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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_EXTENSIONS_RIGIDACTOR_H |
32 | #define PX_PHYSICS_EXTENSIONS_RIGIDACTOR_H |
33 | /** \addtogroup extensions |
34 | @{ |
35 | */ |
36 | |
37 | #include "PxPhysXConfig.h" |
38 | #include "PxPhysics.h" |
39 | #include "PxRigidActor.h" |
40 | |
41 | #if !PX_DOXYGEN |
42 | namespace physx |
43 | { |
44 | #endif |
45 | |
46 | /** |
47 | \brief utility functions for use with PxRigidActor and subclasses |
48 | |
49 | @see PxRigidActor PxRigidStatic PxRigidBody PxRigidDynamic PxArticulationLink |
50 | */ |
51 | |
52 | class PxRigidActorExt |
53 | { |
54 | public: |
55 | |
56 | /** |
57 | \brief Creates a new shape with default properties and a list of materials and adds it to the list of shapes of this actor. |
58 | |
59 | This is equivalent to the following |
60 | |
61 | PxShape* shape(...) = PxGetPhysics().createShape(...); // reference count is 1 |
62 | actor->attachShape(shape); // increments reference count |
63 | shape->release(); // releases user reference, leaving reference count at 1 |
64 | |
65 | As a consequence, detachShape() will result in the release of the last reference, and the shape will be deleted. |
66 | |
67 | \note The default shape flags to be set are: eVISUALIZATION, eSIMULATION_SHAPE, eSCENE_QUERY_SHAPE (see #PxShapeFlag). |
68 | Triangle mesh, heightfield or plane geometry shapes configured as eSIMULATION_SHAPE are not supported for |
69 | non-kinematic PxRigidDynamic instances. |
70 | |
71 | \note Creating compounds with a very large number of shapes may adversely affect performance and stability. |
72 | |
73 | <b>Sleeping:</b> Does <b>NOT</b> wake the actor up automatically. |
74 | |
75 | \param[in] actor the actor to which to attach the shape |
76 | \param[in] geometry the geometry of the shape |
77 | \param[in] materials a pointer to an array of material pointers |
78 | \param[in] materialCount the count of materials |
79 | \param[in] shapeFlags optional PxShapeFlags |
80 | |
81 | \return The newly created shape. |
82 | |
83 | @see PxShape PxShape::release(), PxPhysics::createShape(), PxRigidActor::attachShape() |
84 | */ |
85 | |
86 | static PxShape* createExclusiveShape(PxRigidActor& actor, const PxGeometry& geometry, PxMaterial*const* materials, PxU16 materialCount, |
87 | PxShapeFlags shapeFlags = PxShapeFlag::eVISUALIZATION | PxShapeFlag::eSCENE_QUERY_SHAPE | PxShapeFlag::eSIMULATION_SHAPE) |
88 | { |
89 | PxShape* shape = PxGetPhysics().createShape(geometry, materials, materialCount, isExclusive: true, shapeFlags); |
90 | if(shape) |
91 | { |
92 | bool status = actor.attachShape(shape&: *shape); // attach can fail, if e.g. we try and attach a trimesh simulation shape to a dynamic actor |
93 | shape->release(); // if attach fails, we hold the only counted reference, and so this cleans up properly |
94 | if(!status) |
95 | shape = NULL; |
96 | } |
97 | return shape; |
98 | } |
99 | |
100 | /** |
101 | \brief Creates a new shape with default properties and a single material adds it to the list of shapes of this actor. |
102 | |
103 | This is equivalent to the following |
104 | |
105 | PxShape* shape(...) = PxGetPhysics().createShape(...); // reference count is 1 |
106 | actor->attachShape(shape); // increments reference count |
107 | shape->release(); // releases user reference, leaving reference count at 1 |
108 | |
109 | As a consequence, detachShape() will result in the release of the last reference, and the shape will be deleted. |
110 | |
111 | \note The default shape flags to be set are: eVISUALIZATION, eSIMULATION_SHAPE, eSCENE_QUERY_SHAPE (see #PxShapeFlag). |
112 | Triangle mesh, heightfield or plane geometry shapes configured as eSIMULATION_SHAPE are not supported for |
113 | non-kinematic PxRigidDynamic instances. |
114 | |
115 | \note Creating compounds with a very large number of shapes may adversely affect performance and stability. |
116 | |
117 | <b>Sleeping:</b> Does <b>NOT</b> wake the actor up automatically. |
118 | |
119 | \param[in] actor the actor to which to attach the shape |
120 | \param[in] geometry the geometry of the shape |
121 | \param[in] material the material for the shape |
122 | \param[in] shapeFlags optional PxShapeFlags |
123 | |
124 | \return The newly created shape. |
125 | |
126 | @see PxShape PxShape::release(), PxPhysics::createShape(), PxRigidActor::attachShape() |
127 | */ |
128 | |
129 | static PX_FORCE_INLINE PxShape* createExclusiveShape(PxRigidActor& actor, const PxGeometry& geometry, const PxMaterial& material, |
130 | PxShapeFlags shapeFlags = PxShapeFlag::eVISUALIZATION | PxShapeFlag::eSCENE_QUERY_SHAPE | PxShapeFlag::eSIMULATION_SHAPE) |
131 | { |
132 | PxMaterial* materialPtr = const_cast<PxMaterial*>(&material); |
133 | return createExclusiveShape(actor, geometry, materials: &materialPtr, materialCount: 1, shapeFlags); |
134 | } |
135 | |
136 | |
137 | /** |
138 | \brief Gets a list of bounds based on shapes in rigid actor. This list can be used to cook/create |
139 | bounding volume hierarchy though PxCooking API. |
140 | |
141 | \param[in] actor The actor from which the bounds list is retrieved. |
142 | \param[out] numBounds Number of bounds in returned list. |
143 | |
144 | @see PxShape PxBVHStructure PxCooking::createBVHStructure PxCooking::cookBVHStructure |
145 | */ |
146 | static PxBounds3* getRigidActorShapeLocalBoundsList(const PxRigidActor& actor, PxU32& numBounds); |
147 | |
148 | }; |
149 | |
150 | #if !PX_DOXYGEN |
151 | } // namespace physx |
152 | #endif |
153 | |
154 | /** @} */ |
155 | #endif |
156 | |