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00031 #ifndef PX_PHYSICS_NX_CLOTH
00032 #define PX_PHYSICS_NX_CLOTH
00033
00037 #include "PxPhysXConfig.h"
00038 #include "PxActor.h"
00039 #include "PxLockedData.h"
00040 #include "PxFiltering.h"
00041 #include "cloth/PxClothFabric.h"
00042 #include "cloth/PxClothTypes.h"
00043 #include "cloth/PxClothCollisionData.h"
00044
00045 #if !PX_DOXYGEN
00046 namespace physx
00047 {
00048 #endif
00049
00050 class PxScene;
00051
00057 struct PxClothStretchConfig
00058 {
00066 PxReal stiffness;
00067
00073 PxReal stiffnessMultiplier;
00074
00081 PxReal compressionLimit;
00082
00089 PxReal stretchLimit;
00090
00094 PX_INLINE PxClothStretchConfig( PxReal stiffness_=1.0f,
00095 PxReal stiffnessMultiplier_=1.0f, PxReal compressionLimit_=1.0f, PxReal stretchLimit_=1.0f)
00096 : stiffness(stiffness_)
00097 , stiffnessMultiplier(stiffnessMultiplier_)
00098 , compressionLimit(compressionLimit_)
00099 , stretchLimit(stretchLimit_)
00100 {}
00101 };
00102
00108 struct PxClothTetherConfig
00109 {
00117 PxReal stiffness;
00118
00125 PxReal stretchLimit;
00126
00130 PX_INLINE PxClothTetherConfig(PxReal stiffness_ = 1.0f, PxReal stretchLimit_ = 1.0f)
00131 : stiffness(stiffness_), stretchLimit(stretchLimit_)
00132 {}
00133 };
00134
00140 struct PxClothMotionConstraintConfig
00141 {
00148 PxReal scale;
00149
00156 PxReal bias;
00157
00165 PxReal stiffness;
00166
00170 PX_INLINE PxClothMotionConstraintConfig(PxReal radiiScale = 1.0f, PxReal radiiBias = 0.0f, PxReal consStiffness = 1.0f)
00171 : scale(radiiScale), bias(radiiBias), stiffness(consStiffness)
00172 {}
00173 };
00174
00189 class PxCloth : public PxActor
00190 {
00191 public:
00196 virtual void release() = 0;
00197
00202 virtual PxClothFabric* getFabric() const = 0;
00203
00209 virtual PxBounds3 getWorldBounds(float inflation=1.01f) const = 0;
00210
00215 virtual PxU32 getNbParticles() const = 0;
00216
00237 virtual PxClothParticleData* lockParticleData(PxDataAccessFlags flags) = 0;
00243 virtual PxClothParticleData* lockParticleData() const = 0;
00244
00255 virtual void setParticles(const PxClothParticle* currentParticles, const PxClothParticle* previousParticles) = 0;
00256
00262 virtual void setClothFlag(PxClothFlag::Enum flag, bool value) = 0;
00267 virtual void setClothFlags(PxClothFlags inFlags) = 0;
00272 virtual PxClothFlags getClothFlags() const = 0;
00273
00277
00278
00286 virtual void setTargetPose(const PxTransform& pose) = 0;
00295 virtual void setGlobalPose(const PxTransform& pose) = 0;
00300 virtual PxTransform getGlobalPose() const = 0;
00301
00309 virtual void setSolverFrequency(PxReal frequency) = 0;
00314 virtual PxReal getSolverFrequency() const = 0;
00315
00321 virtual PxReal getPreviousTimeStep() const = 0;
00322
00334 virtual void setStiffnessFrequency(PxReal frequency) = 0;
00340 virtual PxReal getStiffnessFrequency() const = 0;
00341
00349 virtual void setLinearInertiaScale(PxVec3 scale) = 0;
00354 virtual PxVec3 getLinearInertiaScale() const = 0;
00362 virtual void setAngularInertiaScale(PxVec3 scale) = 0;
00367 virtual PxVec3 getAngularInertiaScale() const = 0;
00375 virtual void setCentrifugalInertiaScale(PxVec3 scale) = 0;
00380 virtual PxVec3 getCentrifugalInertiaScale() const = 0;
