physxActor.cxx

// Filename: physxActor.cxx
// Created by:  enn0x (14Sep09)
//
////////////////////////////////////////////////////////////////////
//
// PANDA 3D SOFTWARE
// Copyright (c) Carnegie Mellon University.  All rights reserved.
//
// All use of this software is subject to the terms of the revised BSD
// license.  You should have received a copy of this license along
// with this source code in a file named "LICENSE."
//
////////////////////////////////////////////////////////////////////

#include "physxActor.h"
#include "physxActorDesc.h"
#include "physxBodyDesc.h"
#include "physxShapeDesc.h"
#include "physxManager.h"

TypeHandle PhysxActor::_type_handle;

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::link
//       Access: Public
//  Description: 
////////////////////////////////////////////////////////////////////
void PhysxActor::
link(NxActor *actorPtr) {

  // Link self
  _ptr = actorPtr;
  _ptr->userData = this;
  _error_type = ET_ok;

  set_name(actorPtr->getName());

  PhysxScene *scene = (PhysxScene *)_ptr->getScene().userData;
  scene->_actors.add(this);

  // Link shapes
  NxShape * const *shapes = _ptr->getShapes();
  NxU32 nShapes = _ptr->getNbShapes();

  for (NxU32 i=0; i < nShapes; i++) {
    PhysxShape *shape = PhysxShape::factory(shapes[i]->getType());
    shape->link(shapes[i]);
  }
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::unlink
//       Access: Public
//  Description: 
////////////////////////////////////////////////////////////////////
void PhysxActor::
unlink() {

  // Unlink shapes
  NxShape * const *shapes = _ptr->getShapes();
  NxU32 nShapes = _ptr->getNbShapes();

  for (NxU32 i=0; i < nShapes; i++) {
    PhysxShape *shape = (PhysxShape *)shapes[i]->userData;
    shape->unlink();
  }

  // Unlink self
  _ptr->userData = NULL;
  _error_type = ET_released;

  PhysxScene *scene = (PhysxScene *)_ptr->getScene().userData;
  scene->_actors.remove(this);
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::release
//       Access: Published
//  Description: 
////////////////////////////////////////////////////////////////////
void PhysxActor::
release() {

  nassertv(_error_type == ET_ok);

  unlink();
  _ptr->getScene().releaseActor(*_ptr);
  _ptr = NULL;
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::link_controller
//       Access: Public
//  Description: 
////////////////////////////////////////////////////////////////////
void PhysxActor::
link_controller(PhysxController *controller) {

  _controller = controller;
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::save_body_to_desc
//       Access: Published
//  Description: Saves the body information of a dynamic actor to 
//               the passed body descriptor.
////////////////////////////////////////////////////////////////////
bool PhysxActor::
save_body_to_desc(PhysxBodyDesc &bodyDesc) const {

  nassertr(_error_type == ET_ok, false);
  return _ptr->saveBodyToDesc(bodyDesc._desc);
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::save_to_desc
//       Access: Published
//  Description: Saves the state of the actor to the passed 
//               descriptor.
////////////////////////////////////////////////////////////////////
void PhysxActor::
save_to_desc(PhysxActorDesc &actorDesc) const {

  nassertv(_error_type == ET_ok);
  _ptr->saveToDesc(actorDesc._desc);
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::set_name
//       Access: Published
//  Description: Sets a name string for the object that can be
//               retrieved with get_name(). 
//               This is for debugging and is not used by the
//               engine.
////////////////////////////////////////////////////////////////////
void PhysxActor::
set_name(const char *name) {

  nassertv(_error_type == ET_ok);

  _name = name ? name : "";
  _ptr->setName(_name.c_str());
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::get_name
//       Access: Published
//  Description: Retrieves the name string.
////////////////////////////////////////////////////////////////////
const char *PhysxActor::
get_name() const {

  nassertr(_error_type == ET_ok, "");
  return _ptr->getName();
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::update_transform
//       Access: Public
//  Description: Updates the transform of an assigned NodePath. If
//               the actor has been created by a PhysxController
//               then this method will update the NodePath's
//               transform from the controller's transform.
////////////////////////////////////////////////////////////////////
void PhysxActor::
update_transform(const LMatrix4f m) {

