179 lines
6.7 KiB
C++
179 lines
6.7 KiB
C++
// Filename: physxActorNode.h
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// Created by: pratt (Apr 7, 2006)
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//
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////////////////////////////////////////////////////////////////////
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//
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// PANDA 3D SOFTWARE
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// Copyright (c) Carnegie Mellon University. All rights reserved.
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//
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// All use of this software is subject to the terms of the revised BSD
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// license. You should have received a copy of this license along
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// with this source code in a file named "LICENSE."
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//
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////////////////////////////////////////////////////////////////////
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#ifndef PHYSXACTORNODE_H
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#define PHYSXACTORNODE_H
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#ifdef HAVE_PHYSX
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#include "pandabase.h"
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#include "pandaNode.h"
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#include "physx_enumerations.h"
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#include "physxManager.h"
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#include "luse.h"
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class PhysxBodyDesc;
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class PhysxScene;
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class PhysxShape;
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class PhysxShapeDesc;
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#include "NxPhysics.h"
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////////////////////////////////////////////////////////////////////
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// Class : PhysxActorNode
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// Description :
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////////////////////////////////////////////////////////////////////
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class EXPCL_PANDAPHYSX PhysxActorNode : public PandaNode {
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PUBLISHED:
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PhysxActorNode(const string &name);
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INLINE void update_transform();
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INLINE void get_global_pose_optimized(LMatrix4f *result);
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unsigned int get_num_shapes();
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PhysxShape *get_shape(unsigned int i);
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INLINE bool is_valid();
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void add_force(const LVecBase3f & force, PhysxForceMode mode, bool wakeup=true);
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void add_force_at_local_pos(const LVecBase3f & force, const LVecBase3f & pos, PhysxForceMode mode, bool wakeup=true);
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void add_force_at_pos(const LVecBase3f & force, const LVecBase3f & pos, PhysxForceMode mode, bool wakeup=true);
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void add_local_force(const LVecBase3f & force, PhysxForceMode mode, bool wakeup=true);
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void add_local_force_at_local_pos(const LVecBase3f & force, const LVecBase3f & pos, PhysxForceMode mode, bool wakeup=true);
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void add_local_force_at_pos(const LVecBase3f & force, const LVecBase3f & pos, PhysxForceMode mode, bool wakeup=true);
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void add_local_torque(const LVecBase3f & torque, PhysxForceMode mode, bool wakeup=true);
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void add_torque(const LVecBase3f & torque, PhysxForceMode mode, bool wakeup=true);
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void clear_actor_flag(PhysxActorFlag actor_flag);
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void clear_body_flag(PhysxBodyFlag body_flag);
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float compute_kinetic_energy() const;
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PhysxShape * create_shape(const PhysxShapeDesc & desc);
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float get_angular_damping() const;
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LVecBase3f get_angular_momentum() const;
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LVecBase3f get_angular_velocity() const;
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LMatrix3f get_c_mass_global_orientation() const;
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LMatrix4f get_c_mass_global_pose() const;
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LVecBase3f get_c_mass_global_position() const;
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LMatrix3f get_c_mass_local_orientation() const;
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LMatrix4f get_c_mass_local_pose() const;
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LVecBase3f get_c_mass_local_position() const;
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float get_ccd_motion_threshold() const;
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LMatrix3f get_global_inertia_tensor() const;
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LMatrix3f get_global_inertia_tensor_inverse() const;
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LMatrix3f get_global_orientation() const;
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LQuaternionf get_global_orientation_quat() const;
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INLINE LMatrix4f get_global_pose() const;
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LVecBase3f get_global_position() const;
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unsigned short get_group() const;
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float get_linear_damping() const;
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LVecBase3f get_linear_momentum() const;
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LVecBase3f get_linear_velocity() const;
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LVecBase3f get_local_point_velocity(const LVecBase3f & point) const;
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float get_mass() const;
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LVecBase3f get_mass_space_inertia_tensor() const;
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float get_max_angular_velocity() const;
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unsigned int get_nb_shapes() const;
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LVecBase3f get_point_velocity(const LVecBase3f & point) const;
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PhysxScene & get_scene() const;
