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<a href="PxRigidBody_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00002"></a><span class="lineno"> 2</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00003"></a><span class="lineno"> 3</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions</span></div><div class="line"><a name="l00004"></a><span class="lineno"> 4</span>&#160;<span class="comment">// are met:</span></div><div class="line"><a name="l00005"></a><span class="lineno"> 5</span>&#160;<span class="comment">// * Redistributions of source code must retain the above copyright</span></div><div class="line"><a name="l00006"></a><span class="lineno"> 6</span>&#160;<span class="comment">// notice, this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00007"></a><span class="lineno"> 7</span>&#160;<span class="comment">// * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00008"></a><span class="lineno"> 8</span>&#160;<span class="comment">// notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00009"></a><span class="lineno"> 9</span>&#160;<span class="comment">// documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00010"></a><span class="lineno"> 10</span>&#160;<span class="comment">// * Neither the name of NVIDIA CORPORATION nor the names of its</span></div><div class="line"><a name="l00011"></a><span class="lineno"> 11</span>&#160;<span class="comment">// contributors may be used to endorse or promote products derived</span></div><div class="line"><a name="l00012"></a><span class="lineno"> 12</span>&#160;<span class="comment">// from this software without specific prior written permission.</span></div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS &#39;&#39;AS IS&#39;&#39; AND ANY</span></div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span>&#160;<span class="comment">// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE</span></div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span>&#160;<span class="comment">// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR</span></div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span>&#160;<span class="comment">// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR</span></div><div class="line"><a name="l00018"></a><span class="lineno"> 18</span>&#160;<span class="comment">// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,</span></div><div class="line"><a name="l00019"></a><span class="lineno"> 19</span>&#160;<span class="comment">// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,</span></div><div class="line"><a name="l00020"></a><span class="lineno"> 20</span>&#160;<span class="comment">// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00021"></a><span class="lineno"> 21</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY</span></div><div class="line"><a name="l00022"></a><span class="lineno"> 22</span>&#160;<span class="comment">// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div><div class="line"><a name="l00023"></a><span class="lineno"> 23</span>&#160;<span class="comment">// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE</span></div><div class="line"><a name="l00024"></a><span class="lineno"> 24</span>&#160;<span class="comment">// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00025"></a><span class="lineno"> 25</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00026"></a><span class="lineno"> 26</span>&#160;<span class="comment">// Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved.</span></div><div class="line"><a name="l00027"></a><span class="lineno"> 27</span>&#160;<span class="comment">// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.</span></div><div class="line"><a name="l00028"></a><span class="lineno"> 28</span>&#160;<span class="comment">// Copyright (c) 2001-2004 NovodeX AG. All rights reserved. </span></div><div class="line"><a name="l00029"></a><span class="lineno"> 29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno"> 30</span>&#160;</div><div class="line"><a name="l00031"></a><span class="lineno"> 31</span>&#160;<span class="preprocessor">#ifndef PX_PHYSICS_NX_RIGIDBODY</span></div><div class="line"><a name="l00032"></a><span class="lineno"> 32</span>&#160;<span class="preprocessor">#define PX_PHYSICS_NX_RIGIDBODY</span></div><div class="line"><a name="l00033"></a><span class="lineno"> 33</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno"> 