  // Active transforms are update AFTER scene.fetchResults() has
  // been called, and thus can contain removed objects. So either
  // update transforms after scene.fetchResults() - which means
  // poor performance - or check if an actor has been removed here
  // in this method.
  if (_error_type != ET_ok) return;

  if (_np.is_empty()) return;

  if (_controller) {
    LVector3f hpr(_controller->get_h(), 0.0f, 0.0f);
    LPoint3f pos = _controller->get_pos();
    _np.set_transform(_np.get_top(), TransformState::make_pos_hpr(pos, hpr));
  }
  else {
    _np.set_transform(_np.get_top(), TransformState::make_mat(m));
  }
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::get_global_pos
//       Access: Published
//  Description: Retrieves the actors world space position.
////////////////////////////////////////////////////////////////////
LPoint3f PhysxActor::
get_global_pos() const {

  nassertr(_error_type == ET_ok, LPoint3f::zero());
  return PhysxManager::nxVec3_to_point3(_ptr->getGlobalPosition());
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::get_global_mat
//       Access: Published
//  Description: Retrieves the actors world space transform.
////////////////////////////////////////////////////////////////////
LMatrix4f PhysxActor::
get_global_mat() const {

  nassertr(_error_type == ET_ok, LMatrix4f::zeros_mat());
  return PhysxManager::nxMat34_to_mat4(_ptr->getGlobalPose());
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::get_global_quat
//       Access: Published
//  Description: Retrieves the actors world space orientation.
////////////////////////////////////////////////////////////////////
LQuaternionf PhysxActor::
get_global_quat() const {

  nassertr(_error_type == ET_ok, LQuaternionf::zero());
  return PhysxManager::nxQuat_to_quat(_ptr->getGlobalOrientation());
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::set_global_pos
//       Access: Published
//  Description: Method for setting a dynamic actor's position in
//               the world. Please see set_global_mat for some
//               caveats.
////////////////////////////////////////////////////////////////////
void PhysxActor::
set_global_pos(const LPoint3f &pos) {

  nassertv(_error_type == ET_ok);
  nassertv_always(!pos.is_nan());

  _ptr->setGlobalPosition(PhysxManager::point3_to_nxVec3(pos));
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::set_global_mat
//       Access: Published
//  Description: Method for setting a dynamic actor's transform
//               matrix in the world. 
//
//               This method instantaneously changes the actor space
//               to world space transformation.
//
//               One should exercise restraint in making use of
//               these methods.
//
//               Static actors should not be moved at all. There are
//               various internal data structures for static actors
//               which may need to be recomputed when one moves.
//               Also, moving static actors will not interact
//               correctly with dynamic actors or joints. If you
//               would like to directly control an actor's position
//               and would like to have it correctly interact with
//               dynamic bodies and joints, you should create a
//               dynamic body with the BF_kinematic flag, and then
//               use the move_global_*() commands to move it along
//               a path!
//
//               When briefly moving dynamic actors, one should not:
//               - Move actors into other actors, thus causing
//                 interpenetration (an invalid physical state).
//               - Move an actor that is connected by a joint to
//                 another away from the other (thus causing joint
//                 error).
//               - When moving jointed actors the joints' cached
//                 transform information is destroyed and recreated
//                 next frame; thus this call is expensive for
//                 jointed actors. 
////////////////////////////////////////////////////////////////////
void PhysxActor::
set_global_mat(const LMatrix4f &mat) {

  nassertv(_error_type == ET_ok);
  nassertv_always(!mat.is_nan());

  _ptr->setGlobalPose(PhysxManager::mat4_to_nxMat34(mat));
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::set_global_hpr
//       Access: Published
//  Description: Method for setting a dynamic actor's orientation in
//               the world. Please see set_global_mat for some
//               caveats.
////////////////////////////////////////////////////////////////////
void PhysxActor::
set_global_hpr(float h, float p, float r) {

  nassertv(_error_type == ET_ok);

  LQuaternionf q;
  q.set_hpr(LVector3f(h, p, r));
  _ptr->setGlobalOrientationQuat(PhysxManager::quat_to_nxQuat(q));
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::move_global_pos
//       Access: Published
//  Description: The move_global_* calls serve to move kinematically
//               controlled dynamic actors through the game world. 
//
//               See move_global_mat() for more information.
//
//               This call wakes the actor if it is sleeping.
////////////////////////////////////////////////////////////////////
void PhysxActor::
move_global_pos(const LPoint3f &pos) {

  nassertv(_error_type == ET_ok);
  nassertv_always(!pos.is_nan());

