1 | // |
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3 | // modification, are permitted provided that the following conditions |
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5 | // * Redistributions of source code must retain the above copyright |
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7 | // * Redistributions in binary form must reproduce the above copyright |
8 | // notice, this list of conditions and the following disclaimer in the |
9 | // documentation and/or other materials provided with the distribution. |
10 | // * Neither the name of NVIDIA CORPORATION nor the names of its |
11 | // contributors may be used to endorse or promote products derived |
12 | // from this software without specific prior written permission. |
13 | // |
14 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY |
15 | // EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
16 | // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR |
17 | // PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR |
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22 | // OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
23 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
24 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
25 | // |
26 | // Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved. |
27 | // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved. |
28 | // Copyright (c) 2001-2004 NovodeX AG. All rights reserved. |
29 | |
30 | |
31 | #ifndef PX_PHYSICS_NX_ACTOR |
32 | #define PX_PHYSICS_NX_ACTOR |
33 | |
34 | /** \addtogroup physics |
35 | @{ |
36 | */ |
37 | |
38 | #include "PxPhysXConfig.h" |
39 | #include "foundation/PxBounds3.h" |
40 | #include "PxClient.h" |
41 | #include "common/PxBase.h" |
42 | |
43 | #if !PX_DOXYGEN |
44 | namespace physx |
45 | { |
46 | #endif |
47 | |
48 | class PxRigidActor; |
49 | class PxRigidBody; |
50 | class PxRigidStatic; |
51 | class PxRigidDynamic; |
52 | class PxArticulation; |
53 | class PxArticulationLink; |
54 | |
55 | |
56 | /** Group index which allows to specify 1- or 2-way interaction */ |
57 | typedef PxU8 PxDominanceGroup; // Must be < 32, PxU8. |
58 | |
59 | /** |
60 | \brief Flags which control the behavior of an actor. |
61 | |
62 | @see PxActorFlags PxActor PxActor.setActorFlag() PxActor.getActorFlags() |
63 | */ |
64 | struct PxActorFlag |
65 | { |
66 | enum Enum |
67 | { |
68 | /** |
69 | \brief Enable debug renderer for this actor |
70 | |
71 | @see PxScene.getRenderBuffer() PxRenderBuffer PxVisualizationParameter |
72 | */ |
73 | eVISUALIZATION = (1<<0), |
74 | |
75 | /** |
76 | \brief Disables scene gravity for this actor |
77 | */ |
78 | eDISABLE_GRAVITY = (1<<1), |
79 | |
80 | /** |
81 | \brief Enables the sending of PxSimulationEventCallback::onWake() and PxSimulationEventCallback::onSleep() notify events |
82 | |
83 | @see PxSimulationEventCallback::onWake() PxSimulationEventCallback::onSleep() |
84 | */ |
85 | eSEND_SLEEP_NOTIFIES = (1<<2), |
86 | |
87 | /** |
88 | \brief Disables simulation for the actor. |
89 | |
90 | \note This is only supported by PxRigidStatic and PxRigidDynamic actors and can be used to reduce the memory footprint when rigid actors are |
91 | used for scene queries only. |
92 | |
93 | \note Setting this flag will remove all constraints attached to the actor from the scene. |
94 | |
95 | \note If this flag is set, the following calls are forbidden: |
96 | \li PxRigidBody: setLinearVelocity(), setAngularVelocity(), addForce(), addTorque(), clearForce(), clearTorque() |