37</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PxRigidActor_8h.html">PxRigidActor.h</a>&quot;</span></div><div class="line"><a name="l00038"></a><span class="lineno"> 38</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PxForceMode_8h.html">PxForceMode.h</a>&quot;</span></div><div class="line"><a name="l00039"></a><span class="lineno"> 39</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno"> 40</span>&#160;<span class="preprocessor">#if !PX_DOXYGEN</span></div><div class="line"><a name="l00041"></a><span class="lineno"> 41</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacephysx.html">physx</a></div><div class="line"><a name="l00042"></a><span class="lineno"> 42</span>&#160;{</div><div class="line"><a name="l00043"></a><span class="lineno"> 43</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00044"></a><span class="lineno"> 44</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno"> 45</span>&#160;</div><div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="structPxRigidBodyFlag.html"> 52</a></span>&#160;<span class="keyword">struct </span><a class="code" href="structPxRigidBodyFlag.html">PxRigidBodyFlag</a></div><div class="line"><a name="l00053"></a><span class="lineno"> 53</span>&#160;{</div><div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="structPxRigidBodyFlag.html#a5fd4878ae66a98c030a9d976e8ba8596"> 54</a></span>&#160; <span class="keyword">enum</span> <a class="code" href="structPxRigidBodyFlag.html#a5fd4878ae66a98c030a9d976e8ba8596">Enum</a></div><div class="line"><a name="l00055"></a><span class="lineno"> 55</span>&#160; {</div><div class="line"><a name="l00056"></a><span class="lineno"> 56</span>&#160;</div><div class="line"><a name="l00078"></a><span class="lineno"><a class="line" href="structPxRigidBodyFlag.html#a5fd4878ae66a98c030a9d976e8ba8596abd76e6985e9db78efb7a66148ea4c212"> 78</a></span>&#160; eKINEMATIC = (1&lt;&lt;0), </div><div class="line"><a name="l00079"></a><span class="lineno"> 79</span>&#160;</div><div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="structPxRigidBodyFlag.html#a5fd4878ae66a98c030a9d976e8ba8596a983c62745e575428d8b0aadefc23e8bc"> 89</a></span>&#160; eUSE_KINEMATIC_TARGET_FOR_SCENE_QUERIES = (1&lt;&lt;1),</div><div class="line"><a name="l00090"></a><span class="lineno"> 90</span>&#160;</div><div class="line"><a name="l00101"></a><span class="lineno"><a class="line" href="structPxRigidBodyFlag.html#a5fd4878ae66a98c030a9d976e8ba8596a686cdd889652a435c19d8c663d809d9e"> 101</a></span>&#160; eENABLE_CCD = (1&lt;&lt;2), </div><div class="line"><a name="l00102"></a><span class="lineno"> 102</span>&#160;</div><div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="structPxRigidBodyFlag.html#a5fd4878ae66a98c030a9d976e8ba8596a37775d7c189d9f499fdfda010f73fb95"> 112</a></span>&#160; eENABLE_CCD_FRICTION = (1&lt;&lt;3),</div><div class="line"><a name="l00113"></a><span class="lineno"> 113</span>&#160;</div><div class="line"><a name="l00124"></a><span class="lineno"><a class="line" href="structPxRigidBodyFlag.html#a5fd4878ae66a98c030a9d976e8ba8596ac89b33b0290d667f6f2ae69298631d01"> 124</a></span>&#160; eENABLE_POSE_INTEGRATION_PREVIEW = (1 &lt;&lt; 4),</div><div class="line"><a name="l00125"></a><span class="lineno"> 125</span>&#160;</div><div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="structPxRigidBodyFlag.html#a5fd4878ae66a98c030a9d976e8ba8596af13d6aa80b364fe2cef81a0039e37d45"> 129</a></span>&#160; eENABLE_SPECULATIVE_CCD = (1 &lt;&lt; 5),</div><div class="line"><a name="l00130"></a><span class="lineno"> 130</span>&#160;</div><div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="structPxRigidBodyFlag.html#a5fd4878ae66a98c030a9d976e8ba8596ab2bb4cc4246807076a2103d72bd69e00"> 134</a></span>&#160; eENABLE_CCD_MAX_CONTACT_IMPULSE = (1 &lt;&lt; 6),</div><div class="line"><a name="l00135"></a><span class="lineno"> 135</span>&#160;</div><div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="structPxRigidBodyFlag.html#a5fd4878ae66a98c030a9d976e8ba8596ae3f262927cf4d13f517c6f0c08ec448f"> 139</a></span>&#160; eRETAIN_ACCELERATIONS = (1&lt;&lt;7),</div><div class="line"><a name="l00140"></a><span class="lineno"> 140</span>&#160;</div><div class="line"><a name="l00159"></a><span class="lineno"><a class="line" href="structPxRigidBodyFlag.html#a5fd4878ae66a98c030a9d976e8ba8596a698967abdd9280abb3a7aea8b712a9f9"> 159</a></span>&#160; eFORCE_KINE_KINE_NOTIFICATIONS = (1&lt;&lt;8),</div><div class="line"><a name="l00160"></a><span