00385 virtual void setInertiaScale(PxReal scale) = 0;
00386
00394 virtual void setDampingCoefficient(PxVec3 dampingCoefficient) = 0;
00399 virtual PxVec3 getDampingCoefficient() const = 0;
00400
00409 virtual void setLinearDragCoefficient(PxVec3 dragCoefficient) = 0;
00414 virtual PxVec3 getLinearDragCoefficient() const = 0;
00423 virtual void setAngularDragCoefficient(PxVec3 dragCoefficient) = 0;
00428 virtual PxVec3 getAngularDragCoefficient() const = 0;
00433 virtual void setDragCoefficient(PxReal scale) = 0;
00434
00440 virtual void setExternalAcceleration(PxVec3 acceleration) = 0;
00445 virtual PxVec3 getExternalAcceleration() const = 0;
00446
00453 virtual void setParticleAccelerations(const PxVec4* particleAccelerations) = 0;
00459 virtual bool getParticleAccelerations(PxVec4* particleAccelerationsBuffer) const = 0;
00464 virtual PxU32 getNbParticleAccelerations() const = 0;
00465
00469 virtual PxVec3 getWindVelocity() const = 0;
00473 virtual void setWindVelocity(PxVec3) = 0;
00477 virtual PxReal getWindDrag() const = 0;
00481 virtual void setWindDrag(PxReal) = 0;
00485 virtual PxReal getWindLift() const = 0;
00489 virtual void setWindLift(PxReal) = 0;
00490
00492
00496
00497
00505 virtual void setMotionConstraints(const PxClothParticleMotionConstraint* motionConstraints) = 0;
00511 virtual bool getMotionConstraints(PxClothParticleMotionConstraint* motionConstraintsBuffer) const = 0;
00516 virtual PxU32 getNbMotionConstraints() const = 0;
00521 virtual void setMotionConstraintConfig(const PxClothMotionConstraintConfig& config) = 0;
00526 virtual PxClothMotionConstraintConfig getMotionConstraintConfig() const = 0;
00527
00535 virtual void setSeparationConstraints(const PxClothParticleSeparationConstraint* separationConstraints) = 0;
00541 virtual bool getSeparationConstraints(PxClothParticleSeparationConstraint* separationConstraintsBuffer) const = 0;
00546 virtual PxU32 getNbSeparationConstraints() const = 0;
00547
00554 virtual void clearInterpolation() = 0;
00555
00561 virtual void setStretchConfig(PxClothFabricPhaseType::Enum type, const PxClothStretchConfig& config) = 0;
00567 virtual PxClothStretchConfig getStretchConfig(PxClothFabricPhaseType::Enum type) const = 0;
00572 virtual void setTetherConfig(const PxClothTetherConfig& config) = 0;
00577 virtual PxClothTetherConfig getTetherConfig() const = 0;
00578
00580
00584
00585
00591 virtual void addCollisionSphere(const PxClothCollisionSphere& sphere) = 0;
00598 virtual void removeCollisionSphere(PxU32 index) = 0;
00607 virtual void setCollisionSpheres(const PxClothCollisionSphere* spheresBuffer, PxU32 count) = 0;
00612 virtual PxU32 getNbCollisionSpheres() const = 0;
00613
00623 virtual void addCollisionCapsule(PxU32 first, PxU32 second) = 0;
00629 virtual void removeCollisionCapsule(PxU32 index) = 0;
00634 virtual PxU32 getNbCollisionCapsules() const = 0;
00635
00642 virtual void addCollisionPlane(const PxClothCollisionPlane& plane) = 0;
00650 virtual void removeCollisionPlane(PxU32 index) = 0;
00659 virtual void setCollisionPlanes(const PxClothCollisionPlane* planesBuffer, PxU32 count) = 0;
00664 virtual PxU32 getNbCollisionPlanes() const = 0;
00665
00673 virtual void addCollisionConvex(PxU32 mask) = 0;
00680 virtual void removeCollisionConvex(PxU32 index) = 0;