  _ptr->moveGlobalPosition(PhysxManager::point3_to_nxVec3(pos));
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::move_global_mat
//       Access: Published
//  Description: The move_global_* calls serve to move
//               kinematically controlled dynamic actors through
//               the game world. 
//
//               You set a dynamic actor to be kinematic using the
//               BF_KINEMATIC body flag, used either in the
//               PhysBodyDesc or with set_body_flag().
//
//               The move command will result in a velocity that,
//               when successfully carried out (i.e. the motion is
//               not blocked due to joints or collisions) inside
//               run*(), will move the body into the desired pose.
//               After the move is carried out during a single time
//               step, the velocity is returned to zero. Thus, you
//               must continuously call this in every time step for
//               kinematic actors so that they move along a path.
//
//               These functions simply store the move destination
//               until run*() is called, so consecutive calls will
//               simply overwrite the stored target variable.
//
//               This call wakes the actor if it is sleeping.
////////////////////////////////////////////////////////////////////
void PhysxActor::
move_global_mat(const LMatrix4f &mat) {

  nassertv(_error_type == ET_ok);
  nassertv_always(!mat.is_nan());

  _ptr->moveGlobalPose(PhysxManager::mat4_to_nxMat34(mat));
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::move_global_hpr
//       Access: Published
//  Description: The move_global_* calls serve to move kinematically
//               controlled dynamic actors through the game world. 
//
//               See move_global_mat() for more information.
//
//               This call wakes the actor if it is sleeping.
////////////////////////////////////////////////////////////////////
void PhysxActor::
move_global_hpr(float h, float p, float r) {

  nassertv(_error_type == ET_ok);

  LQuaternionf q;
  q.set_hpr(LVector3f(h, p, r));
  _ptr->moveGlobalOrientationQuat(PhysxManager::quat_to_nxQuat(q));
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::attach_node_path
//       Access: Published
//  Description: Attaches a node path to this actor. The node
//               path's transform will be updated automatically if
//               the actor's transform changes (and only then).
//
//               Note: any non-uniform scale or shear set on the
//               NodePath's transform will be overwritten at the
//               time of the first update.
////////////////////////////////////////////////////////////////////
void PhysxActor::
attach_node_path(const NodePath &np) {

  nassertv(_error_type == ET_ok);
  nassertv_always(!np.is_empty());

  _np = NodePath(np);
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::detach_node_path
//       Access: Published
//  Description: Detaches a previously assigned NodePath from this
//               actor. The NodePath's transform will no longer
//               be updated from the actor's transform.
////////////////////////////////////////////////////////////////////
void PhysxActor::
detach_node_path() {

  nassertv(_error_type == ET_ok);

  _np = NodePath();
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::get_node_path
//       Access: Published
//  Description: Retrieves a previously attached NodePath. An empty
//               NodePath will be returned if no NodePath has been
//               attached to this actor.
////////////////////////////////////////////////////////////////////
NodePath PhysxActor::
get_node_path() const {

  nassertr(_error_type == ET_ok, NodePath::fail());

  return _np;
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::get_scene
//       Access: Published
//  Description: Retrieves the scene which this actor belongs to.
////////////////////////////////////////////////////////////////////
PhysxScene *PhysxActor::
get_scene() const {

  nassertr(_error_type == ET_ok, NULL);

  NxScene *scenePtr = &(_ptr->getScene());
  PhysxScene *scene = (PhysxScene *)(scenePtr->userData);

  return scene;
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::get_num_shapes
//       Access: Published
//  Description: Returns the number of shapes assigned to the
//               actor.
////////////////////////////////////////////////////////////////////
unsigned int PhysxActor::
get_num_shapes() const {

  nassertr(_error_type == ET_ok, -1);

  return _ptr->getNbShapes();
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::create_shape
//       Access: Published
//  Description: Creates a new shape and adds it to the list of
//               shapes of this actor. 
//
//               Mass properties of dynamic actors will not
//               automatically be recomputed to reflect the new mass
//               distribution implied by the shape. Follow this call
//               with a call to update_mass_from_shapes() to do
//               that.
////////////////////////////////////////////////////////////////////
PhysxShape *PhysxActor::
create_shape(PhysxShapeDesc &desc) {

  nassertr(_error_type == ET_ok, NULL);
  nassertr(desc.is_valid(),NULL);

  PhysxShape *shape = PhysxShape::factory(desc.ptr()->getType());
  nassertr(shape, NULL);