class="lineno"> 160</span>&#160;</div><div class="line"><a name="l00172"></a><span class="lineno"><a class="line" href="structPxRigidBodyFlag.html#a5fd4878ae66a98c030a9d976e8ba8596a3500d16d79229a7aba7ec54e66adaed6"> 172</a></span>&#160; eFORCE_STATIC_KINE_NOTIFICATIONS = (1&lt;&lt;9),</div><div class="line"><a name="l00173"></a><span class="lineno"> 173</span>&#160;</div><div class="line"><a name="l00177"></a><span class="lineno"><a class="line" href="structPxRigidBodyFlag.html#a5fd4878ae66a98c030a9d976e8ba8596a19c3d420263e8b29250817344bf7bc9f"> 177</a></span>&#160; eRESERVED = (1&lt;&lt;15)</div><div class="line"><a name="l00178"></a><span class="lineno"> 178</span>&#160; };</div><div class="line"><a name="l00179"></a><span class="lineno"> 179</span>&#160;};</div><div class="line"><a name="l00180"></a><span class="lineno"> 180</span>&#160;</div><div class="line"><a name="l00186"></a><span class="lineno"><a class="line" href="group__physics.html#ga0759d7f23b4fa7e24cd69c51d3efe5bf"> 186</a></span>&#160;<span class="keyword">typedef</span> <a class="code" href="classPxFlags.html">PxFlags&lt;PxRigidBodyFlag::Enum,PxU16&gt;</a> <a class="code" href="group__physics.html#ga0759d7f23b4fa7e24cd69c51d3efe5bf">PxRigidBodyFlags</a>;</div><div class="line"><a name="l00187"></a><span class="lineno"> 187</span>&#160;PX_FLAGS_OPERATORS(<a class="code" href="structPxRigidBodyFlag.html#a5fd4878ae66a98c030a9d976e8ba8596">PxRigidBodyFlag::Enum</a>,<a class="code" href="namespacephysx.html#a9caf1cbcda071b6d2a9c069faa99da23">PxU16</a>)</div><div class="line"><a name="l00188"></a><span class="lineno"> 188</span>&#160;</div><div class="line"><a name="l00189"></a><span class="lineno"> 189</span>&#160;</div><div class="line"><a name="l00195"></a><span class="lineno"><a class="line" href="classPxRigidBody.html"> 195</a></span>&#160;class <a class="code" href="classPxRigidBody.html">PxRigidBody</a> : public <a class="code" href="classPxRigidActor.html">PxRigidActor</a></div><div class="line"><a name="l00196"></a><span class="lineno"> 196</span>&#160;{</div><div class="line"><a name="l00197"></a><span class="lineno"> 197</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00198"></a><span class="lineno"> 198</span>&#160; <span class="comment">// Runtime modifications</span></div><div class="line"><a name="l00199"></a><span class="lineno"> 199</span>&#160;</div><div class="line"><a name="l00200"></a><span class="lineno"> 200</span>&#160;<span class="comment">/************************************************************************************************/</span></div><div class="line"><a name="l00218"></a><span class="lineno"> 218</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> setCMassLocalPose(<span class="keyword">const</span> <a class="code" href="classPxTransform.html">PxTransform</a>&amp; pose) = 0;</div><div class="line"><a name="l00219"></a><span class="lineno"> 219</span>&#160;</div><div class="line"><a name="l00220"></a><span class="lineno"> 220</span>&#160;</div><div class="line"><a name="l00228"></a><span class="lineno"> 228</span>&#160; <span class="keyword">virtual</span> <a class="code" href="classPxTransform.html">PxTransform</a> getCMassLocalPose() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00229"></a><span class="lineno"> 229</span>&#160;</div><div class="line"><a name="l00230"></a><span class="lineno"> 230</span>&#160;</div><div class="line"><a name="l00250"></a><span class="lineno"> 250</span>&#160; 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<span class="keyword">virtual</span> <span class="keywordtype">void</span> setMassSpaceInertiaTensor(<span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>&amp; m) = 0;</div><div class="line"><a name="l00294"></a><span class="lineno"> 294</span>&#160;</div><div class="line"><a name="l00306"></a><span class="lineno"> 306</span>&#160; <span class="keyword">virtual</span> <a class="code" href="classPxVec3.html">PxVec3</a> getMassSpaceInertiaTensor() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00307"></a><span class="lineno"> 307</span>&#160;</div><div class="line"><a name="l00319"></a><span class="lineno"> 319</span>&#160; <span class="keyword">virtual</span> <a class="code" href="classPxVec3.html">PxVec3</a> getMassSpaceInvInertiaTensor() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00320"></a><span class="lineno"> 320</span>&#160;</div><div class="line"><a name="l00321"></a><span class="lineno"> 321</span>&#160; <span