PxPhysics.h

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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  
 
#ifndef PX_PHYSICS_H
#define PX_PHYSICS_H
 
#include "PxPhysXConfig.h"
#include "PxDeletionListener.h"
#include "foundation/PxTransform.h"
#include "PxShape.h"
#include "PxAggregate.h"
#include "PxBuffer.h"
#include "PxParticleSystem.h"
#include "foundation/PxPreprocessor.h"
#if PX_ENABLE_FEATURES_UNDER_CONSTRUCTION
#include "PxFEMCloth.h"
#include "PxHairSystem.h"
#endif
 
#if !PX_DOXYGEN
namespace physx
{
#endif
 
class PxScene;
class PxSceneDesc;
class PxTolerancesScale;
class PxPvd;
class PxOmniPvd;
class PxInsertionCallback;
 
class PxRigidActor;
class PxConstraintConnector;
struct PxConstraintShaderTable;
 
class PxGeometry;
class PxFoundation;
 
class PxPruningStructure;
class PxBVH;
typedef PX_DEPRECATED PxBVH PxBVHStructure;
 
class PxParticleClothBuffer;
class PxParticleRigidBuffer;
 
class PxSoftBodyMesh;
 
class PxPhysics
{
public:
 
 
    virtual ~PxPhysics() {}
 
    virtual void release() = 0;
 
    virtual PxFoundation& getFoundation() = 0;
 
    virtual PxOmniPvd* getOmniPvd() = 0;
 
    virtual PxAggregate* createAggregate(PxU32 maxActor, PxU32 maxShape, PxAggregateFilterHint filterHint) = 0;
 
    PX_FORCE_INLINE PX_DEPRECATED PxAggregate* createAggregate(PxU32 maxActor, PxAggregateFilterHint filterHint)
    {
        return createAggregate(maxActor, PX_MAX_U32, filterHint);
    }
 
    virtual const PxTolerancesScale& getTolerancesScale() const = 0;
 
 
 
    virtual PxTriangleMesh* createTriangleMesh(PxInputStream& stream) = 0;
 
    virtual PxU32 getNbTriangleMeshes() const = 0;
 
    virtual PxU32 getTriangleMeshes(PxTriangleMesh** userBuffer, PxU32 bufferSize, PxU32 startIndex = 0) const = 0;
 
 
 
 
    virtual PxTetrahedronMesh* createTetrahedronMesh(PxInputStream& stream) = 0;
 
    virtual PxSoftBodyMesh* createSoftBodyMesh(PxInputStream& stream) = 0;
 
    virtual PxU32 getNbTetrahedronMeshes() const = 0;
 
    virtual PxU32 getTetrahedronMeshes(PxTetrahedronMesh** userBuffer, PxU32 bufferSize, PxU32 startIndex = 0) const = 0;
 
    virtual PxHeightField* createHeightField(PxInputStream& stream) = 0;
 
    virtual PxU32 getNbHeightFields() const = 0;
 
    virtual PxU32 getHeightFields(PxHeightField** userBuffer, PxU32 bufferSize, PxU32 startIndex = 0) const = 0;
 
    virtual PxConvexMesh* createConvexMesh(PxInputStream& stream) = 0;
 
    virtual PxU32 getNbConvexMeshes() const = 0;
 
    virtual PxU32 getConvexMeshes(PxConvexMesh** userBuffer, PxU32 bufferSize, PxU32 startIndex = 0) const = 0;
 
    virtual PxBVH* createBVH(PxInputStream& stream) = 0;
 
    PX_DEPRECATED PX_FORCE_INLINE PxBVH*    createBVHStructure(PxInputStream& stream)
                                            {
                                                return createBVH(stream);
                                            }
 
    virtual PxU32 getNbBVHs() const = 0;
 
    PX_DEPRECATED PX_FORCE_INLINE PxU32     getNbBVHStructures() const
                                            {
                                                return getNbBVHs();
                                            }
 
    virtual PxU32 getBVHs(PxBVH** userBuffer, PxU32 bufferSize, PxU32 startIndex = 0) const = 0;
 