  NxShape *shapePtr = _ptr->createShape(*desc.ptr());
  nassertr(shapePtr, NULL);

  shape->link(shapePtr);

  return shape;
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::get_shape
//       Access: Published
//  Description: Retrieves an individual shape from the actor's
//               array of shapes. Index must be in the range from
//               zero to (number-of-shapes minus 1).
////////////////////////////////////////////////////////////////////
PhysxShape *PhysxActor::
get_shape(unsigned int idx) const {

  nassertr(_error_type == ET_ok, NULL);
  nassertr_always(idx < _ptr->getNbShapes(), NULL);

  NxShape * const *shapes = _ptr->getShapes();
  NxShape *shapePtr = shapes[idx];
  PhysxShape *shape = (PhysxShape *)(shapePtr->userData);

  return shape;
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::get_shape_by_name
//       Access: Published
//  Description: Retrieves an individual shape from the actor's
//               array of shapes. The first shape for which the
//               shape's name matches the specified name is
//               returned, or NULL if no shape has a matching name.
////////////////////////////////////////////////////////////////////
PhysxShape *PhysxActor::
get_shape_by_name(const char *name) const {

  nassertr(_error_type == ET_ok, NULL);

  NxShape * const *shapes = _ptr->getShapes();
  NxShape *shapePtr = NULL;
  NxU32 nShapes = _ptr->getNbShapes();

  for (NxU32 i=0; i < nShapes; i++) {
    shapePtr = shapes[i];

    if (strcmp(shapePtr->getName(), name) == 0) {
      return (PhysxShape *) shapePtr->userData;
    }
  }

  return NULL;
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::add_force
//       Access: Published
//  Description: Applies a force (or impulse) defined in the global
//               coordinate frame to the actor.
//
//               This will not induce a torque.
//
//               Mode determines if the torque is to be conventional
//               or impulsive.
//
//               The actor must be dynamic.
//               This call wakes the actor if it is sleeping and the
//               wakeup parameter is true (default).
////////////////////////////////////////////////////////////////////
void PhysxActor::
add_force(const LVector3f force, PhysxForceMode mode, bool wakeup) {

  nassertv(_error_type == ET_ok);
  nassertv_always(!force.is_nan());

  _ptr->addForce(PhysxManager::vec3_to_nxVec3(force), (NxForceMode)mode, wakeup);
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::add_force_at_pos
//       Access: Published
//  Description: Applies a force (or impulse) defined in the global
//               coordinate frame, acting at a particular point in
//               global coordinates, to the actor. 
//
//               Note that if the force does not act along the
//               center of mass of the actor, this will also add the
//               corresponding torque. Because forces are reset at
//               the end of every timestep, you can maintain a total
//               external force on an object by calling this once
//               every frame.
//
//               Mode determines if the torque is to be conventional
//               or impulsive.
//
//               The actor must be dynamic.
//               This call wakes the actor if it is sleeping and the
//               wakeup parameter is true (default).
////////////////////////////////////////////////////////////////////
void PhysxActor::
add_force_at_pos(const LVector3f force, const LPoint3f &pos, PhysxForceMode mode, bool wakeup) {

  nassertv(_error_type == ET_ok);
  nassertv_always(!force.is_nan());
  nassertv_always(!pos.is_nan());

  _ptr->addForceAtPos(PhysxManager::vec3_to_nxVec3(force), PhysxManager::point3_to_nxVec3(pos), (NxForceMode)mode, wakeup);
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::add_force_at_local_pos
//       Access: Published
//  Description: Applies a force (or impulse) defined in the global
//               coordinate frame, acting at a particular point in
//               local coordinates, to the actor. 
//
//               Note that if the force does not act along the
//               center of mass of the actor, this will also add
//               the corresponding torque. Because forces are reset
//               at the end of every timestep, you can maintain a
//               total external force on an object by calling this
//               once every frame.
//
//               Mode determines if the torque is to be conventional
//               or impulsive.
//
//               The actor must be dynamic.
//               This call wakes the actor if it is sleeping and the
//               wakeup parameter is true (default).
////////////////////////////////////////////////////////////////////
void PhysxActor::
add_force_at_local_pos(const LVector3f force, const LPoint3f &pos, PhysxForceMode mode, bool wakeup) {

  nassertv(_error_type == ET_ok);
  nassertv_always(!force.is_nan());
  nassertv_always(!pos.is_nan());

