613 lines
22 KiB
C++
613 lines
22 KiB
C++
// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions
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// are met:
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of NVIDIA CORPORATION nor the names of its
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// contributors may be used to endorse or promote products derived
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// from this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS ''AS IS'' AND ANY
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// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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// PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
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// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY
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// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// Copyright (c) 2008-2023 NVIDIA Corporation. All rights reserved.
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// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
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// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
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#ifndef PX_SHAPE_H
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#define PX_SHAPE_H
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/** \addtogroup physics
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@{
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*/
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#include "PxPhysXConfig.h"
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#include "common/PxBase.h"
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#include "geometry/PxGeometry.h"
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#include "geometry/PxGeometryHelpers.h"
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#if !PX_DOXYGEN
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namespace physx
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{
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#endif
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class PxBoxGeometry;
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class PxSphereGeometry;
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class PxCapsuleGeometry;
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class PxPlaneGeometry;
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class PxConvexMeshGeometry;
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class PxTriangleMeshGeometry;
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class PxTetrahedronMeshGeometry;
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class PxHeightFieldGeometry;
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class PxParticleSystemGeometry;
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class PxHairSystemGeometry;
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class PxRigidActor;
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struct PxFilterData;
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class PxBaseMaterial;
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class PxMaterial;
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class PxFEMSoftBodyMaterial;
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class PxFEMClothMaterial;
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/**
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\brief Flags which affect the behavior of PxShapes.
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@see PxShape PxShape.setFlag()
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*/
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struct PxShapeFlag
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{
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enum Enum
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{
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/**
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\brief The shape will partake in collision in the physical simulation.
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\note It is illegal to raise the eSIMULATION_SHAPE and eTRIGGER_SHAPE flags.
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In the event that one of these flags is already raised the sdk will reject any
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attempt to raise the other. To raise the eSIMULATION_SHAPE first ensure that
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eTRIGGER_SHAPE is already lowered.
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\note This flag has no effect if simulation is disabled for the corresponding actor (see #PxActorFlag::eDISABLE_SIMULATION).
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@see PxSimulationEventCallback.onContact() PxScene.setSimulationEventCallback() PxShape.setFlag(), PxShape.setFlags()
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*/
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eSIMULATION_SHAPE = (1<<0),
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/**
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\brief The shape will partake in scene queries (ray casts, overlap tests, sweeps, ...).
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*/
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eSCENE_QUERY_SHAPE = (1<<1),
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/**
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\brief The shape is a trigger which can send reports whenever other shapes enter/leave its volume.
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\note Triangle meshes and heightfields can not be triggers. Shape creation will fail in these cases.
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\note Shapes marked as triggers do not collide with other objects. If an object should act both
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as a trigger shape and a collision shape then create a rigid body with two shapes, one being a
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trigger shape and the other a collision shape. It is illegal to raise the eTRIGGER_SHAPE and
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eSIMULATION_SHAPE flags on a single PxShape instance. In the event that one of these flags is already
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raised the sdk will reject any attempt to raise the other. To raise the eTRIGGER_SHAPE flag first
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ensure that eSIMULATION_SHAPE flag is already lowered.
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\note Trigger shapes will no longer send notification events for interactions with other trigger shapes.
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\note Shapes marked as triggers are allowed to participate in scene queries, provided the eSCENE_QUERY_SHAPE flag is set.
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\note This flag has no effect if simulation is disabled for the corresponding actor (see #PxActorFlag::eDISABLE_SIMULATION).
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@see PxSimulationEventCallback.onTrigger() PxScene.setSimulationEventCallback() PxShape.setFlag(), PxShape.setFlags()
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*/
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eTRIGGER_SHAPE = (1<<2),
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/**
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\brief Enable debug renderer for this shape
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@see PxScene.getRenderBuffer() PxRenderBuffer PxVisualizationParameter
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*/
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eVISUALIZATION = (1<<3)
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};
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};
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/**
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\brief collection of set bits defined in PxShapeFlag.
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@see PxShapeFlag
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*/
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typedef PxFlags<PxShapeFlag::Enum,PxU8> PxShapeFlags;
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PX_FLAGS_OPERATORS(PxShapeFlag::Enum,PxU8)
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/**
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\brief Abstract class for collision shapes.
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Shapes are shared, reference counted objects.
