NpRigidDynamic.h

// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions
// are met:
//  * Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//  * Redistributions in binary form must reproduce the above copyright
//    notice, this list of conditions and the following disclaimer in the
//    documentation and/or other materials provided with the distribution.
//  * Neither the name of NVIDIA CORPORATION nor the names of its
//    contributors may be used to endorse or promote products derived
//    from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
// PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR
// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
// Copyright (c) 2008-2022 NVIDIA Corporation. All rights reserved.
// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
#ifndef NP_RIGID_DYNAMIC_H
#define NP_RIGID_DYNAMIC_H
 
#include "common/PxMetaData.h"
#include "PxRigidDynamic.h"
#include "NpRigidBodyTemplate.h"
 
namespace physx
{
typedef NpRigidBodyTemplate<PxRigidDynamic> NpRigidDynamicT;
 
class NpRigidDynamic : public NpRigidDynamicT
{
//= ATTENTION! =====================================================================================
// Changing the data layout of this class breaks the binary serialization format.  See comments for 
// PX_BINARY_SERIAL_VERSION.  If a modification is required, please adjust the getBinaryMetaData 
// function.  If the modification is made on a custom branch, please change PX_BINARY_SERIAL_VERSION
// accordingly.
//==================================================================================================
public:
// PX_SERIALIZATION
                                    NpRigidDynamic(PxBaseFlags baseFlags) : NpRigidDynamicT(baseFlags) {}
 
                void                preExportDataReset();
    virtual     void                requiresObjects(PxProcessPxBaseCallback& c);
 
    static      NpRigidDynamic*     createObject(PxU8*& address, PxDeserializationContext& context);
    static      void                getBinaryMetaData(PxOutputStream& stream);  
//~PX_SERIALIZATION
    virtual                         ~NpRigidDynamic();
 
    //---------------------------------------------------------------------------------
    // PxActor implementation
    //---------------------------------------------------------------------------------
 
    virtual     void                release()   PX_OVERRIDE;
 
    //---------------------------------------------------------------------------------
    // PxRigidDynamic implementation
    //---------------------------------------------------------------------------------
 
    virtual     PxActorType::Enum   getType() const PX_OVERRIDE { return PxActorType::eRIGID_DYNAMIC; }
 
    // Pose
    virtual     void                setGlobalPose(const PxTransform& pose, bool autowake)   PX_OVERRIDE;
 
    PX_FORCE_INLINE     PxTransform         getGlobalPoseFast() const
    {
        const Sc::BodyCore& body = getCore();
        return body.getBody2World() * body.getBody2Actor().getInverse();
    }
    virtual     PxTransform         getGlobalPose() const   PX_OVERRIDE
    {
        NP_READ_CHECK(getNpScene());
        PX_CHECK_SCENE_API_READ_FORBIDDEN_EXCEPT_COLLIDE_AND_RETURN_VAL(getNpScene(), "PxRigidDynamic::getGlobalPose() not allowed while simulation is running (except during PxScene::collide()).", PxTransform(PxIdentity));
        return getGlobalPoseFast();
    }
 
    virtual     void                setKinematicTarget(const PxTransform& destination)  PX_OVERRIDE;
    virtual     bool                getKinematicTarget(PxTransform& target) const   PX_OVERRIDE;
 
    // Center of mass pose
    virtual     void                setCMassLocalPose(const PxTransform&)   PX_OVERRIDE;
 
    // Velocity
    virtual     void                setLinearVelocity(const PxVec3&, bool autowake) PX_OVERRIDE;
    virtual     void                setAngularVelocity(const PxVec3&, bool autowake)    PX_OVERRIDE;
 
