PxRigidDynamic.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_RIGID_DYNAMIC_H
#define PX_RIGID_DYNAMIC_H
#include "PxRigidBody.h"
 
#if !PX_DOXYGEN
namespace physx
{
#endif
 
 
struct PxRigidDynamicLockFlag
{
    enum Enum
    {
        eLOCK_LINEAR_X = (1 << 0),
        eLOCK_LINEAR_Y = (1 << 1),
        eLOCK_LINEAR_Z = (1 << 2),
        eLOCK_ANGULAR_X = (1 << 3),
        eLOCK_ANGULAR_Y = (1 << 4),
        eLOCK_ANGULAR_Z = (1 << 5)
    };
};
 
typedef PxFlags<PxRigidDynamicLockFlag::Enum, PxU8> PxRigidDynamicLockFlags;
PX_FLAGS_OPERATORS(PxRigidDynamicLockFlag::Enum, PxU8)
 
 
class PxRigidDynamic : public PxRigidBody
{
public:
    // Runtime modifications
 
 
/************************************************************************************************/
    virtual     void                setKinematicTarget(const PxTransform& destination) = 0;
 
    virtual     bool                getKinematicTarget(PxTransform& target) const   = 0;
 
 
/************************************************************************************************/
    virtual     bool                isSleeping() const = 0;
 
 
    virtual     void                setSleepThreshold(PxReal threshold) = 0;
 
    virtual     PxReal              getSleepThreshold() const = 0;
 
    virtual     void                setStabilizationThreshold(PxReal threshold) = 0;
 
    virtual     PxReal              getStabilizationThreshold() const = 0;
 
 
    virtual     PxRigidDynamicLockFlags getRigidDynamicLockFlags() const = 0;
 
    virtual     void                setRigidDynamicLockFlag(PxRigidDynamicLockFlag::Enum flag, bool value) = 0;
    virtual     void                setRigidDynamicLockFlags(PxRigidDynamicLockFlags flags) = 0;
    
    virtual     PxVec3          getLinearVelocity()     const = 0;
 
    virtual     void            setLinearVelocity(const PxVec3& linVel, bool autowake = true) = 0;
 
    virtual     PxVec3          getAngularVelocity()    const = 0;
 
    virtual     void            setAngularVelocity(const PxVec3& angVel, bool autowake = true) = 0;
    virtual     void                setWakeCounter(PxReal wakeCounterValue) = 0;
 
    virtual     PxReal              getWakeCounter() const = 0;
 
    virtual     void                wakeUp() = 0;
 
    virtual     void                putToSleep() = 0;
 
/************************************************************************************************/
 
    virtual     void                setSolverIterationCounts(PxU32 minPositionIters, PxU32 minVelocityIters = 1) = 0;
 
    virtual     void                getSolverIterationCounts(PxU32& minPositionIters, PxU32& minVelocityIters) const = 0;
 
    virtual     PxReal              getContactReportThreshold() const = 0;
 
    virtual     void                setContactReportThreshold(PxReal threshold) = 0;
 
    virtual     const char*         getConcreteTypeName() const { return "PxRigidDynamic"; }
 
protected:
    PX_INLINE                       PxRigidDynamic(PxType concreteType, PxBaseFlags baseFlags) : PxRigidBody(concreteType, baseFlags) { }
    PX_INLINE                       PxRigidDynamic(PxBaseFlags baseFlags) : PxRigidBody(baseFlags) {}
    virtual                         ~PxRigidDynamic() {}
    virtual     bool                isKindOf(const char* name) const { return !::strcmp("PxRigidDynamic", name) || PxRigidBody::isKindOf(name); }
 
};
 
#if !PX_DOXYGEN
} // namespace physx
#endif
 
#endif