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float get_sleep_angular_velocity() const;
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float get_sleep_energy_threshold() const;
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float get_sleep_linear_velocity() const;
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unsigned int get_solver_iteration_count() const;
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bool is_dynamic() const;
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bool is_group_sleeping() const;
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bool is_sleeping() const;
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void move_global_orientation(const LMatrix3f & mat);
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void move_global_orientation_quat(const LQuaternionf & quat);
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void move_global_pose(const LMatrix4f & mat);
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void move_global_position(const LVecBase3f & vec);
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void put_to_sleep();
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void raise_actor_flag(PhysxActorFlag actor_flag);
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void raise_body_flag(PhysxBodyFlag body_flag);
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bool read_actor_flag(PhysxActorFlag actor_flag) const;
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bool read_body_flag(PhysxBodyFlag body_flag) const;
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void recompute_adaptive_force_counters();
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void release_shape(PhysxShape & shape);
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void reset_user_actor_pair_filtering();
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bool save_body_to_desc(PhysxBodyDesc & body_desc);
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void set_angular_damping(float ang_damp);
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void set_angular_momentum(const LVecBase3f & ang_moment);
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void set_angular_velocity(const LVecBase3f & ang_vel);
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void set_c_mass_global_orientation(const LMatrix3f & mat);
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void set_c_mass_global_pose(const LMatrix4f & mat);
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void set_c_mass_global_position(const LVecBase3f & vec);
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void set_c_mass_offset_global_orientation(const LMatrix3f & mat);
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void set_c_mass_offset_global_pose(const LMatrix4f & mat);
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void set_c_mass_offset_global_position(const LVecBase3f & vec);
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void set_c_mass_offset_local_orientation(const LMatrix3f & mat);
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void set_c_mass_offset_local_pose(const LMatrix4f & mat);
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void set_c_mass_offset_local_position(const LVecBase3f & vec);
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void set_ccd_motion_threshold(float thresh);
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void set_global_orientation(const LMatrix3f & mat);
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void set_global_orientation_quat(const LQuaternionf & mat);
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void set_global_pose(const LMatrix4f & mat);
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void set_global_position(const LVecBase3f & vec);
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void set_group(unsigned short actor_group);
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void set_linear_damping(float lin_damp);
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void set_linear_momentum(const LVecBase3f & lin_moment);
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void set_linear_velocity(const LVecBase3f & lin_vel);
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void set_mass(float mass);
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void set_mass_space_inertia_tensor(const LVecBase3f & m);
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void set_max_angular_velocity(float max_ang_vel);
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void set_sleep_angular_velocity(float threshold);
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void set_sleep_energy_threshold(float threshold);
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void set_sleep_linear_velocity(float threshold);
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void set_solver_iteration_count(unsigned int iter_count);
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void update_mass_from_shapes(float density, float total_mass);
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void wake_up(float wake_counter_value);
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public:
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NxActor *nActor;
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bool safe_to_flatten() const {
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return false;
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}
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static TypeHandle get_class_type() {
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return _type_handle;
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}
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static void init_type() {
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PandaNode::init_type();
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register_type(_type_handle, "PhysxActorNode", PandaNode::get_class_type());
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}
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virtual TypeHandle get_type() const {
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return get_class_type();
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}
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virtual TypeHandle force_init_type() {
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init_type();
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return get_class_type();
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}
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private:
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virtual void transform_changed();
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bool _disable_transform_changed;
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// These variables are used by update_transform and
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// get_global_pose_optimized for optimization purposes.
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LMatrix4f _tempMat4;
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float _tempCells[16];
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static TypeHandle _type_handle;
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};
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#include "physxActorNode.I"
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#endif // HAVE_PHYSX
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#endif // PHYSXACTORNODE_H
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