    // Force/Torque modifiers
    virtual     void                addForce(const PxVec3&, PxForceMode::Enum mode, bool autowake)  PX_OVERRIDE;
    virtual     void                clearForce(PxForceMode::Enum mode)  PX_OVERRIDE;
    virtual     void                addTorque(const PxVec3&, PxForceMode::Enum mode, bool autowake) PX_OVERRIDE;
    virtual     void                clearTorque(PxForceMode::Enum mode) PX_OVERRIDE;
    virtual     void                setForceAndTorque(const PxVec3& force, const PxVec3& torque, PxForceMode::Enum mode = PxForceMode::eFORCE)  PX_OVERRIDE;
 
    // Sleeping
    virtual     bool                isSleeping() const  PX_OVERRIDE;
    virtual     PxReal              getSleepThreshold() const   PX_OVERRIDE;
    virtual     void                setSleepThreshold(PxReal threshold) PX_OVERRIDE;
    virtual     PxReal              getStabilizationThreshold() const   PX_OVERRIDE;
    virtual     void                setStabilizationThreshold(PxReal threshold) PX_OVERRIDE;
    virtual     void                setWakeCounter(PxReal wakeCounterValue) PX_OVERRIDE;
    virtual     PxReal              getWakeCounter() const  PX_OVERRIDE;
    virtual     void                wakeUp()    PX_OVERRIDE;
    virtual     void                putToSleep()    PX_OVERRIDE;
 
    virtual     void                setSolverIterationCounts(PxU32 positionIters, PxU32 velocityIters)  PX_OVERRIDE;
    virtual     void                getSolverIterationCounts(PxU32 & positionIters, PxU32 & velocityIters) const    PX_OVERRIDE;
 
    virtual     void                setContactReportThreshold(PxReal threshold) PX_OVERRIDE;
    virtual     PxReal              getContactReportThreshold() const   PX_OVERRIDE;
 
    virtual     PxRigidDynamicLockFlags getRigidDynamicLockFlags() const    PX_OVERRIDE;
    virtual     void                setRigidDynamicLockFlags(PxRigidDynamicLockFlags flags) PX_OVERRIDE;
    virtual     void                setRigidDynamicLockFlag(PxRigidDynamicLockFlag::Enum flag, bool value)  PX_OVERRIDE;
 
    //---------------------------------------------------------------------------------
    // Miscellaneous
    //---------------------------------------------------------------------------------
                                    NpRigidDynamic(const PxTransform& bodyPose);
 
    virtual     void                switchToNoSim() PX_OVERRIDE;
    virtual     void                switchFromNoSim()   PX_OVERRIDE;
 
    PX_FORCE_INLINE void            wakeUpInternal();
                    void            wakeUpInternalNoKinematicTest(bool forceWakeUp, bool autowake);
 
    static PX_FORCE_INLINE size_t   getCoreOffset()             { return PX_OFFSET_OF_RT(NpRigidDynamic, mCore);            }
    static PX_FORCE_INLINE size_t   getNpShapeManagerOffset()   { return PX_OFFSET_OF_RT(NpRigidDynamic, mShapeManager);    }
 
#if PX_CHECKED
    PX_FORCE_INLINE bool            checkConstraintValidity() const { return true;  }
#endif
 
private:
    PX_FORCE_INLINE void            setKinematicTargetInternal(const PxTransform& destination);
 
#if PX_ENABLE_DEBUG_VISUALIZATION
public:
                void                visualize(PxRenderOutput& out, NpScene& scene, float scale) const;
#else
    PX_CATCH_UNDEFINED_ENABLE_DEBUG_VISUALIZATION
#endif
};
 
PX_FORCE_INLINE void NpRigidDynamic::wakeUpInternal()
{
    PX_ASSERT(getNpScene());
 
    const Sc::BodyCore& body = getCore();
 
    const PxRigidBodyFlags currentFlags = body.getFlags();
 
    if (!(currentFlags & PxRigidBodyFlag::eKINEMATIC))  // kinematics are only awake when a target is set, else they are asleep
        wakeUpInternalNoKinematicTest(false, true);
}
 
 
}
 
#endif