class="comment">/************************************************************************************************/</span></div><div class="line"><a name="l00336"></a><span class="lineno"> 336</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> setLinearDamping(<a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> linDamp) = 0;</div><div class="line"><a name="l00337"></a><span class="lineno"> 337</span>&#160;</div><div class="line"><a name="l00345"></a><span class="lineno"> 345</span>&#160; <span class="keyword">virtual</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> getLinearDamping() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00346"></a><span class="lineno"> 346</span>&#160;</div><div class="line"><a name="l00360"></a><span class="lineno"> 360</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> setAngularDamping(<a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> angDamp) = 0;</div><div class="line"><a name="l00361"></a><span class="lineno"> 361</span>&#160;</div><div class="line"><a name="l00369"></a><span class="lineno"> 369</span>&#160; <span class="keyword">virtual</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> getAngularDamping() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00370"></a><span class="lineno"> 370</span>&#160;</div><div class="line"><a name="l00371"></a><span class="lineno"> 371</span>&#160;</div><div class="line"><a name="l00372"></a><span class="lineno"> 372</span>&#160;<span class="comment">/************************************************************************************************/</span></div><div class="line"><a name="l00384"></a><span class="lineno"> 384</span>&#160; <span class="keyword">virtual</span> <a class="code" href="classPxVec3.html">PxVec3</a> getLinearVelocity() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00385"></a><span class="lineno"> 385</span>&#160;</div><div class="line"><a name="l00405"></a><span class="lineno"> 405</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> setLinearVelocity(<span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>&amp; linVel, <span class="keywordtype">bool</span> autowake = <span class="keyword">true</span> ) = 0;</div><div class="line"><a name="l00406"></a><span class="lineno"> 406</span>&#160;</div><div class="line"><a name="l00407"></a><span class="lineno"> 407</span>&#160;</div><div class="line"><a name="l00408"></a><span class="lineno"> 408</span>&#160;</div><div class="line"><a name="l00416"></a><span class="lineno"> 416</span>&#160; <span class="keyword">virtual</span> <a class="code" href="classPxVec3.html">PxVec3</a> getAngularVelocity() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00417"></a><span class="lineno"> 417</span>&#160;</div><div class="line"><a name="l00418"></a><span class="lineno"> 418</span>&#160;</div><div class="line"><a name="l00438"></a><span class="lineno"> 438</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> setAngularVelocity(<span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>&amp; angVel, <span class="keywordtype">bool</span> autowake = <span class="keyword">true</span> ) = 0;</div><div class="line"><a name="l00439"></a><span class="lineno"> 439</span>&#160;</div><div class="line"><a name="l00458"></a><span class="lineno"> 458</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> setMaxAngularVelocity(<a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> maxAngVel) = 0;</div><div class="line"><a name="l00459"></a><span class="lineno"> 459</span>&#160;</div><div class="line"><a name="l00467"></a><span class="lineno"> 467</span>&#160; <span class="keyword">virtual</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> getMaxAngularVelocity() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00468"></a><span class="lineno"> 468</span>&#160;</div><div class="line"><a name="l00469"></a><span class="lineno"> 469</span>&#160;</div><div class="line"><a name="l00485"></a><span class="lineno"> 485</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> setMaxLinearVelocity(<a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> maxLinVel) = 0;</div><div class="line"><a name="l00486"></a><span class="lineno"> 486</span>&#160;</div><div class="line"><a name="l00494"></a><span class="lineno"> 494</span>&#160; <span class="keyword">virtual</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> getMaxLinearVelocity() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00495"></a><span