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An instance can be created by calling the createShape() method of the PxRigidActor class, or
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the createShape() method of the PxPhysics class.
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<h3>Visualizations</h3>
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\li PxVisualizationParameter::eCOLLISION_AABBS
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\li PxVisualizationParameter::eCOLLISION_SHAPES
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\li PxVisualizationParameter::eCOLLISION_AXES
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@see PxPhysics.createShape() PxRigidActor.createShape() PxBoxGeometry PxSphereGeometry PxCapsuleGeometry PxPlaneGeometry PxConvexMeshGeometry
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PxTriangleMeshGeometry PxHeightFieldGeometry
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*/
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class PxShape : public PxRefCounted
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{
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public:
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/**
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\brief Decrements the reference count of a shape and releases it if the new reference count is zero.
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Note that in releases prior to PhysX 3.3 this method did not have reference counting semantics and was used to destroy a shape
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created with PxActor::createShape(). In PhysX 3.3 and above, this usage is deprecated, instead, use PxRigidActor::detachShape() to detach
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a shape from an actor. If the shape to be detached was created with PxActor::createShape(), the actor holds the only counted reference,
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and so when the shape is detached it will also be destroyed.
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@see PxRigidActor::createShape() PxPhysics::createShape() PxRigidActor::attachShape() PxRigidActor::detachShape()
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*/
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virtual void release() = 0;
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/**
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\brief Adjust the geometry of the shape.
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\note The type of the passed in geometry must match the geometry type of the shape.
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\note It is not allowed to change the geometry type of a shape.
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\note This function does not guarantee correct/continuous behavior when objects are resting on top of old or new geometry.
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\param[in] geometry New geometry of the shape.
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@see PxGeometry PxGeometryType getGeometryType()
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*/
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virtual void setGeometry(const PxGeometry& geometry) = 0;
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/**
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\brief Retrieve a reference to the shape's geometry.
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\warning The returned reference has the same lifetime as the PxShape it comes from.
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\return Reference to internal PxGeometry object.
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@see PxGeometry PxGeometryType getGeometryType() setGeometry()
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*/
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virtual const PxGeometry& getGeometry() const = 0;
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/**
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\brief Retrieves the actor which this shape is associated with.
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\return The actor this shape is associated with, if it is an exclusive shape, else NULL
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@see PxRigidStatic, PxRigidDynamic, PxArticulationLink
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*/
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virtual PxRigidActor* getActor() const = 0;
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/************************************************************************************************/
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/** @name Pose Manipulation
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*/
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//@{
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/**
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\brief Sets the pose of the shape in actor space, i.e. relative to the actors to which they are attached.
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This transformation is identity by default.
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The local pose is an attribute of the shape, and so will apply to all actors to which the shape is attached.
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<b>Sleeping:</b> Does <b>NOT</b> wake the associated actor up automatically.
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<i>Note:</i> Does not automatically update the inertia properties of the owning actor (if applicable); use the
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PhysX extensions method #PxRigidBodyExt::updateMassAndInertia() to do this.
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<b>Default:</b> the identity transform
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\param[in] pose The new transform from the actor frame to the shape frame. <b>Range:</b> rigid body transform
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@see getLocalPose()
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*/
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virtual void setLocalPose(const PxTransform& pose) = 0;
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/**
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\brief Retrieves the pose of the shape in actor space, i.e. relative to the actor they are owned by.
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This transformation is identity by default.
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\return Pose of shape relative to the actor's frame.
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@see setLocalPose()
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*/
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virtual PxTransform getLocalPose() const = 0;
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//@}
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/************************************************************************************************/
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/** @name Collision Filtering
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*/
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//@{
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/**
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\brief Sets the user definable collision filter data.
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<b>Sleeping:</b> Does wake up the actor if the filter data change causes a formerly suppressed
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collision pair to be enabled.
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<b>Default:</b> (0,0,0,0)
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@see getSimulationFilterData()
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*/
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virtual void setSimulationFilterData(const PxFilterData& data) = 0;
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/**
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\brief Retrieves the shape's collision filter data.
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@see setSimulationFilterData()
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*/
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virtual PxFilterData getSimulationFilterData() const = 0;
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/**
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\brief Sets the user definable query filter data.