    PX_DEPRECATED PX_FORCE_INLINE PxU32 getBVHStructures(PxBVHStructure** userBuffer, PxU32 bufferSize, PxU32 startIndex = 0) const
                                        {
                                            return getBVHs(userBuffer, bufferSize, startIndex);
                                        }
 
 
 
    virtual PxScene* createScene(const PxSceneDesc& sceneDesc) = 0;
 
    virtual PxU32 getNbScenes() const = 0;
 
    virtual PxU32 getScenes(PxScene** userBuffer, PxU32 bufferSize, PxU32 startIndex = 0) const = 0;
 
 
 
    virtual PxRigidStatic* createRigidStatic(const PxTransform& pose) = 0;
 
    virtual PxRigidDynamic* createRigidDynamic(const PxTransform& pose) = 0;
 
    virtual PxPruningStructure* createPruningStructure(PxRigidActor*const* actors, PxU32 nbActors) = 0;
 
 
 
    PX_FORCE_INLINE PxShape* createShape(   const PxGeometry& geometry,
                                            const PxMaterial& material,
                                            bool isExclusive = false,
                                            PxShapeFlags shapeFlags = PxShapeFlag::eVISUALIZATION | PxShapeFlag::eSCENE_QUERY_SHAPE | PxShapeFlag::eSIMULATION_SHAPE)
    {
        PxMaterial* materialPtr = const_cast<PxMaterial*>(&material);
        return createShape(geometry, &materialPtr, 1, isExclusive, shapeFlags);
    }
 
    PX_FORCE_INLINE PxShape* createShape(   const PxGeometry& geometry,
                                            const PxFEMSoftBodyMaterial& material,
                                            bool isExclusive = false,
                                            PxShapeFlags shapeFlags = PxShapeFlag::eVISUALIZATION | PxShapeFlag::eSCENE_QUERY_SHAPE | PxShapeFlag::eSIMULATION_SHAPE)
    {
        PxFEMSoftBodyMaterial* materialPtr = const_cast<PxFEMSoftBodyMaterial*>(&material);
        return createShape(geometry, &materialPtr, 1, isExclusive, shapeFlags);
    }
 
#if PX_ENABLE_FEATURES_UNDER_CONSTRUCTION
    PX_FORCE_INLINE PxShape* createShape(   const PxGeometry& geometry,
                                            const PxFEMClothMaterial& material,
                                            bool isExclusive = false,
                                            PxShapeFlags shapeFlags = PxShapeFlag::eVISUALIZATION | PxShapeFlag::eSCENE_QUERY_SHAPE | PxShapeFlag::eSIMULATION_SHAPE)
    {
        PxFEMClothMaterial* materialPtr = const_cast<PxFEMClothMaterial*>(&material);
        return createShape(geometry, &materialPtr, 1, isExclusive, shapeFlags);
    }
#endif
 
    virtual PxShape* createShape(   const PxGeometry& geometry,
                                    PxMaterial*const * materials,
                                    PxU16 materialCount,
                                    bool isExclusive = false,
                                    PxShapeFlags shapeFlags = PxShapeFlag::eVISUALIZATION | PxShapeFlag::eSCENE_QUERY_SHAPE | PxShapeFlag::eSIMULATION_SHAPE) = 0;
 
    virtual PxShape* createShape(   const PxGeometry& geometry,
                                    PxFEMSoftBodyMaterial*const * materials,
                                    PxU16 materialCount,
                                    bool isExclusive = false,
                                    PxShapeFlags shapeFlags = PxShapeFlag::eVISUALIZATION | PxShapeFlag::eSCENE_QUERY_SHAPE | PxShapeFlag::eSIMULATION_SHAPE) = 0;
 
    virtual PxShape* createShape(   const PxGeometry& geometry,
                                    PxFEMClothMaterial*const * materials,
                                    PxU16 materialCount,
                                    bool isExclusive = false,
                                    PxShapeFlags shapeFlags = PxShapeFlag::eVISUALIZATION | PxShapeFlag::eSCENE_QUERY_SHAPE | PxShapeFlag::eSIMULATION_SHAPE) = 0;
 
    virtual PxU32 getNbShapes() const = 0;
 
    virtual PxU32 getShapes(PxShape** userBuffer, PxU32 bufferSize, PxU32 startIndex = 0) const = 0;
 
