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00031 #ifndef PX_PHYSICS_NX_CLOTH
00032 #define PX_PHYSICS_NX_CLOTH
00033
00037 #include "PxPhysXConfig.h"
00038 #include "PxActor.h"
00039 #include "PxLockedData.h"
00040 #include "PxFiltering.h"
00041 #include "cloth/PxClothFabric.h"
00042 #include "cloth/PxClothTypes.h"
00043 #include "cloth/PxClothCollisionData.h"
00044
00045 #if !PX_DOXYGEN
00046 namespace physx
00047 {
00048 #endif
00049
00050 class PxScene;
00051
00058 struct PX_DEPRECATED PxClothStretchConfig
00059 {
00067 PxReal stiffness;
00068
00074 PxReal stiffnessMultiplier;
00075
00082 PxReal compressionLimit;
00083
00090 PxReal stretchLimit;
00091
00095 PX_INLINE PxClothStretchConfig( PxReal stiffness_=1.0f,
00096 PxReal stiffnessMultiplier_=1.0f, PxReal compressionLimit_=1.0f, PxReal stretchLimit_=1.0f)
00097 : stiffness(stiffness_)
00098 , stiffnessMultiplier(stiffnessMultiplier_)
00099 , compressionLimit(compressionLimit_)
00100 , stretchLimit(stretchLimit_)
00101 {}
00102 };
00103
00110 struct PX_DEPRECATED PxClothTetherConfig
00111 {
00119 PxReal stiffness;
00120
00127 PxReal stretchLimit;
00128
00132 PX_INLINE PxClothTetherConfig(PxReal stiffness_ = 1.0f, PxReal stretchLimit_ = 1.0f)
00133 : stiffness(stiffness_), stretchLimit(stretchLimit_)
00134 {}
00135 };
00136
00143 struct PX_DEPRECATED PxClothMotionConstraintConfig
00144 {
00151 PxReal scale;
00152
00159 PxReal bias;
00160
00168 PxReal stiffness;
00169
00173 PX_INLINE PxClothMotionConstraintConfig(PxReal radiiScale = 1.0f, PxReal radiiBias = 0.0f, PxReal consStiffness = 1.0f)
00174 : scale(radiiScale), bias(radiiBias), stiffness(consStiffness)
00175 {}
00176 };
00177
00194 class PX_DEPRECATED PxCloth : public PxActor
00195 {
00196 public:
00201 virtual void release() = 0;
00202
00207 virtual PxClothFabric* getFabric() const = 0;
00208
00214 virtual PxBounds3 getWorldBounds(float inflation=1.01f) const = 0;
00215
00220 virtual PxU32 getNbParticles() const = 0;
00221
00242 virtual PxClothParticleData* lockParticleData(PxDataAccessFlags flags) = 0;
00248 virtual PxClothParticleData* lockParticleData() const = 0;
00249
00260 virtual void setParticles(const PxClothParticle* currentParticles, const PxClothParticle* previousParticles) = 0;
00261
00267 virtual void setClothFlag(PxClothFlag::Enum flag, bool value) = 0;
00272 virtual void setClothFlags(PxClothFlags inFlags) = 0;
00277 virtual PxClothFlags getClothFlags() const = 0;
00278
00282
00283
00291 virtual void setTargetPose(const PxTransform& pose) = 0;
00300 virtual void setGlobalPose(const PxTransform& pose) = 0;
00305 virtual PxTransform getGlobalPose() const = 0;
00306
00314 virtual void setSolverFrequency(PxReal frequency) = 0;
00319 virtual PxReal getSolverFrequency() const = 0;
00320
00326 virtual PxReal getPreviousTimeStep() const = 0;
00327
00339 virtual void setStiffnessFrequency(PxReal frequency) = 0;
00345 virtual PxReal getStiffnessFrequency() const = 0;
00346
00354 virtual void setLinearInertiaScale(PxVec3 scale) = 0;
00359 virtual PxVec3 getLinearInertiaScale() const = 0;
00367 virtual void setAngularInertiaScale(PxVec3 scale) = 0;
00372 virtual PxVec3 getAngularInertiaScale() const = 0;
00380 virtual void setCentrifugalInertiaScale(PxVec3 scale) = 0;
00385 virtual PxVec3 getCentrifugalInertiaScale() const = 0;