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<b>Default:</b> (0,0,0,0)
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@see getQueryFilterData()
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*/
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virtual void setQueryFilterData(const PxFilterData& data) = 0;
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/**
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\brief Retrieves the shape's Query filter data.
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@see setQueryFilterData()
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*/
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virtual PxFilterData getQueryFilterData() const = 0;
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//@}
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/************************************************************************************************/
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/**
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\brief Assigns material(s) to the shape. Will remove existing materials from the shape.
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<b>Sleeping:</b> Does <b>NOT</b> wake the associated actor up automatically.
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\param[in] materials List of material pointers to assign to the shape. See #PxMaterial
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\param[in] materialCount The number of materials provided.
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@see PxPhysics.createMaterial() getMaterials()
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*/
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virtual void setMaterials(PxMaterial*const* materials, PxU16 materialCount) = 0;
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/**
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\brief Assigns FEM soft body material(s) to the shape. Will remove existing materials from the shape.
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<b>Sleeping:</b> Does <b>NOT</b> wake the associated actor up automatically.
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\param[in] materials List of material pointers to assign to the shape. See #PxFEMSoftBodyMaterial
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\param[in] materialCount The number of materials provided.
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@see PxPhysics.createFEMSoftBodyMaterial() getSoftBodyMaterials()
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*/
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virtual void setSoftBodyMaterials(PxFEMSoftBodyMaterial*const* materials, PxU16 materialCount) = 0;
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/**
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\brief Assigns FEM cloth material(s) to the shape. Will remove existing materials from the shape.
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\warning Feature under development, only for internal usage.
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<b>Sleeping:</b> Does <b>NOT</b> wake the associated actor up automatically.
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\param[in] materials List of material pointers to assign to the shape. See #PxFEMClothMaterial
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\param[in] materialCount The number of materials provided.
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@see PxPhysics.createFEMClothMaterial() getClothMaterials()
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*/
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virtual void setClothMaterials(PxFEMClothMaterial*const* materials, PxU16 materialCount) = 0;
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/**
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\brief Returns the number of materials assigned to the shape.
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You can use #getMaterials() to retrieve the material pointers.
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\return Number of materials associated with this shape.
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@see PxMaterial getMaterials()
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*/
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virtual PxU16 getNbMaterials() const = 0;
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/**
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\brief Retrieve all the material pointers associated with the shape.
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You can retrieve the number of material pointers by calling #getNbMaterials()
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Note: The returned data may contain invalid pointers if you release materials using #PxMaterial::release().
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\param[out] userBuffer The buffer to store the material pointers.
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\param[in] bufferSize Size of provided user buffer.
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\param[in] startIndex Index of first material pointer to be retrieved
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\return Number of material pointers written to the buffer.
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@see PxMaterial getNbMaterials() PxMaterial::release()
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*/
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virtual PxU32 getMaterials(PxMaterial** userBuffer, PxU32 bufferSize, PxU32 startIndex=0) const = 0;
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/**
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\brief Retrieve all the FEM soft body material pointers associated with the shape.
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You can retrieve the number of material pointers by calling #getNbMaterials()
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Note: The returned data may contain invalid pointers if you release materials using #PxMaterial::release().
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\param[out] userBuffer The buffer to store the material pointers.
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\param[in] bufferSize Size of provided user buffer.
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\param[in] startIndex Index of first material pointer to be retrieved
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\return Number of material pointers written to the buffer.
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@see PxFEMSoftBodyMaterial getNbMaterials() PxMaterial::release()
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*/
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virtual PxU32 getSoftBodyMaterials(PxFEMSoftBodyMaterial** userBuffer, PxU32 bufferSize, PxU32 startIndex = 0) const = 0;
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/**
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\brief Retrieve all the FEM cloth material pointers associated with the shape.
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\warning Feature under development, only for internal usage.
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You can retrieve the number of material pointers by calling #getNbMaterials()
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Note: The returned data may contain invalid pointers if you release materials using #PxMaterial::release().
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\param[out] userBuffer The buffer to store the material pointers.
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\param[in] bufferSize Size of provided user buffer.
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\param[in] startIndex Index of first material pointer to be retrieved
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\return Number of material pointers written to the buffer.
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@see PxFEMClothMaterial getNbMaterials() PxMaterial::release()
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*/
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virtual PxU32 getClothMaterials(PxFEMClothMaterial** userBuffer, PxU32 bufferSize, PxU32 startIndex = 0) const = 0;
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/**
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\brief Retrieve material from given triangle index.