 
 
    virtual PxConstraint* createConstraint(PxRigidActor* actor0, PxRigidActor* actor1, PxConstraintConnector& connector, const PxConstraintShaderTable& shaders, PxU32 dataSize) = 0;
 
    virtual PxArticulationReducedCoordinate* createArticulationReducedCoordinate() = 0;
 
 
    virtual PxFEMCloth* createFEMCloth(PxCudaContextManager& cudaContextManager) = 0;
 
    virtual PxSoftBody* createSoftBody(PxCudaContextManager& cudaContextManager) = 0;
 
    virtual PxHairSystem* createHairSystem(PxCudaContextManager& cudaContextManager) = 0;
 
    virtual PxPBDParticleSystem* createPBDParticleSystem(PxCudaContextManager& cudaContextManager, PxU32 maxNeighborhood = 96) = 0;
 
    virtual PxFLIPParticleSystem* createFLIPParticleSystem(PxCudaContextManager& cudaContextManager) = 0;
 
    virtual PxMPMParticleSystem* createMPMParticleSystem(PxCudaContextManager& cudaContextManager) = 0;
 
    virtual PxCustomParticleSystem* createCustomParticleSystem(PxCudaContextManager& cudaContextManager, PxU32 maxNeighborhood) = 0;
 
    virtual PxBuffer* createBuffer(PxU64 byteSize, PxBufferType::Enum bufferType, PxCudaContextManager* cudaContextManager) = 0;
 
    virtual PxParticleBuffer* createParticleBuffer(PxU32 maxParticles, PxU32 maxVolumes, PxCudaContextManager* cudaContextManager) = 0;
 
    virtual PxParticleAndDiffuseBuffer* createParticleAndDiffuseBuffer(PxU32 maxParticles, PxU32 maxVolumes, PxU32 maxDiffuseParticles, PxCudaContextManager* cudaContextManager) = 0;
 
    virtual PxParticleClothBuffer* createParticleClothBuffer(PxU32 maxParticles, PxU32 maxNumVolumes, PxU32 maxNumCloths, PxU32 maxNumTriangles, PxU32 maxNumSprings, PxCudaContextManager* cudaContextManager) = 0;
    
    virtual PxParticleRigidBuffer* createParticleRigidBuffer(PxU32 maxParticles, PxU32 maxNumVolumes, PxU32 maxNumRigids, PxCudaContextManager* cudaContextManager) = 0;
 
 
 
    virtual PxMaterial* createMaterial(PxReal staticFriction, PxReal dynamicFriction, PxReal restitution) = 0;
 
    virtual PxU32 getNbMaterials() const = 0;
 
    virtual PxU32 getMaterials(PxMaterial** userBuffer, PxU32 bufferSize, PxU32 startIndex = 0) const = 0;
 
    virtual PxFEMSoftBodyMaterial* createFEMSoftBodyMaterial(PxReal youngs, PxReal poissons, PxReal dynamicFriction) = 0;
 
    virtual PxU32 getNbFEMSoftBodyMaterials() const = 0;
 
    virtual PxU32 getFEMSoftBodyMaterials(PxFEMSoftBodyMaterial** userBuffer, PxU32 bufferSize, PxU32 startIndex = 0) const = 0;
 
    virtual PxFEMClothMaterial* createFEMClothMaterial(PxReal youngs, PxReal poissons, PxReal dynamicFriction) = 0;
 
    virtual PxU32 getNbFEMClothMaterials() const = 0;
 
    virtual PxU32 getFEMClothMaterials(PxFEMClothMaterial** userBuffer, PxU32 bufferSize, PxU32 startIndex = 0) const = 0;
 
    virtual PxPBDMaterial* createPBDMaterial(PxReal friction, PxReal damping, PxReal adhesion, PxReal viscosity, PxReal vorticityConfinement, PxReal surfaceTension, PxReal cohesion, PxReal lift, PxReal drag, PxReal cflCoefficient = 1.f, PxReal gravityScale = 1.f) = 0;
 
    virtual PxU32 getNbPBDMaterials() const = 0;
 
    virtual PxU32 getPBDMaterials(PxPBDMaterial** userBuffer, PxU32 bufferSize, PxU32 startIndex = 0) const = 0;
    
