PxRigidActor.h
Go to the documentation of this file.
1 //
2 // Redistribution and use in source and binary forms, with or without
3 // modification, are permitted provided that the following conditions
4 // are met:
5 // * Redistributions of source code must retain the above copyright
6 // notice, this list of conditions and the following disclaimer.
7 // * Redistributions in binary form must reproduce the above copyright
8 // notice, this list of conditions and the following disclaimer in the
9 // documentation and/or other materials provided with the distribution.
10 // * Neither the name of NVIDIA CORPORATION nor the names of its
11 // contributors may be used to endorse or promote products derived
12 // from this software without specific prior written permission.
13 //
14 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ``AS IS'' AND ANY
15 // EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
16 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
17 // PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
18 // CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
19 // EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
20 // PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
21 // PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
22 // OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
23 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
24 // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
25 //
26 // Copyright (c) 2008-2018 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_NX_RIGIDACTOR
32 #define PX_PHYSICS_NX_RIGIDACTOR
33 
37 #include "PxActor.h"
38 #include "PxShape.h"
39 
40 #if !PX_DOXYGEN
41 namespace physx
42 {
43 #endif
44 
45 class PxConstraint;
46 class PxMaterial;
47 class PxGeometry;
48 class PxBVHStructure;
49 
58 class PxRigidActor : public PxActor
59 {
60 public:
77  virtual void release() = 0;
78 
79 
80 /************************************************************************************************/
93  virtual PxTransform getGlobalPose() const = 0;
94 
120  virtual void setGlobalPose(const PxTransform& pose, bool autowake = true) = 0;
121 
122 
123 /************************************************************************************************/
145  virtual bool attachShape(PxShape& shape) = 0;
146 
147 
158  virtual void detachShape(PxShape& shape, bool wakeOnLostTouch = true) = 0;
159 
160 
170  virtual PxU32 getNbShapes() const = 0;
171 
172 
189  virtual PxU32 getShapes(PxShape** userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const = 0;
190 
191 
192 /************************************************************************************************/
205  virtual PxU32 getNbConstraints() const = 0;
206 
207 
222  virtual PxU32 getConstraints(PxConstraint** userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const = 0;
223 
224 protected:
225  PX_INLINE PxRigidActor(PxType concreteType, PxBaseFlags baseFlags) : PxActor(concreteType, baseFlags) {}
226  PX_INLINE PxRigidActor(PxBaseFlags baseFlags) : PxActor(baseFlags) {}
227  virtual ~PxRigidActor() {}
228  virtual bool isKindOf(const char* name) const { return !::strcmp("PxRigidActor", name) || PxActor::isKindOf(name); }
229 };
230 
231 
232 #if !PX_DOXYGEN
233 } // namespace physx
234 #endif
235 
237 #endif
Definition: GuContactBuffer.h:37
virtual ~PxRigidActor()
Definition: PxRigidActor.h:227
virtual bool isKindOf(const char *name) const
Returns whether a given type name matches with the type of this instance.
Definition: PxActor.h:320
PxActor is the base class for the main simulation objects in the physics SDK.
Definition: PxActor.h:154
Abstract class for collision shapes.
Definition: PxShape.h:142
A geometry object.
Definition: PxGeometry.h:75
PxU16 PxType
Definition: PxBase.h:49
PxRigidActor represents a base class shared between dynamic and static rigid bodies in the physics SD...
Definition: PxRigidActor.h:58
PX_INLINE PxRigidActor(PxType concreteType, PxBaseFlags baseFlags)
Definition: PxRigidActor.h:225
PX_INLINE PxRigidActor(PxBaseFlags baseFlags)
Definition: PxRigidActor.h:226
class representing a rigid euclidean transform as a quaternion and a vector
Definition: PxTransform.h:48
A plugin class for implementing constraints.
Definition: PxConstraint.h:108
virtual bool isKindOf(const char *name) const
Returns whether a given type name matches with the type of this instance.
Definition: PxRigidActor.h:228
Material class to represent a set of surface properties.
Definition: PxMaterial.h:130
uint32_t PxU32
Definition: Px.h:48
Class representing the bounding volume hierarchy structure.
Definition: PxBVHStructure.h:57
#define PX_INLINE
Definition: PxPreprocessor.h:349