97 | \li PxRigidDynamic: setKinematicTarget(), setWakeCounter(), wakeUp(), putToSleep() |
98 | |
99 | \par <b>Sleeping:</b> |
100 | Raising this flag will set all velocities and the wake counter to 0, clear all forces, clear the kinematic target, put the actor |
101 | to sleep and wake up all touching actors from the previous frame. |
102 | */ |
103 | eDISABLE_SIMULATION = (1<<3) |
104 | }; |
105 | }; |
106 | |
107 | /** |
108 | \brief collection of set bits defined in PxActorFlag. |
109 | |
110 | @see PxActorFlag |
111 | */ |
112 | typedef PxFlags<PxActorFlag::Enum,PxU8> PxActorFlags; |
113 | PX_FLAGS_OPERATORS(PxActorFlag::Enum,PxU8) |
114 | |
115 | /** |
116 | \brief Identifies each type of actor. |
117 | @see PxActor |
118 | */ |
119 | struct PxActorType |
120 | { |
121 | enum Enum |
122 | { |
123 | /** |
124 | \brief A static rigid body |
125 | @see PxRigidStatic |
126 | */ |
127 | eRIGID_STATIC, |
128 | |
129 | /** |
130 | \brief A dynamic rigid body |
131 | @see PxRigidDynamic |
132 | */ |
133 | eRIGID_DYNAMIC, |
134 | |
135 | /** |
136 | \brief An articulation link |
137 | @see PxArticulationLink |
138 | */ |
139 | eARTICULATION_LINK, |
140 | |
141 | //brief internal use only! |
142 | eACTOR_COUNT, |
143 | |
144 | eACTOR_FORCE_DWORD = 0x7fffffff |
145 | }; |
146 | }; |
147 | |
148 | /** |
149 | \brief PxActor is the base class for the main simulation objects in the physics SDK. |
150 | |
151 | The actor is owned by and contained in a PxScene. |
152 | |
153 | */ |
154 | class PxActor : public PxBase |
155 | { |
156 | public: |
157 | /** |
158 | \brief Deletes the actor. |
159 | |
160 | Do not keep a reference to the deleted instance. |
161 | |
162 | If the actor belongs to a #PxAggregate object, it is automatically removed from the aggregate. |
163 | |
164 | @see PxBase.release(), PxAggregate |
165 | */ |
166 | virtual void release() = 0; |
167 | |
168 | /** |
169 | \brief Retrieves the type of actor. |
170 | |
171 | \return The actor type of the actor. |
172 | |
173 | @see PxActorType |
174 | */ |
175 | virtual PxActorType::Enum getType() const = 0; |
176 | |
177 | /** |
178 | \brief Retrieves the scene which this actor belongs to. |
179 | |
180 | \return Owner Scene. NULL if not part of a scene. |
181 | |
182 | @see PxScene |
183 | */ |
184 | virtual PxScene* getScene() const = 0; |
185 | |
186 | // Runtime modifications |
187 | |
188 | /** |
189 | \brief Sets a name string for the object that can be retrieved with getName(). |
190 | |
191 | This is for debugging and is not used by the SDK. The string is not copied by the SDK, |
192 | only the pointer is stored. |
193 | |
194 | \param[in] name String to set the objects name to. |
195 | |
196 | <b>Default:</b> NULL |
197 | |
198 | @see getName() |
199 | */ |
200 | virtual void setName(const char* name) = 0; |
201 | |
202 | /** |
203 | \brief Retrieves the name string set with setName(). |
204 | |
205 | \return Name string associated with object. |
206 | |
207 | @see setName() |
208 | */ |
209 | virtual const char* getName() const = 0; |
210 | |
211 | /** |
212 | \brief Retrieves the axis aligned bounding box enclosing the actor. |
213 | |
214 | \param[in] inflation Scale factor for computed world bounds. Box extents are multiplied by this value. |
215 | |
216 | \return The actor's bounding box. |
217 | |
218 | @see PxBounds3 |
219 | */ |
220 | virtual PxBounds3 getWorldBounds(float inflation=1.01f) const = 0; |
221 | |
222 | /** |
223 | \brief Raises or clears a particular actor flag. |
224 | |
225 | See the list of flags #PxActorFlag |
226 | |
227 | <b>Sleeping:</b> Does <b>NOT</b> wake the actor up automatically. |
