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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
42namespace 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
52class PxRigidActorExt
53{
54public:
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

source code of qtquick3dphysics/src/3rdparty/PhysX/include/extensions/PxRigidActorExt.h