    virtual PxFLIPMaterial* createFLIPMaterial(PxReal friction, PxReal damping, PxReal adhesion, PxReal viscosity, PxReal gravityScale = 1.f) = 0;
 
    virtual PxU32 getNbFLIPMaterials() const = 0;
 
    virtual PxU32 getFLIPMaterials(PxFLIPMaterial** userBuffer, PxU32 bufferSize, PxU32 startIndex = 0) const = 0;
    
    virtual PxMPMMaterial* createMPMMaterial(PxReal friction, PxReal damping, PxReal adhesion, bool isPlastic, PxReal youngsModulus, PxReal poissons, PxReal hardening, PxReal criticalCompression, PxReal criticalStretch, PxReal tensileDamageSensitivity, PxReal compressiveDamageSensitivity, PxReal attractiveForceResidual, PxReal gravityScale = 1.0f) = 0;
 
    virtual PxU32 getNbMPMMaterials() const = 0;
 
    virtual PxU32 getMPMMaterials(PxMPMMaterial** userBuffer, PxU32 bufferSize, PxU32 startIndex = 0) const = 0;
 
    virtual PxCustomMaterial* createCustomMaterial(void* gpuBuffer) = 0;
 
    virtual PxU32 getNbCustomMaterials() const = 0;
 
    virtual PxU32 getCustomMaterials(PxCustomMaterial** userBuffer, PxU32 bufferSize, PxU32 startIndex = 0) const = 0;
 
 
 
 
    virtual void registerDeletionListener(PxDeletionListener& observer, const PxDeletionEventFlags& deletionEvents, bool restrictedObjectSet = false) = 0;
 
    virtual void unregisterDeletionListener(PxDeletionListener& observer) = 0;
 
    virtual void registerDeletionListenerObjects(PxDeletionListener& observer, const PxBase* const* observables, PxU32 observableCount) = 0;
 
    virtual void unregisterDeletionListenerObjects(PxDeletionListener& observer, const PxBase* const* observables, PxU32 observableCount) = 0;
 
    virtual PxInsertionCallback& getPhysicsInsertionCallback() = 0;
 
};
 
#if !PX_DOXYGEN
} // namespace physx
#endif
 
PX_DEPRECATED PX_C_EXPORT PX_PHYSX_CORE_API void PX_CALL_CONV PxRegisterArticulationsReducedCoordinate(physx::PxPhysics& physics);
 
PX_DEPRECATED PX_C_EXPORT PX_PHYSX_CORE_API void PX_CALL_CONV PxRegisterHeightFields(physx::PxPhysics& physics);
 
PX_DEPRECATED PX_C_EXPORT PX_PHYSX_CORE_API physx::PxPhysics* PX_CALL_CONV PxCreateBasePhysics( physx::PxU32 version,
                                                                                    physx::PxFoundation& foundation,
                                                                                    const physx::PxTolerancesScale& scale,
                                                                                    bool trackOutstandingAllocations = false,
                                                                                    physx::PxPvd* pvd = NULL,
                                                                                    physx::PxOmniPvd* omniPvd = NULL);
 
PX_INLINE physx::PxPhysics* PxCreatePhysics(physx::PxU32 version,
                                            physx::PxFoundation& foundation,
                                            const physx::PxTolerancesScale& scale,
                                            bool trackOutstandingAllocations = false,
                                            physx::PxPvd* pvd = NULL,
                                            physx::PxOmniPvd* omniPvd = NULL)
{
    physx::PxPhysics* physics = PxCreateBasePhysics(version, foundation, scale, trackOutstandingAllocations, pvd, omniPvd);
    if (!physics)
        return NULL;
 
    PxRegisterArticulationsReducedCoordinate(*physics);
    PxRegisterHeightFields(*physics);
 
    return physics;
}
 
 
#ifdef __clang__
#pragma clang diagnostic push
#pragma clang diagnostic ignored "-Wreturn-type-c-linkage"
#endif
 
PX_C_EXPORT PX_PHYSX_CORE_API physx::PxPhysics& PX_CALL_CONV PxGetPhysics();
 
#ifdef __clang__
#pragma clang diagnostic pop
#endif
 
#endif