00390 virtual void setInertiaScale(PxReal scale) = 0;
00391
00399 virtual void setDampingCoefficient(PxVec3 dampingCoefficient) = 0;
00404 virtual PxVec3 getDampingCoefficient() const = 0;
00405
00414 virtual void setLinearDragCoefficient(PxVec3 dragCoefficient) = 0;
00419 virtual PxVec3 getLinearDragCoefficient() const = 0;
00428 virtual void setAngularDragCoefficient(PxVec3 dragCoefficient) = 0;
00433 virtual PxVec3 getAngularDragCoefficient() const = 0;
00438 virtual void setDragCoefficient(PxReal scale) = 0;
00439
00445 virtual void setExternalAcceleration(PxVec3 acceleration) = 0;
00450 virtual PxVec3 getExternalAcceleration() const = 0;
00451
00458 virtual void setParticleAccelerations(const PxVec4* particleAccelerations) = 0;
00464 virtual bool getParticleAccelerations(PxVec4* particleAccelerationsBuffer) const = 0;
00469 virtual PxU32 getNbParticleAccelerations() const = 0;
00470
00474 virtual PxVec3 getWindVelocity() const = 0;
00478 virtual void setWindVelocity(PxVec3) = 0;
00482 virtual PxReal getWindDrag() const = 0;
00486 virtual void setWindDrag(PxReal) = 0;
00490 virtual PxReal getWindLift() const = 0;
00494 virtual void setWindLift(PxReal) = 0;
00495
00497
00501
00502
00510 virtual void setMotionConstraints(const PxClothParticleMotionConstraint* motionConstraints) = 0;
00516 virtual bool getMotionConstraints(PxClothParticleMotionConstraint* motionConstraintsBuffer) const = 0;
00521 virtual PxU32 getNbMotionConstraints() const = 0;
00526 virtual void setMotionConstraintConfig(const PxClothMotionConstraintConfig& config) = 0;
00531 virtual PxClothMotionConstraintConfig getMotionConstraintConfig() const = 0;
00532
00540 virtual void setSeparationConstraints(const PxClothParticleSeparationConstraint* separationConstraints) = 0;
00546 virtual bool getSeparationConstraints(PxClothParticleSeparationConstraint* separationConstraintsBuffer) const = 0;
00551 virtual PxU32 getNbSeparationConstraints() const = 0;
00552
00559 virtual void clearInterpolation() = 0;
00560
00566 virtual void setStretchConfig(PxClothFabricPhaseType::Enum type, const PxClothStretchConfig& config) = 0;
00572 virtual PxClothStretchConfig getStretchConfig(PxClothFabricPhaseType::Enum type) const = 0;
00577 virtual void setTetherConfig(const PxClothTetherConfig& config) = 0;
00582 virtual PxClothTetherConfig getTetherConfig() const = 0;
00583
00585
00589
00590
00596 virtual void addCollisionSphere(const PxClothCollisionSphere& sphere) = 0;
00603 virtual void removeCollisionSphere(PxU32 index) = 0;
00612 virtual void setCollisionSpheres(const PxClothCollisionSphere* spheresBuffer, PxU32 count) = 0;
00617 virtual PxU32 getNbCollisionSpheres() const = 0;
00618
00628 virtual void addCollisionCapsule(PxU32 first, PxU32 second) = 0;
00634 virtual void removeCollisionCapsule(PxU32 index) = 0;
00639 virtual PxU32 getNbCollisionCapsules() const = 0;
00640
00647 virtual void addCollisionPlane(const PxClothCollisionPlane& plane) = 0;
00655 virtual void removeCollisionPlane(PxU32 index) = 0;
00664 virtual void setCollisionPlanes(const PxClothCollisionPlane* planesBuffer, PxU32 count) = 0;
00669 virtual PxU32 getNbCollisionPlanes() const = 0;
00670
00678 virtual void addCollisionConvex(PxU32 mask) = 0;
00685 virtual void removeCollisionConvex(PxU32 index) = 0;
