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PxRigidBodyExt.h

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#ifndef PX_PHYSICS_EXTENSIONS_RIGIDBODY_H
#define PX_PHYSICS_EXTENSIONS_RIGIDBODY_H

#include "PxPhysXConfig.h"
#include "PxRigidBody.h"
#include "PxQueryReport.h"
#include "PxQueryFiltering.h"
#include "extensions/PxMassProperties.h"

#if !PX_DOXYGEN
namespace physx
{
#endif

class PxScene;
struct PxQueryCache;
class PxShape;

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      PxMassProperties    computeMassPropertiesFromShapes(const PxShape* const* shapes, PxU32 shapeCount);
    

    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);


};

#if !PX_DOXYGEN
} // namespace physx
#endif

#endif

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