228 | |
229 | \param[in] flag The PxActor flag to raise(set) or clear. See #PxActorFlag. |
230 | \param[in] value The boolean value to assign to the flag. |
231 | |
232 | <b>Default:</b> PxActorFlag::eVISUALIZATION |
233 | |
234 | @see PxActorFlag getActorFlags() |
235 | */ |
236 | virtual void setActorFlag(PxActorFlag::Enum flag, bool value) = 0; |
237 | /** |
238 | \brief sets the actor flags |
239 | |
240 | See the list of flags #PxActorFlag |
241 | @see PxActorFlag setActorFlag() |
242 | */ |
243 | virtual void setActorFlags( PxActorFlags inFlags ) = 0; |
244 | |
245 | /** |
246 | \brief Reads the PxActor flags. |
247 | |
248 | See the list of flags #PxActorFlag |
249 | |
250 | \return The values of the PxActor flags. |
251 | |
252 | @see PxActorFlag setActorFlag() |
253 | */ |
254 | virtual PxActorFlags getActorFlags() const = 0; |
255 | |
256 | /** |
257 | \brief Assigns dynamic actors a dominance group identifier. |
258 | |
259 | PxDominanceGroup is a 5 bit group identifier (legal range from 0 to 31). |
260 | |
261 | The PxScene::setDominanceGroupPair() lets you set certain behaviors for pairs of dominance groups. |
262 | By default every dynamic actor is created in group 0. |
263 | |
264 | <b>Default:</b> 0 |
265 | |
266 | <b>Sleeping:</b> Changing the dominance group does <b>NOT</b> wake the actor up automatically. |
267 | |
268 | \param[in] dominanceGroup The dominance group identifier. <b>Range:</b> [0..31] |
269 | |
270 | @see getDominanceGroup() PxDominanceGroup PxScene::setDominanceGroupPair() |
271 | */ |
272 | virtual void setDominanceGroup(PxDominanceGroup dominanceGroup) = 0; |
273 | |
274 | /** |
275 | \brief Retrieves the value set with setDominanceGroup(). |
276 | |
277 | \return The dominance group of this actor. |
278 | |
279 | @see setDominanceGroup() PxDominanceGroup PxScene::setDominanceGroupPair() |
280 | */ |
281 | virtual PxDominanceGroup getDominanceGroup() const = 0; |
282 | |
283 | |
284 | /** |
285 | \brief Sets the owner client of an actor. |
286 | |
287 | This cannot be done once the actor has been placed into a scene. |
288 | |
289 | <b>Default:</b> PX_DEFAULT_CLIENT |
290 | |
291 | @see PxClientID PxScene::createClient() |
292 | */ |
293 | virtual void setOwnerClient( PxClientID inClient ) = 0; |
294 | |
295 | /** |
296 | \brief Returns the owner client that was specified with at creation time. |
297 | |
298 | This value cannot be changed once the object is placed into the scene. |
299 | |
300 | @see PxClientID PxScene::createClient() |
301 | */ |
302 | virtual PxClientID getOwnerClient() const = 0; |
303 | |
304 | /** |
305 | \brief Retrieves the aggregate the actor might be a part of. |
306 | |
307 | \return The aggregate the actor is a part of, or NULL if the actor does not belong to an aggregate. |
308 | |
309 | @see PxAggregate |
310 | */ |
311 | virtual PxAggregate* getAggregate() const = 0; |
312 | |
313 | //public variables: |
314 | void* userData; //!< user can assign this to whatever, usually to create a 1:1 relationship with a user object. |
315 | |
316 | protected: |
317 | PX_INLINE PxActor(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags), userData(NULL) {} |
318 | PX_INLINE PxActor(PxBaseFlags baseFlags) : PxBase(baseFlags) {} |
319 | virtual ~PxActor() {} |
320 | virtual bool isKindOf(const char* name) const { return !::strcmp(s1: "PxActor" , s2: name) || PxBase::isKindOf(superClass: name); } |
321 | |
322 | |
323 | }; |
324 | |
325 | #if !PX_DOXYGEN |
326 | } // namespace physx |
327 | #endif |
328 | |
329 | /** @} */ |
330 | #endif |
331 | |