00690 virtual PxU32 getNbCollisionConvexes() const = 0;
00691
00697 virtual void addCollisionTriangle(const PxClothCollisionTriangle& triangle) = 0;
00703 virtual void removeCollisionTriangle(PxU32 index) = 0;
00712 virtual void setCollisionTriangles(const PxClothCollisionTriangle* trianglesBuffer, PxU32 count) = 0;
00717 virtual PxU32 getNbCollisionTriangles() const = 0;
00718
00730 virtual void getCollisionData(PxClothCollisionSphere* spheresBuffer, PxU32* capsulesBuffer,
00731 PxClothCollisionPlane* planesBuffer, PxU32* convexesBuffer, PxClothCollisionTriangle* trianglesBuffer) const = 0;
00732
00749 virtual void setVirtualParticles(PxU32 numVirtualParticles, const PxU32* indices, PxU32 numWeights, const PxVec3* weights) = 0;
00754 virtual PxU32 getNbVirtualParticles() const = 0;
00760 virtual void getVirtualParticles(PxU32* indicesBuffer) const = 0;
00765 virtual PxU32 getNbVirtualParticleWeights() const = 0;
00770 virtual void getVirtualParticleWeights(PxVec3* weightsBuffer) const = 0;
00771
00777 virtual void setFrictionCoefficient(PxReal frictionCoefficient) = 0;
00782 virtual PxReal getFrictionCoefficient() const = 0;
00783
00792 virtual void setCollisionMassScale(PxReal scalingCoefficient) = 0;
00797 virtual PxReal getCollisionMassScale() const = 0;
00798
00800
00804
00805
00811 virtual void setSelfCollisionDistance(PxReal distance) = 0;
00816 virtual PxReal getSelfCollisionDistance() const = 0;
00823 virtual void setSelfCollisionStiffness(PxReal stiffness) = 0;
00828 virtual PxReal getSelfCollisionStiffness() const = 0;
00829
00840 virtual void setSelfCollisionIndices(const PxU32* indices, PxU32 nbIndices) = 0;
00846 virtual bool getSelfCollisionIndices(PxU32* indices) const = 0;
00847
00852 virtual PxU32 getNbSelfCollisionIndices() const = 0;
00853
00865 virtual void setRestPositions(const PxVec4* restPositions) = 0;
00871 virtual bool getRestPositions(PxVec4* restPositions) const = 0;
00876 virtual PxU32 getNbRestPositions() const = 0;
00877
00879
00883
00884
00892 virtual void setSimulationFilterData(const PxFilterData& data) = 0;
00893
00899 virtual PxFilterData getSimulationFilterData() const = 0;
00900
00902
00906
00907
00915 virtual void setContactOffset(PxReal offset) = 0;
00916
00921 virtual PxReal getContactOffset() const = 0;
00922
00930 virtual void setRestOffset(PxReal offset) = 0;
00931
00936 virtual PxReal getRestOffset() const = 0;
00937
00939
00943
00944
00952 virtual void setSleepLinearVelocity(PxReal threshold) = 0;
00957 virtual PxReal getSleepLinearVelocity() const = 0;
00967 virtual void setWakeCounter(PxReal wakeCounterValue) = 0;
00973 virtual PxReal getWakeCounter() const = 0;
00980 virtual void wakeUp() = 0;
00985 virtual void putToSleep() = 0;
00991 virtual bool isSleeping() const = 0;
00992
00994
00995 virtual const char* getConcreteTypeName() const { return "PxCloth"; }
00996
00997 protected:
00998 PX_INLINE PxCloth(PxType concreteType, PxBaseFlags baseFlags) : PxActor(concreteType, baseFlags) {}
00999 PX_INLINE PxCloth(PxBaseFlags baseFlags) : PxActor(baseFlags) {}
01000 virtual ~PxCloth() {}
01001 virtual bool isKindOf(const char* name) const { return !::strcmp("PxCloth", name) || PxActor::isKindOf(name); }
01002 };
01003
01004 #if !PX_DOXYGEN
01005 }
01006 #endif
01007
01009 #endif