class="lineno"> 495</span>&#160;</div><div class="line"><a name="l00496"></a><span class="lineno"> 496</span>&#160;</div><div class="line"><a name="l00497"></a><span class="lineno"> 497</span>&#160;<span class="comment">/************************************************************************************************/</span></div><div class="line"><a name="l00531"></a><span class="lineno"> 531</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> addForce(<span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>&amp; <a class="code" href="PxArticulationReducedCoordinate_8h.html#a1f5925a4680ca8dff39369ff8d47ab7c">force</a>, <a class="code" href="structPxForceMode.html#aadaaafefe0478d829b816154c676e545">PxForceMode::Enum</a> mode = <a class="code" href="structPxForceMode.html#aadaaafefe0478d829b816154c676e545a6e707aa50e1612a2603643ee2df85f1a">PxForceMode::eFORCE</a>, <span class="keywordtype">bool</span> autowake = <span class="keyword">true</span>) = 0;</div><div class="line"><a name="l00532"></a><span class="lineno"> 532</span>&#160;</div><div class="line"><a name="l00561"></a><span class="lineno"> 561</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> addTorque(<span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>&amp; <a class="code" href="PxArticulationReducedCoordinate_8h.html#abdcc8bb9f78d81acf11aabbf3367d09d">torque</a>, <a class="code" href="structPxForceMode.html#aadaaafefe0478d829b816154c676e545">PxForceMode::Enum</a> mode = <a class="code" href="structPxForceMode.html#aadaaafefe0478d829b816154c676e545a6e707aa50e1612a2603643ee2df85f1a">PxForceMode::eFORCE</a>, <span class="keywordtype">bool</span> autowake = <span class="keyword">true</span>) = 0;</div><div class="line"><a name="l00562"></a><span class="lineno"> 562</span>&#160;</div><div class="line"><a name="l00582"></a><span class="lineno"> 582</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> clearForce(<a class="code" href="structPxForceMode.html#aadaaafefe0478d829b816154c676e545">PxForceMode::Enum</a> mode = <a class="code" href="structPxForceMode.html#aadaaafefe0478d829b816154c676e545a6e707aa50e1612a2603643ee2df85f1a">PxForceMode::eFORCE</a>) = 0;</div><div class="line"><a name="l00583"></a><span class="lineno"> 583</span>&#160;</div><div class="line"><a name="l00603"></a><span class="lineno"> 603</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> clearTorque(<a class="code" href="structPxForceMode.html#aadaaafefe0478d829b816154c676e545">PxForceMode::Enum</a> mode = <a class="code" href="structPxForceMode.html#aadaaafefe0478d829b816154c676e545a6e707aa50e1612a2603643ee2df85f1a">PxForceMode::eFORCE</a>) = 0;</div><div class="line"><a name="l00604"></a><span class="lineno"> 604</span>&#160;</div><div class="line"><a name="l00605"></a><span class="lineno"> 605</span>&#160;</div><div class="line"><a name="l00617"></a><span class="lineno"> 617</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> setForceAndTorque(<span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>&amp; <a class="code" href="PxArticulationReducedCoordinate_8h.html#a1f5925a4680ca8dff39369ff8d47ab7c">force</a>, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>&amp; <a class="code" href="PxArticulationReducedCoordinate_8h.html#abdcc8bb9f78d81acf11aabbf3367d09d">torque</a>, <a class="code" href="structPxForceMode.html#aadaaafefe0478d829b816154c676e545">PxForceMode::Enum</a> mode = <a class="code" href="structPxForceMode.html#aadaaafefe0478d829b816154c676e545a6e707aa50e1612a2603643ee2df85f1a">PxForceMode::eFORCE</a>) = 0;</div><div class="line"><a name="l00618"></a><span class="lineno"> 618</span>&#160;</div><div class="line"><a name="l00634"></a><span class="lineno"> 634</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> setRigidBodyFlag(<a class="code" href="structPxRigidBodyFlag.html#a5fd4878ae66a98c030a9d976e8ba8596">PxRigidBodyFlag::Enum</a> flag, <span class="keywordtype">bool</span> value) = 0;</div><div class="line"><a name="l00635"></a><span class="lineno"> 635</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> setRigidBodyFlags(<a class="code" href="classPxFlags.html">PxRigidBodyFlags</a> inFlags) = 0;</div><div class="line"><a name="l00636"></a><span class="lineno"> 636</span>&#160;</div><div class="line"><a name="l00646"></a><span class="lineno"> 646</span>&#160; <span class="keyword">virtual</span> <a class="code" href="classPxFlags.html">PxRigidBodyFlags</a> getRigidBodyFlags() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00647"></a><span