PxRigidBodyExt.h

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/*
 * Copyright (c) 2008-2015, NVIDIA CORPORATION.  All rights reserved.
 *
 * NVIDIA CORPORATION and its licensors retain all intellectual property
 * and proprietary rights in and to this software, related documentation
 * and any modifications thereto.  Any use, reproduction, disclosure or
 * distribution of this software and related documentation without an express
 * license agreement from NVIDIA CORPORATION is strictly prohibited.
 */
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  


#ifndef PX_PHYSICS_EXTENSIONS_RIGIDBODY_H
#define PX_PHYSICS_EXTENSIONS_RIGIDBODY_H

#include "PxPhysXConfig.h"
#include "PxRigidBody.h"
#include "PxQueryReport.h"
#include "PxFiltering.h"
#include "PxQueryFiltering.h"
#include "PxScene.h"
#include "PxClient.h"

#ifndef PX_DOXYGEN
namespace physx
{
#endif

class PxScene;

class PxRigidBodyExt
{
public:
    static      bool            updateMassAndInertia(PxRigidBody& body, const PxReal* shapeDensities, PxU32 shapeDensityCount, const PxVec3* massLocalPose = NULL, bool includeNonSimShapes = false);


    static      bool            updateMassAndInertia(PxRigidBody& body, PxReal density, const PxVec3* massLocalPose = NULL, bool includeNonSimShapes = false);
    

    static      bool            setMassAndUpdateInertia(PxRigidBody& body, const PxReal* shapeMasses, PxU32 shapeMassCount, const PxVec3* massLocalPose = NULL, bool includeNonSimShapes = false);


    static      bool            setMassAndUpdateInertia(PxRigidBody& body, PxReal mass, const PxVec3* massLocalPose = NULL, bool includeNonSimShapes = false);
    

    static      void            addForceAtPos(PxRigidBody& body, const PxVec3& force, const PxVec3& pos, PxForceMode::Enum mode = PxForceMode::eFORCE, bool wakeup = true);

    static      void            addForceAtLocalPos(PxRigidBody& body, const PxVec3& force, const PxVec3& pos, PxForceMode::Enum mode = PxForceMode::eFORCE, bool wakeup = true);

    static      void            addLocalForceAtPos(PxRigidBody& body, const PxVec3& force, const PxVec3& pos, PxForceMode::Enum mode = PxForceMode::eFORCE, bool wakeup = true);

    static      void            addLocalForceAtLocalPos(PxRigidBody& body, const PxVec3& force, const PxVec3& pos, PxForceMode::Enum mode = PxForceMode::eFORCE, bool wakeup = true);

    static      PxVec3          getVelocityAtPos(const PxRigidBody& body, const PxVec3& pos);

    static      PxVec3          getLocalVelocityAtLocalPos(const PxRigidBody& body, const PxVec3& pos);

    static      PxVec3          getVelocityAtOffset(const PxRigidBody& body, const PxVec3& pos);


    static      bool            linearSweepSingle(
                                    PxRigidBody& body, PxScene& scene, const PxVec3& unitDir, const PxReal distance,
                                    PxHitFlags outputFlags,
                                    PxSweepHit& closestHit, PxU32& shapeIndex,
                                    const PxQueryFilterData& filterData = PxQueryFilterData(),
                                    PxQueryFilterCallback* filterCall = NULL,
                                    const PxQueryCache* cache = NULL,
                                    const PxReal inflation=0.0f);

    static      PxU32           linearSweepMultiple(
                                    PxRigidBody& body, PxScene& scene, const PxVec3& unitDir, const PxReal distance,
                                    PxHitFlags outputFlags,
                                    PxSweepHit* touchHitBuffer, PxU32* touchHitShapeIndices, PxU32 touchHitBufferSize,
                                    PxSweepHit& block, PxI32& blockingShapeIndex, bool& overflow,
                                    const PxQueryFilterData& filterData = PxQueryFilterData(),
                                    PxQueryFilterCallback* filterCall = NULL,
                                    const PxQueryCache* cache = NULL, const PxReal inflation = 0.0f);


    static      void            computeVelocityDeltaFromImpulse(const PxRigidBody& body, const PxVec3& impulsiveForce, const PxVec3& impulsiveTorque, PxVec3& deltaLinearVelocity, PxVec3& deltaAngularVelocity);

    static void                 computeVelocityDeltaFromImpulse(const PxRigidBody& body, const PxTransform& globalPose, const PxVec3& point, const PxVec3& impulse, const PxReal invMassScale, 
                                                        const PxReal invInertiaScale, PxVec3& deltaLinearVelocity, PxVec3& deltaAngularVelocity);

    static void                 computeLinearAngularImpulse(const PxRigidBody& body, const PxTransform& globalPose, const PxVec3& point, const PxVec3& impulse, const PxReal invMassScale, 
                                                        const PxReal invInertiaScale, PxVec3& linearImpulse, PxVec3& angularImpulse);


};

#ifndef PX_DOXYGEN
} // namespace physx
#endif

#endif