_LINEAR_Z = (1 << 2),
eLOCK_ANGULAR_X = (1 << 3),
eLOCK_ANGULAR_Y = (1 << 4),
eLOCK_ANGULAR_Z = (1 << 5)
};
};
typedef PxFlags<PxRigidDynamicLockFlag::Enum, PxU8> PxRigidDynamicLockFlags;
PX_FLAGS_OPERATORS(PxRigidDynamicLockFlag::Enum, PxU8)
class PxRigidDynamic : public PxRigidBody
{
public:
// Runtime modifications
/************************************************************************************************/
virtual void setKinematicTarget(const PxTransform& destination) = 0;
virtual bool getKinematicTarget(PxTransform& target) const = 0;
/************************************************************************************************/
virtual bool isSleeping() const = 0;
virtual void setSleepThreshold(PxReal threshold) = 0;
virtual PxReal getSleepThreshold() const = 0;
virtual void setStabilizationThreshold(PxReal threshold) = 0;
virtual PxReal getStabilizationThreshold() const = 0;
virtual void setWakeCounter(PxReal wakeCounterValue) = 0;
virtual PxReal getWakeCounter() const = 0;
virtual void wakeUp() = 0;
virtual void putToSleep() = 0;
/************************************************************************************************/
virtual PxRigidDynamicLockFlags getRigidDynamicLockFlags() const = 0;
virtual void setRigidDynamicLockFlag(PxRigidDynamicLockFlag::Enum flag, bool value) = 0;
virtual void setRigidDynamicLockFlags(PxRigidDynamicLockFlags flags) = 0;
virtual PxVec3 getLinearVelocity() const = 0;
virtual void setLinearVelocity(const PxVec3& linVel, bool autowake = true) = 0;
virtual PxVec3 getAngularVelocity() const = 0;
virtual void setAngularVelocity(const PxVec3& angVel, bool autowake = true) = 0;
/************************************************************************************************/
virtual void setSolverIterationCounts(PxU32 minPositionIters, PxU32 minVelocityIters = 1) = 0;
virtual void getSolverIterationCounts(PxU32& minPositionIters, PxU32& minVelocityIters) const = 0;
virtual PxReal getContactReportThreshold() const = 0;
virtual void setContactReportThreshold(PxReal threshold) = 0;
virtual PxRigidDynamicGPUIndex getGPUIndex() const = 0;
virtual const char* getConcreteTypeName() const { return "PxRigidDynamic"; }
protected:
PX_INLINE PxRigidDynamic(PxType concreteType, PxBaseFlags baseFlags) : PxRigidBody(concreteType, baseFlags) { }
PX_INLINE PxRigidDynamic(PxBaseFlags baseFlags) : PxRigidBody(baseFlags) {}
virtual ~PxRigidDynamic() {}
virtual bool isKindOf(const char* name) const { PX_IS_KIND_OF(name, "PxRigidDynamic", PxRigidBody); }
};
#if !PX_DOXYGEN
} // namespace physx
#endif
#endif