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The input index is the internal triangle index as used inside the SDK. This is the index
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returned to users by various SDK functions such as raycasts.
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This function is only useful for triangle meshes or heightfields, which have per-triangle
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materials. For other shapes or SDF triangle meshes, the function returns the single material
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associated with the shape, regardless of the index.
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\param[in] faceIndex The internal triangle index whose material you want to retrieve.
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\return Material from input triangle
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\note If faceIndex value of 0xFFFFffff is passed as an input for mesh and heightfield shapes, this function will issue a warning and return NULL.
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\note Scene queries set the value of PxQueryHit::faceIndex to 0xFFFFffff whenever it is undefined or does not apply.
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@see PxMaterial getNbMaterials() PxMaterial::release()
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*/
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virtual PxBaseMaterial* getMaterialFromInternalFaceIndex(PxU32 faceIndex) const = 0;
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/**
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\brief Sets the contact offset.
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Shapes whose distance is less than the sum of their contactOffset values will generate contacts. The contact offset must be positive and
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greater than the rest offset. Having a contactOffset greater than than the restOffset allows the collision detection system to
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predictively enforce the contact constraint even when the objects are slightly separated. This prevents jitter that would occur
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if the constraint were enforced only when shapes were within the rest distance.
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<b>Default:</b> 0.02f * PxTolerancesScale::length
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<b>Sleeping:</b> Does <b>NOT</b> wake the associated actor up automatically.
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\param[in] contactOffset <b>Range:</b> [maximum(0,restOffset), PX_MAX_F32)
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@see getContactOffset PxTolerancesScale setRestOffset
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*/
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virtual void setContactOffset(PxReal contactOffset) = 0;
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/**
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\brief Retrieves the contact offset.
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\return The contact offset of the shape.
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@see setContactOffset()
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*/
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virtual PxReal getContactOffset() const = 0;
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/**
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\brief Sets the rest offset.
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Two shapes will come to rest at a distance equal to the sum of their restOffset values. If the restOffset is 0, they should converge to touching
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exactly. Having a restOffset greater than zero is useful to have objects slide smoothly, so that they do not get hung up on irregularities of
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each others' surfaces.
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<b>Default:</b> 0.0f
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<b>Sleeping:</b> Does <b>NOT</b> wake the associated actor up automatically.
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\param[in] restOffset <b>Range:</b> (-PX_MAX_F32, contactOffset)
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@see getRestOffset setContactOffset
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*/
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virtual void setRestOffset(PxReal restOffset) = 0;
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/**
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\brief Retrieves the rest offset.
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\return The rest offset of the shape.
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@see setRestOffset()
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*/
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virtual PxReal getRestOffset() const = 0;
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/**
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\brief Sets the density used to interact with fluids.
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To be physically accurate, the density of a rigid body should be computed as its mass divided by its volume. To
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simplify tuning the interaction of fluid and rigid bodies, the density for fluid can differ from the real density. This
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allows to create floating bodies, even if they are supposed to sink with their mass and volume.
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<b>Default:</b> 800.0f
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\param[in] densityForFluid <b>Range:</b> (0, PX_MAX_F32)
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@see getDensityForFluid
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*/
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virtual void setDensityForFluid(PxReal densityForFluid) = 0;
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/**
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\brief Retrieves the density used to interact with fluids.
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\return The density of the body when interacting with fluid.
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@see setDensityForFluid()
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*/
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virtual PxReal getDensityForFluid() const = 0;
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/**
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\brief Sets torsional patch radius.
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This defines the radius of the contact patch used to apply torsional friction. If the radius is 0, no torsional friction
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will be applied. If the radius is > 0, some torsional friction will be applied. This is proportional to the penetration depth
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so, if the shapes are separated or penetration is zero, no torsional friction will be applied. It is used to approximate
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rotational friction introduced by the compression of contacting surfaces.
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<b>Default:</b> 0.0
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\param[in] radius <b>Range:</b> (0, PX_MAX_F32)
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*/
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virtual void setTorsionalPatchRadius(PxReal radius) = 0;
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/**
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\brief Gets torsional patch radius.
