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physx/include/extensions/PxRigidActorExt.h
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physx/include/extensions/PxRigidActorExt.h
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef PX_PHYSICS_EXTENSIONS_RIGIDACTOR_H
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#define PX_PHYSICS_EXTENSIONS_RIGIDACTOR_H
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/** \addtogroup extensions
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@{
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*/
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#include "PxPhysXConfig.h"
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#include "PxPhysics.h"
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#include "PxRigidActor.h"
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#if !PX_DOXYGEN
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namespace physx
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{
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#endif
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/**
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\brief utility functions for use with PxRigidActor and subclasses
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@see PxRigidActor PxRigidStatic PxRigidBody PxRigidDynamic PxArticulationLink
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*/
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class PxRigidActorExt
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{
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public:
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/**
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\brief Creates a new shape with default properties and a list of materials and adds it to the list of shapes of this actor.
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This is equivalent to the following
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PxShape* shape(...) = PxGetPhysics().createShape(...); // reference count is 1
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actor->attachShape(shape); // increments reference count
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shape->release(); // releases user reference, leaving reference count at 1
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As a consequence, detachShape() will result in the release of the last reference, and the shape will be deleted.
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\note The default shape flags to be set are: eVISUALIZATION, eSIMULATION_SHAPE, eSCENE_QUERY_SHAPE (see #PxShapeFlag).
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Triangle mesh, heightfield or plane geometry shapes configured as eSIMULATION_SHAPE are not supported for
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non-kinematic PxRigidDynamic instances.
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\note Creating compounds with a very large number of shapes may adversely affect performance and stability.
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<b>Sleeping:</b> Does <b>NOT</b> wake the actor up automatically.
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\param[in] actor the actor to which to attach the shape
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\param[in] geometry the geometry of the shape
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\param[in] materials a pointer to an array of material pointers
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\param[in] materialCount the count of materials
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\param[in] shapeFlags optional PxShapeFlags
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\return The newly created shape.
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@see PxShape PxShape::release(), PxPhysics::createShape(), PxRigidActor::attachShape()
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*/
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static PxShape* createExclusiveShape(PxRigidActor& actor, const PxGeometry& geometry, PxMaterial*const* materials, PxU16 materialCount,
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PxShapeFlags shapeFlags = PxShapeFlag::eVISUALIZATION | PxShapeFlag::eSCENE_QUERY_SHAPE | PxShapeFlag::eSIMULATION_SHAPE)
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{
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PxShape* shape = PxGetPhysics().createShape(geometry, materials, materialCount, true, shapeFlags);
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if(shape)
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{
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bool status = actor.attachShape(*shape); // attach can fail, if e.g. we try and attach a trimesh simulation shape to a dynamic actor
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shape->release(); // if attach fails, we hold the only counted reference, and so this cleans up properly
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if(!status)
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shape = NULL;
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}
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return shape;
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}
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/**
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\brief Creates a new shape with default properties and a single material adds it to the list of shapes of this actor.
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This is equivalent to the following
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PxShape* shape(...) = PxGetPhysics().createShape(...); // reference count is 1
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actor->attachShape(shape); // increments reference count
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shape->release(); // releases user reference, leaving reference count at 1
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As a consequence, detachShape() will result in the release of the last reference, and the shape will be deleted.
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\note The default shape flags to be set are: eVISUALIZATION, eSIMULATION_SHAPE, eSCENE_QUERY_SHAPE (see #PxShapeFlag).
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Triangle mesh, heightfield or plane geometry shapes configured as eSIMULATION_SHAPE are not supported for
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non-kinematic PxRigidDynamic instances.
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\note Creating compounds with a very large number of shapes may adversely affect performance and stability.
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<b>Sleeping:</b> Does <b>NOT</b> wake the actor up automatically.
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\param[in] actor the actor to which to attach the shape
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\param[in] geometry the geometry of the shape
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\param[in] material the material for the shape
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\param[in] shapeFlags optional PxShapeFlags
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\return The newly created shape.
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@see PxShape PxShape::release(), PxPhysics::createShape(), PxRigidActor::attachShape()
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*/
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static PX_FORCE_INLINE PxShape* createExclusiveShape(PxRigidActor& actor, const PxGeometry& geometry, const PxMaterial& material,
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PxShapeFlags shapeFlags = PxShapeFlag::eVISUALIZATION | PxShapeFlag::eSCENE_QUERY_SHAPE | PxShapeFlag::eSIMULATION_SHAPE)
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{
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PxMaterial* materialPtr = const_cast<PxMaterial*>(&material);
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return createExclusiveShape(actor, geometry, &materialPtr, 1, shapeFlags);
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}
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/**
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\brief Gets a list of bounds based on shapes in rigid actor. This list can be used to cook/create
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bounding volume hierarchy though PxCooking API.
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\param[in] actor The actor from which the bounds list is retrieved.
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\param[out] numBounds Number of bounds in returned list.
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@see PxShape PxBVHStructure PxCooking::createBVHStructure PxCooking::cookBVHStructure
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*/
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static PxBounds3* getRigidActorShapeLocalBoundsList(const PxRigidActor& actor, PxU32& numBounds);
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};
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#if !PX_DOXYGEN
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} // namespace physx
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#endif
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/** @} */
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#endif
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