class="lineno"> 647</span>&#160;</div><div class="line"><a name="l00669"></a><span class="lineno"> 669</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> setMinCCDAdvanceCoefficient(<a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> advanceCoefficient) = 0;</div><div class="line"><a name="l00670"></a><span class="lineno"> 670</span>&#160;</div><div class="line"><a name="l00680"></a><span class="lineno"> 680</span>&#160; <span class="keyword">virtual</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> getMinCCDAdvanceCoefficient() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00681"></a><span class="lineno"> 681</span>&#160;</div><div class="line"><a name="l00682"></a><span class="lineno"> 682</span>&#160;</div><div class="line"><a name="l00688"></a><span class="lineno"> 688</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> setMaxDepenetrationVelocity(<a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> biasClamp) = 0;</div><div class="line"><a name="l00689"></a><span class="lineno"> 689</span>&#160;</div><div class="line"><a name="l00695"></a><span class="lineno"> 695</span>&#160; <span class="keyword">virtual</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> getMaxDepenetrationVelocity() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00696"></a><span class="lineno"> 696</span>&#160;</div><div class="line"><a name="l00697"></a><span class="lineno"> 697</span>&#160;</div><div class="line"><a name="l00707"></a><span class="lineno"> 707</span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">void</span> setMaxContactImpulse(<a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="PxConstraintDesc_8h.html#a0a05cbea8c3ce31569c312d33d562f08">maxImpulse</a>) = 0;</div><div class="line"><a name="l00708"></a><span class="lineno"> 708</span>&#160;</div><div class="line"><a name="l00716"></a><span class="lineno"> 716</span>&#160; <span class="keyword">virtual</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> getMaxContactImpulse() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00717"></a><span class="lineno"> 717</span>&#160;</div><div class="line"><a name="l00723"></a><span class="lineno"> 723</span>&#160; <span class="keyword">virtual</span> <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> getInternalIslandNodeIndex() <span class="keyword">const</span> = 0;</div><div class="line"><a name="l00724"></a><span class="lineno"> 724</span>&#160;</div><div class="line"><a name="l00725"></a><span class="lineno"> 725</span>&#160;</div><div class="line"><a name="l00726"></a><span class="lineno"> 726</span>&#160;<span class="keyword">protected</span>:</div><div class="line"><a name="l00727"></a><span class="lineno"><a class="line" href="classPxRigidBody.html#adf18dc769f8d1d3da7760097fa699acb"> 727</a></span>&#160; <a class="code" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a> <a class="code" href="classPxRigidBody.html#adf18dc769f8d1d3da7760097fa699acb">PxRigidBody</a>(<a class="code" href="group__common.html#gac1fb4b256a5d900d394e89db170a2b79">PxType</a> concreteType, <a class="code" href="classPxFlags.html">PxBaseFlags</a> baseFlags) : <a class="code" href="classPxRigidActor.html">PxRigidActor</a>(concreteType, baseFlags) {}</div><div class="line"><a name="l00728"></a><span class="lineno"><a class="line" href="classPxRigidBody.html#a14d4e7068063768f6029a975ff5d41e4"> 728</a></span>&#160; <a class="code" href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a> <a class="code" href="classPxRigidBody.html#a14d4e7068063768f6029a975ff5d41e4">PxRigidBody</a>(<a class="code" href="classPxFlags.html">PxBaseFlags</a> baseFlags) : <a class="code" href="classPxRigidActor.html">PxRigidActor</a>(baseFlags) {}</div><div class="line"><a name="l00729"></a><span class="lineno"><a class="line" href="classPxRigidBody.html#a229ff64730b95c9c36b653ffee707e8a"> 729</a></span>&#160; <span class="keyword">virtual</span> <a class="code" href="classPxRigidBody.html#a229ff64730b95c9c36b653ffee707e8a">~PxRigidBody</a>() {}</div><div class="line"><a name="l00730"></a><span class="lineno"><a class="line" href="classPxRigidBody.html#a126446a6de640cdc08d339911f826270"> 730</a></span>&#160; <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classPxRigidBody.html#a126446a6de640cdc08d339911f826270">isKindOf</a>(<span class="keyword">const</span> <span class="keywordtype">char</span>* name)<span class="keyword">const </span>{ <span class="keywordflow">return</span> !::strcmp(<span class="stringliteral">&quot;PxRigidBody&quot;</span>, name) || <a class="code" href="classPxRigidActor.html#a2e82b1515fd2c875edca2762cfe76f81">PxRigidActor::isKindOf</a>(name); }</div><div class="line"><a name="l00731"></a><span class="lineno"> 731</span>&#160;};</div><div class="line"><a name="l00732"></a><span class="lineno"> 732</span>&#160;</div><div class="line"><a name="l00733"></a><span class="lineno"> 733</span>&#160;</div><div class="line"><a name="l00734"></a><span class="lineno"> 734</span>&#160;<span class="preprocessor">#if !PX_DOXYGEN</span></div><div class="line"><a name="l00735"></a><span class="lineno"> 735</span>&#160;} <span class="comment">// namespace physx</span></div><div class="line"><a name="l00736"></a><span class="lineno"> 736</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00737"></a><span class="lineno"> 737</span>&#160;</div><div class="line"><a name="l00739"></a><span class="lineno"> 739</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="namespacephysx_html"><div class="ttname"><a href="namespacephysx.html">physx</a></div><div class="ttdef"><b>Definition:</b> GuContactBuffer.h:37</div></div>
<div class="ttc" id="classPxRigidBody_html_a229ff64730b95c9c36b653ffee707e8a"><div class="ttname"><a href="classPxRigidBody.html#a229ff64730b95c9c36b653ffee707e8a">PxRigidBody::~PxRigidBody</a></div><div class="ttdeci">virtual ~PxRigidBody()</div><div class="ttdef"><b>Definition:</b> PxRigidBody.h:729</div></div>
<div class="ttc" id="classPxRigidBody_html_adf18dc769f8d1d3da7760097fa699acb"><div class="ttname"><a href="classPxRigidBody.html#adf18dc769f8d1d3da7760097fa699acb">PxRigidBody::PxRigidBody</a></div><div class="ttdeci">PX_INLINE PxRigidBody(PxType concreteType, PxBaseFlags baseFlags)</div><div class="ttdef"><b>Definition:</b> PxRigidBody.h:727</div></div>
<div class="ttc" id="PxConstraintDesc_8h_html_a0a05cbea8c3ce31569c312d33d562f08"><div class="ttname"><a href="PxConstraintDesc_8h.html#a0a05cbea8c3ce31569c312d33d562f08">maxImpulse</a></div><div class="ttdeci">PxReal maxImpulse</div><div class="ttdoc">maximum impulse the solver may apply to enforce this constraint </div><div class="ttdef"><b>Definition:</b> PxConstraintDesc.h:93</div></div>
<div class="ttc" id="structPxRigidBodyFlag_html"><div class="ttname"><a href="structPxRigidBodyFlag.html">PxRigidBodyFlag</a></div><div class="ttdoc">Collection of flags describing the behavior of a rigid body. </div><div class="ttdef"><b>Definition:</b> PxRigidBody.h:52</div></div>
<div class="ttc" id="structPxRigidBodyFlag_html_a5fd4878ae66a98c030a9d976e8ba8596"><div class="ttname"><a href="structPxRigidBodyFlag.html#a5fd4878ae66a98c030a9d976e8ba8596">PxRigidBodyFlag::Enum</a></div><div class="ttdeci">Enum</div><div class="ttdef"><b>Definition:</b> PxRigidBody.h:54</div></div>
<div class="ttc" id="namespacephysx_html_a727d2d8426e2a21ebbc522fa65c3f97a"><div class="ttname"><a href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">physx::PxReal</a></div><div class="ttdeci">float PxReal</div><div class="ttdef"><b>Definition:</b> PxSimpleTypes.h:78</div></div>
<div class="ttc" id="PxRigidActor_8h_html"><div class="ttname"><a href="PxRigidActor_8h.html">PxRigidActor.h</a></div></div>
<div class="ttc" id="PxArticulationReducedCoordinate_8h_html_a1f5925a4680ca8dff39369ff8d47ab7c"><div class="ttname"><a href="PxArticulationReducedCoordinate_8h.html#a1f5925a4680ca8dff39369ff8d47ab7c">force</a></div><div class="ttdeci">PxVec3 force</div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:132</div></div>
<div class="ttc" id="PxForceMode_8h_html"><div class="ttname"><a href="PxForceMode_8h.html">PxForceMode.h</a></div></div>
<div class="ttc" id="structPxForceMode_html_aadaaafefe0478d829b816154c676e545"><div class="ttname"><a href="structPxForceMode.html#aadaaafefe0478d829b816154c676e545">PxForceMode::Enum</a></div><div class="ttdeci">Enum</div><div class="ttdef"><b>Definition:</b> PxForceMode.h:52</div></div>
<div class="ttc" id="group__common_html_gac1fb4b256a5d900d394e89db170a2b79"><div class="ttname"><a href="group__common.html#gac1fb4b256a5d900d394e89db170a2b79">PxType</a></div><div class="ttdeci">PxU16 PxType</div><div class="ttdef"><b>Definition:</b> PxBase.h:49</div></div>
<div class="ttc" id="classPxRigidActor_html"><div class="ttname"><a href="classPxRigidActor.html">PxRigidActor</a></div><div class="ttdoc">PxRigidActor represents a base class shared between dynamic and static rigid bodies in the physics SD...</div><div class="ttdef"><b>Definition:</b> PxRigidActor.h:58</div></div>