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This defines the radius of the contact patch used to apply torsional friction. If the radius is 0, no torsional friction
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will be applied. If the radius is > 0, some torsional friction will be applied. This is proportional to the penetration depth
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so, if the shapes are separated or penetration is zero, no torsional friction will be applied. It is used to approximate
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rotational friction introduced by the compression of contacting surfaces.
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\return The torsional patch radius of the shape.
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*/
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virtual PxReal getTorsionalPatchRadius() const = 0;
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/**
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\brief Sets minimum torsional patch radius.
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This defines the minimum radius of the contact patch used to apply torsional friction. If the radius is 0, the amount of torsional friction
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that will be applied will be entirely dependent on the value of torsionalPatchRadius.
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If the radius is > 0, some torsional friction will be applied regardless of the value of torsionalPatchRadius or the amount of penetration.
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<b>Default:</b> 0.0
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\param[in] radius <b>Range:</b> (0, PX_MAX_F32)
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*/
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virtual void setMinTorsionalPatchRadius(PxReal radius) = 0;
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/**
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\brief Gets minimum torsional patch radius.
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This defines the minimum radius of the contact patch used to apply torsional friction. If the radius is 0, the amount of torsional friction
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that will be applied will be entirely dependent on the value of torsionalPatchRadius.
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If the radius is > 0, some torsional friction will be applied regardless of the value of torsionalPatchRadius or the amount of penetration.
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\return The minimum torsional patch radius of the shape.
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*/
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virtual PxReal getMinTorsionalPatchRadius() const = 0;
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/**
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\brief Gets internal shape id
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The internal shape id can be used to reference a specific shape when processing data on the gpu.
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\return The shape id
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@see PxScene evaluateSDFDistances()
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*/
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virtual PxU32 getInternalShapeIndex() const = 0;
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/************************************************************************************************/
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/**
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\brief Sets shape flags
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<b>Sleeping:</b> Does <b>NOT</b> wake the associated actor up automatically.
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\param[in] flag The shape flag to enable/disable. See #PxShapeFlag.
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\param[in] value True to set the flag. False to clear the flag specified in flag.
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<b>Default:</b> PxShapeFlag::eVISUALIZATION | PxShapeFlag::eSIMULATION_SHAPE | PxShapeFlag::eSCENE_QUERY_SHAPE
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@see PxShapeFlag getFlags()
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*/
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virtual void setFlag(PxShapeFlag::Enum flag, bool value) = 0;
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/**
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\brief Sets shape flags
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@see PxShapeFlag getFlags()
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*/
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virtual void setFlags(PxShapeFlags inFlags) = 0;
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/**
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\brief Retrieves shape flags.
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\return The values of the shape flags.
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@see PxShapeFlag setFlag()
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|
*/
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virtual PxShapeFlags getFlags() const = 0;
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/**
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\brief Returns true if the shape is exclusive to an actor.
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|
@see PxPhysics::createShape()
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|
*/
|
|
virtual bool isExclusive() const = 0;
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/**
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\brief Sets a name string for the object that can be retrieved with #getName().
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This is for debugging and is not used by the SDK.
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The string is not copied by the SDK, only the pointer is stored.
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<b>Default:</b> NULL
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\param[in] name The name string to set the objects name to.
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|
@see getName()
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|
*/
|
|
virtual void setName(const char* name) = 0;
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|
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/**
|
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\brief retrieves the name string set with setName().
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\return The name associated with the shape.
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|
|
@see setName()
|
|
*/
|
|
virtual const char* getName() const = 0;
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|
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virtual const char* getConcreteTypeName() const { return "PxShape"; }
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|
|
/************************************************************************************************/
|
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|
|
void* userData; //!< user can assign this to whatever, usually to create a 1:1 relationship with a user object.
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|
|
protected:
|
|
PX_INLINE PxShape(PxBaseFlags baseFlags) : PxRefCounted(baseFlags) {}
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|
PX_INLINE PxShape(PxType concreteType, PxBaseFlags baseFlags) : PxRefCounted(concreteType, baseFlags), userData(NULL) {}
|
|
virtual ~PxShape() {}
|
|
virtual bool isKindOf(const char* name) const { return !::strcmp("PxShape", name) || PxRefCounted::isKindOf(name); }
|
|
};
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|
|
#if !PX_DOXYGEN
|
|
} // namespace physx
|
|
#endif
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|
|
/** @} */
|
|
#endif
|