  _ptr->addForceAtLocalPos(PhysxManager::vec3_to_nxVec3(force), PhysxManager::point3_to_nxVec3(pos), (NxForceMode)mode, wakeup);
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::add_torque
//       Access: Published
//  Description: Applies an impulsive torque defined in the global
//               coordinate frame to the actor. 
//
//               Mode determines if the torque is to be conventional
//               or impulsive.
//
//               The actor must be dynamic.
//               This call wakes the actor if it is sleeping and the
//               wakeup parameter is true (default).
////////////////////////////////////////////////////////////////////
void PhysxActor::
add_torque(const LVector3f torque, PhysxForceMode mode, bool wakeup) {

  nassertv(_error_type == ET_ok);
  nassertv_always(!torque.is_nan());

  _ptr->addTorque(PhysxManager::vec3_to_nxVec3(torque), (NxForceMode)mode, wakeup);
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::add_local_force
//       Access: Published
//  Description: Applies a force (or impulse) defined in the actor
//               local coordinate frame to the actor. 
//               This will not induce a torque.
//
//               Mode determines if the torque is to be conventional
//               or impulsive.
//
//               The actor must be dynamic.
//               This call wakes the actor if it is sleeping and the
//               wakeup parameter is true (default).
////////////////////////////////////////////////////////////////////
void PhysxActor::
add_local_force(const LVector3f force, PhysxForceMode mode, bool wakeup) {

  nassertv(_error_type == ET_ok);
  nassertv_always(!force.is_nan());

  _ptr->addLocalForce(PhysxManager::vec3_to_nxVec3(force), (NxForceMode)mode, wakeup);
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::add_local_force_at_pos
//       Access: Published
//  Description: Applies a force (or impulse) defined in the actor
//               local coordinate frame, acting at a particular
//               point in global coordinates, to the actor. 
//
//               Note that if the force does not act along the
//               center of mass of the actor, this will also add
//               the corresponding torque. Because forces are reset
//               at the end of every timestep, you can maintain a
//               total external force on an object by calling this
//               once every frame.
//
//               Mode determines if the torque is to be conventional
//               or impulsive.
//
//               The actor must be dynamic.
//               This call wakes the actor if it is sleeping and the
//               wakeup parameter is true (default).
////////////////////////////////////////////////////////////////////
void PhysxActor::
add_local_force_at_pos(const LVector3f force, const LPoint3f &pos, PhysxForceMode mode, bool wakeup) {

  nassertv(_error_type == ET_ok);
  nassertv_always(!force.is_nan());
  nassertv_always(!pos.is_nan());

  _ptr->addLocalForceAtPos(PhysxManager::vec3_to_nxVec3(force), PhysxManager::point3_to_nxVec3(pos), (NxForceMode)mode, wakeup);
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::add_local_force_at_local_pos
//       Access: Published
//  Description: Applies a force (or impulse) defined in the actor
//               local coordinate frame, acting at a particular
//               point in local coordinates, to the actor. 
//
//               Note that if the force does not act along the
//               center of mass of the actor, this will also add the
//               corresponding torque. Because forces are reset at
//               the end of every timestep, you can maintain a total
//               external force on an object by calling this once
//               every frame.
//
//               Mode determines if the torque is to be conventional
//               or impulsive.
//
//               The actor must be dynamic.
//               This call wakes the actor if it is sleeping and the
//               wakeup parameter is true (default).
////////////////////////////////////////////////////////////////////
void PhysxActor::
add_local_force_at_local_pos(const LVector3f force, const LPoint3f &pos, PhysxForceMode mode, bool wakeup) {

  nassertv(_error_type == ET_ok);
  nassertv_always(!force.is_nan());
  nassertv_always(!pos.is_nan());

  _ptr->addLocalForceAtLocalPos(PhysxManager::vec3_to_nxVec3(force), PhysxManager::point3_to_nxVec3(pos), (NxForceMode)mode, wakeup);
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::add_local_torque
//       Access: Published
//  Description: Applies an impulsive torque defined in the actor
//               local coordinate frame to the actor.
//
//               Mode determines if the torque is to be conventional
//               or impulsive.
//
//               The actor must be dynamic.
//               This call wakes the actor if it is sleeping and the
//               wakeup parameter is true (default).
////////////////////////////////////////////////////////////////////
void PhysxActor::
add_local_torque(const LVector3f torque, PhysxForceMode mode, bool wakeup) {

  nassertv(_error_type == ET_ok);
  nassertv_always(!torque.is_nan());