00685 virtual PxU32 getNbCollisionConvexes() const = 0;
00686
00692 virtual void addCollisionTriangle(const PxClothCollisionTriangle& triangle) = 0;
00698 virtual void removeCollisionTriangle(PxU32 index) = 0;
00707 virtual void setCollisionTriangles(const PxClothCollisionTriangle* trianglesBuffer, PxU32 count) = 0;
00712 virtual PxU32 getNbCollisionTriangles() const = 0;
00713
00725 virtual void getCollisionData(PxClothCollisionSphere* spheresBuffer, PxU32* capsulesBuffer,
00726 PxClothCollisionPlane* planesBuffer, PxU32* convexesBuffer, PxClothCollisionTriangle* trianglesBuffer) const = 0;
00727
00744 virtual void setVirtualParticles(PxU32 numVirtualParticles, const PxU32* indices, PxU32 numWeights, const PxVec3* weights) = 0;
00749 virtual PxU32 getNbVirtualParticles() const = 0;
00755 virtual void getVirtualParticles(PxU32* indicesBuffer) const = 0;
00760 virtual PxU32 getNbVirtualParticleWeights() const = 0;
00765 virtual void getVirtualParticleWeights(PxVec3* weightsBuffer) const = 0;
00766
00772 virtual void setFrictionCoefficient(PxReal frictionCoefficient) = 0;
00777 virtual PxReal getFrictionCoefficient() const = 0;
00778
00787 virtual void setCollisionMassScale(PxReal scalingCoefficient) = 0;
00792 virtual PxReal getCollisionMassScale() const = 0;
00793
00795
00799
00800
00806 virtual void setSelfCollisionDistance(PxReal distance) = 0;
00811 virtual PxReal getSelfCollisionDistance() const = 0;
00818 virtual void setSelfCollisionStiffness(PxReal stiffness) = 0;
00823 virtual PxReal getSelfCollisionStiffness() const = 0;
00824
00835 virtual void setSelfCollisionIndices(const PxU32* indices, PxU32 nbIndices) = 0;
00841 virtual bool getSelfCollisionIndices(PxU32* indices) const = 0;
00842
00847 virtual PxU32 getNbSelfCollisionIndices() const = 0;
00848
00860 virtual void setRestPositions(const PxVec4* restPositions) = 0;
00866 virtual bool getRestPositions(PxVec4* restPositions) const = 0;
00871 virtual PxU32 getNbRestPositions() const = 0;
00872
00874
00878
00879
00887 virtual void setSimulationFilterData(const PxFilterData& data) = 0;
00888
00894 virtual PxFilterData getSimulationFilterData() const = 0;
00895
00897
00901
00902
00910 virtual void setContactOffset(PxReal offset) = 0;
00911
00916 virtual PxReal getContactOffset() const = 0;
00917
00925 virtual void setRestOffset(PxReal offset) = 0;
00926
00931 virtual PxReal getRestOffset() const = 0;
00932
00934
00938
00939
00947 virtual void setSleepLinearVelocity(PxReal threshold) = 0;
00952 virtual PxReal getSleepLinearVelocity() const = 0;
00962 virtual void setWakeCounter(PxReal wakeCounterValue) = 0;
00968 virtual PxReal getWakeCounter() const = 0;
00975 virtual void wakeUp() = 0;
00980 virtual void putToSleep() = 0;
00986 virtual bool isSleeping() const = 0;
00987
00989
00990 virtual const char* getConcreteTypeName() const { return "PxCloth"; }
00991
00992 protected:
00993 PX_INLINE PxCloth(PxType concreteType, PxBaseFlags baseFlags) : PxActor(concreteType, baseFlags) {}
00994 PX_INLINE PxCloth(PxBaseFlags baseFlags) : PxActor(baseFlags) {}
00995 virtual ~PxCloth() {}
00996 virtual bool isKindOf(const char* name) const { return !::strcmp("PxCloth", name) || PxActor::isKindOf(name); }
00997 };
00998
00999 #if !PX_DOXYGEN
01000 }
01001 #endif
01002
01004 #endif