<div class="ttc" id="structPxForceMode_html_aadaaafefe0478d829b816154c676e545a6e707aa50e1612a2603643ee2df85f1a"><div class="ttname"><a href="structPxForceMode.html#aadaaafefe0478d829b816154c676e545a6e707aa50e1612a2603643ee2df85f1a">PxForceMode::eFORCE</a></div><div class="ttdoc">parameter has unit of mass * distance/ time^2, i.e. a force </div><div class="ttdef"><b>Definition:</b> PxForceMode.h:54</div></div>
<div class="ttc" id="classPxTransform_html"><div class="ttname"><a href="classPxTransform.html">PxTransform</a></div><div class="ttdoc">class representing a rigid euclidean transform as a quaternion and a vector </div><div class="ttdef"><b>Definition:</b> PxTransform.h:48</div></div>
<div class="ttc" id="classPxRigidActor_html_a2e82b1515fd2c875edca2762cfe76f81"><div class="ttname"><a href="classPxRigidActor.html#a2e82b1515fd2c875edca2762cfe76f81">PxRigidActor::isKindOf</a></div><div class="ttdeci">virtual bool isKindOf(const char *name) const</div><div class="ttdoc">Returns whether a given type name matches with the type of this instance. </div><div class="ttdef"><b>Definition:</b> PxRigidActor.h:228</div></div>
<div class="ttc" id="group__physics_html_ga0759d7f23b4fa7e24cd69c51d3efe5bf"><div class="ttname"><a href="group__physics.html#ga0759d7f23b4fa7e24cd69c51d3efe5bf">PxRigidBodyFlags</a></div><div class="ttdeci">PxFlags&lt; PxRigidBodyFlag::Enum, PxU16 &gt; PxRigidBodyFlags</div><div class="ttdoc">collection of set bits defined in PxRigidBodyFlag. </div><div class="ttdef"><b>Definition:</b> PxRigidBody.h:186</div></div>
<div class="ttc" id="PxArticulationReducedCoordinate_8h_html_abdcc8bb9f78d81acf11aabbf3367d09d"><div class="ttname"><a href="PxArticulationReducedCoordinate_8h.html#abdcc8bb9f78d81acf11aabbf3367d09d">torque</a></div><div class="ttdeci">PxVec3 torque</div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:134</div></div>
<div class="ttc" id="classPxRigidBody_html_a14d4e7068063768f6029a975ff5d41e4"><div class="ttname"><a href="classPxRigidBody.html#a14d4e7068063768f6029a975ff5d41e4">PxRigidBody::PxRigidBody</a></div><div class="ttdeci">PX_INLINE PxRigidBody(PxBaseFlags baseFlags)</div><div class="ttdef"><b>Definition:</b> PxRigidBody.h:728</div></div>
<div class="ttc" id="classPxFlags_html"><div class="ttname"><a href="classPxFlags.html">PxFlags</a></div><div class="ttdoc">Container for bitfield flag variables associated with a specific enum type. </div><div class="ttdef"><b>Definition:</b> PxFlags.h:73</div></div>
<div class="ttc" id="classPxRigidBody_html"><div class="ttname"><a href="classPxRigidBody.html">PxRigidBody</a></div><div class="ttdoc">PxRigidBody is a base class shared between dynamic rigid body objects. </div><div class="ttdef"><b>Definition:</b> PxRigidBody.h:195</div></div>
<div class="ttc" id="classPxRigidBody_html_a126446a6de640cdc08d339911f826270"><div class="ttname"><a href="classPxRigidBody.html#a126446a6de640cdc08d339911f826270">PxRigidBody::isKindOf</a></div><div class="ttdeci">virtual bool isKindOf(const char *name) const</div><div class="ttdoc">Returns whether a given type name matches with the type of this instance. </div><div class="ttdef"><b>Definition:</b> PxRigidBody.h:730</div></div>
<div class="ttc" id="namespacephysx_html_a9caf1cbcda071b6d2a9c069faa99da23"><div class="ttname"><a href="namespacephysx.html#a9caf1cbcda071b6d2a9c069faa99da23">physx::PxU16</a></div><div class="ttdeci">uint16_t PxU16</div><div class="ttdef"><b>Definition:</b> PxSimpleTypes.h:73</div></div>
<div class="ttc" id="group__foundation_html_gacce5749db3dcfb916e98c253374264ed"><div class="ttname"><a href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a></div><div class="ttdeci">uint32_t PxU32</div><div class="ttdef"><b>Definition:</b> Px.h:48</div></div>
<div class="ttc" id="group__foundation_html_gacb03347b642a2a5bdea1f9b305a6fbec"><div class="ttname"><a href="group__foundation.html#gacb03347b642a2a5bdea1f9b305a6fbec">PX_INLINE</a></div><div class="ttdeci">#define PX_INLINE</div><div class="ttdef"><b>Definition:</b> PxPreprocessor.h:336</div></div>
<div class="ttc" id="classPxVec3_html"><div class="ttname"><a href="classPxVec3.html">PxVec3</a></div><div class="ttdoc">3 Element vector class. </div><div class="ttdef"><b>Definition:</b> PxVec3.h:49</div></div>
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