  _ptr->addLocalTorque(PhysxManager::vec3_to_nxVec3(torque), (NxForceMode)mode, wakeup);
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::update_mass_from_shapes
//       Access: Published
//  Description: Recomputes a dynamic actor's mass properties from
//               its shapes. 
//
//               Given a constant density or total mass, the actors
//               mass properties can be recomputed using the shapes
//               attached to the actor. If the actor has no shapes,
//               then only the totalMass parameter can be used. If
//               all shapes in the actor are trigger shapes
//               (non-physical), the call will fail.
//
//               The mass of each shape is either the shape's local
//               density (as specified in the PhysxShapeDesc;
//               default 1.0) multiplied by the shape's volume or a
//               directly specified shape mass.
//
//               The inertia tensor, mass frame and center of mass
//               will always be recomputed. If there are no shapes
//               in the actor, the mass will be totalMass, and the
//               mass frame will be set to the center of the actor.
//
//               If you supply a non-zero total mass, the actor's
//               mass and inertia will first be computed as above
//               and then scaled to fit this total mass.
//
//               If you supply a non-zero density, the actor's mass
//               and inertia will first be computed as above and
//               then scaled by this factor.
//
//               Either totalMass or density must be non-zero.
//
//               The actor must be dynamic.
////////////////////////////////////////////////////////////////////
bool PhysxActor::
update_mass_from_shapes(float density, float totalMass) {

  nassertr(_error_type == ET_ok, false);
  return _ptr->updateMassFromShapes(density, totalMass);
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::compute_kinetic_energy
//       Access: Published
//  Description: Computes the total kinetic (rotational and
//               translational) energy of the object.
//               The actor must be dynamic.
////////////////////////////////////////////////////////////////////
float PhysxActor::
compute_kinetic_energy() const {

  nassertr(_error_type == ET_ok, 0.0f);
  return _ptr->computeKineticEnergy();
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::is_dynamic
//       Access: Published
//  Description: Returns true if the actor is dynamic.
////////////////////////////////////////////////////////////////////
bool PhysxActor::
is_dynamic() const {

  nassertr(_error_type == ET_ok, false);
  return _ptr->isDynamic();
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::set_shape_group
//       Access: Published
//  Description: Sets the collision group for all shapes of this
//               actor. See PhysxShape.setGroup().
////////////////////////////////////////////////////////////////////
void PhysxActor::
set_shape_group(unsigned int group) {

  nassertv(_error_type == ET_ok);
  nassertv(group >= 0 && group < 32);

  NxShape * const *shapes = _ptr->getShapes();
  NxU32 nShapes = _ptr->getNbShapes();

  for (NxU32 i=0; i < nShapes; i++) {
    shapes[i]->setGroup( group );
  }
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::set_body_flag
//       Access: Published
//  Description: Raise or lower individual BodyFlag flags. 
////////////////////////////////////////////////////////////////////
void PhysxActor::
set_body_flag(PhysxBodyFlag flag, bool value) {

  if (value == true) {
    _ptr->raiseBodyFlag((NxBodyFlag)flag);
  }
  else {
    _ptr->clearBodyFlag((NxBodyFlag)flag);
  }
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::get_body_flag
//       Access: Published
//  Description: Return the specified BodyFlag flag.
////////////////////////////////////////////////////////////////////
bool PhysxActor::
get_body_flag(PhysxBodyFlag flag) const {

  nassertr(_error_type == ET_ok, false);
  return ptr()->readBodyFlag((NxBodyFlag)flag);
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::set_actor_flag
//       Access: Published
//  Description: Raise or lower individual ActorFlag flags. 
////////////////////////////////////////////////////////////////////
void PhysxActor::
set_actor_flag(PhysxActorFlag flag, bool value) {

  if (value == true) {
    _ptr->raiseActorFlag((NxActorFlag)flag);
  }
  else {
    _ptr->clearActorFlag((NxActorFlag)flag);
  }
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::get_actor_flag
//       Access: Published
//  Description: Return the specified ActorFlag flag.
////////////////////////////////////////////////////////////////////
bool PhysxActor::
get_actor_flag(PhysxActorFlag flag) const {

  nassertr(_error_type == ET_ok, false);
  return ptr()->readActorFlag((NxActorFlag)flag);
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::set_contact_report_flag
//       Access: Published
//  Description: Sets the actor's contact report flags.
// 
//               These flags are used to determine the kind of
//               report that is generated for interactions with
//               other actors.
//
//               Please note: If the actor is part of an interacting
//               pair for which the contact report generation is
//               controlled already through any other mechanism
//               (for example by use of
//               PhysxScene::set_actor_pair_flags)
//               then the union of all the specified contact report
//               flags will be used to generate the report.
////////////////////////////////////////////////////////////////////
void PhysxActor::
set_contact_report_flag(PhysxContactPairFlag flag, bool value) {

  nassertv(_error_type == ET_ok);

  NxU32 flags = _ptr->getContactReportFlags(); 

  if (value == true) {
    flags |= flag;
  }
  else {
    flags &= ~(flag);
  }

  _ptr->setContactReportFlags(flags);
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::set_contact_report_threshold
//       Access: Published
//  Description: Sets the force threshold for contact reports.
//               The actor must be dynamic.
////////////////////////////////////////////////////////////////////
void PhysxActor::
set_contact_report_threshold(float threshold) {

  nassertv(_error_type == ET_ok);
  nassertv(threshold >= 0.0f);

  _ptr->setContactReportThreshold(threshold);
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::set_group
//       Access: Published
//  Description: Assigns the actor to a user defined group of
//               actors. The actor group must be an integer in
//               between 0 and 0x7fff (32767).
//
//               This is similar to NxShape groups, except those are
//               only five bits and serve a different purpose.
//
//               The PhysxScene::set_actor_group_pair_flags() lets
//               you set certain behaviors for pairs of actor
//               groups.
//
//               By default every actor is created in group 0.
////////////////////////////////////////////////////////////////////
void PhysxActor::
set_group(unsigned int group) {

  nassertv(_error_type == ET_ok);
  nassertv(group >= 0 && group < 0x8000);

  ptr()->setGroup(group);
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::get_group
//       Access: Published
//  Description: Retrieves the actor group this actor is assigned
//               to.
////////////////////////////////////////////////////////////////////
unsigned int PhysxActor::
get_group() const {

  nassertr(_error_type == ET_ok, 0);

  return ptr()->getGroup();
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::set_dominance_group
//       Access: Published
//  Description: Assigns dynamic actors a dominance group
//               identifier. Dominance groups are integere in the
//               range from 0 to 31.
//
//               This is similar to shape groups, except those serve
//               a different purpose.
//
//               The PhysxScene::set_dominance_group_pair() lets you
//               set certain behaviors for pairs of dominance
//               groups.
//
//               By default every actor is created in group 0.
//               Static actors must stay in group 0; thus you can
//               only call this on dynamic actors.
////////////////////////////////////////////////////////////////////
void PhysxActor::
set_dominance_group(unsigned int group) {

  nassertv(_error_type == ET_ok);
  nassertv(group >= 0 && group < 32);
  nassertv(is_dynamic() == true);

  _ptr->setDominanceGroup(group);
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::get_dominance_group
//       Access: Published
//  Description: Retrieves the dominance group of this actor.
////////////////////////////////////////////////////////////////////
unsigned int PhysxActor::
get_dominance_group() const {

  nassertr(_error_type == ET_ok, 0);

  return ptr()->getDominanceGroup();
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::set_angular_damping
//       Access: Published
//  Description: Sets the angular damping coefficient. Zero
//               represents no damping. The angular damping
//               coefficient must be nonnegative. The actor must be
//               dynamic.
//               Default: 0.05
////////////////////////////////////////////////////////////////////
void PhysxActor::
set_angular_damping(float angDamp) {

  nassertv(_error_type == ET_ok);
  nassertv(angDamp >= 0.0f);

  _ptr->setAngularDamping(angDamp);
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::get_angular_damping
//       Access: Published
//  Description: Returns the angular damping coefficient. 
//               The actor must be dynamic.
////////////////////////////////////////////////////////////////////
float PhysxActor::
get_angular_damping() const {

  nassertr(_error_type == ET_ok, 0.0f);
  return _ptr->getAngularDamping();
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::set_linear_damping
//       Access: Published
//  Description: Sets the linear damping coefficient. Zero
//               represents no damping. The damping coefficient must
//               be nonnegative. The actor must be dynamic.
//               Default: 0
////////////////////////////////////////////////////////////////////
void PhysxActor::
set_linear_damping(float linDamp) {

  nassertv(_error_type == ET_ok);
  nassertv(linDamp >= 0.0f);

  _ptr->setLinearDamping(linDamp);
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::get_linear_damping
//       Access: Published
//  Description: Retrieves the linear damping coefficient. 
//               The actor must be dynamic.
////////////////////////////////////////////////////////////////////
float PhysxActor::
get_linear_damping() const {

  nassertr(_error_type == ET_ok, 0.0f);
  return _ptr->getLinearDamping();
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::set_linear_velocity
//       Access: Published
//  Description: Sets the linear velocity of the actor. 
//
//               Note that if you continuously set the velocity of
//               an actor yourself, forces such as gravity or
//               friction will not be able to manifest themselves,
//               because forces directly influence only the
//               velocity/momentum of an actor.
//
//               The actor must be dynamic.
////////////////////////////////////////////////////////////////////
void PhysxActor::
set_linear_velocity(const LVector3f &linVel) {

  nassertv(_error_type == ET_ok);
  nassertv(_ptr->isDynamic());

  _ptr->setLinearVelocity(PhysxManager::vec3_to_nxVec3(linVel));
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::set_angular_velocity
//       Access: Published
//  Description: Sets the angular velocity of the actor. 
//
//               Note that if you continuously set the angular
//               velocity of an actor yourself, forces such as
//               friction will not be able to rotate the actor,
//               because forces directly influence only the
//               velocity/momentum.
//
//               The actor must be dynamic.
////////////////////////////////////////////////////////////////////
void PhysxActor::
set_angular_velocity(const LVector3f &angVel) {

  nassertv(_error_type == ET_ok);
  nassertv(_ptr->isDynamic());

  _ptr->setAngularVelocity(PhysxManager::vec3_to_nxVec3(angVel));
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::set_max_angular_velocity
//       Access: Published
//  Description: Lets you set the maximum angular velocity permitted
//               for this actor. 
//
//               Because for various internal computations, very
//               quickly rotating actors introduce error into the
//               simulation, which leads to undesired results.
//
//               With PhysxManager::set_parameter(PP_max_angular_velocity)
//               you can set the default maximum velocity for actors
//               created after the call. Bodies' high angular
//               velocities are clamped to this value.
//
//               However, because some actors, such as car wheels,
//               should be able to rotate quickly, you can override
//               the default setting on a per-actor basis with the
//               below call. Note that objects such as wheels which
//               are approximated with spherical or other smooth
//               collision primitives can be simulated with
//               stability at a much higher angular velocity than,
//               say, a box that has corners.
//
//               The actor must be dynamic.
////////////////////////////////////////////////////////////////////
void PhysxActor::
set_max_angular_velocity(float maxAngVel) {

  nassertv(_error_type == ET_ok);
  nassertv(_ptr->isDynamic());

  _ptr->setMaxAngularVelocity(maxAngVel);
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::get_linear_velocity
//       Access: Published
//  Description: Returns the linear velocity of an actor.
//               The actor must be dynamic.
////////////////////////////////////////////////////////////////////
LVector3f PhysxActor::
get_linear_velocity() const {

  nassertr(_error_type == ET_ok, LVector3f::zero());
  return PhysxManager::nxVec3_to_vec3(_ptr->getLinearVelocity());
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::get_angular_velocity
//       Access: Published
//  Description: Returns the angular velocity of the actor.
//               The actor must be dynamic.
////////////////////////////////////////////////////////////////////
LVector3f PhysxActor::
get_angular_velocity() const {

  nassertr(_error_type == ET_ok, LVector3f::zero());
  return PhysxManager::nxVec3_to_vec3(_ptr->getAngularVelocity());
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::get_max_angular_velocity
//       Access: Published
//  Description: Returns the maximum angular velocity permitted
//               for this actor.
////////////////////////////////////////////////////////////////////
float PhysxActor::
get_max_angular_velocity() const {

  nassertr(_error_type == ET_ok, 0.0f);
  return _ptr->getMaxAngularVelocity();
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::get_point_velocity
//       Access: Published
//  Description: Computes the velocity of a point given in world
//               coordinates if it were attached to the actor and
//               moving with it.
//
//               The actor must be dynamic.
////////////////////////////////////////////////////////////////////
LVector3f PhysxActor::
get_point_velocity(const LPoint3f &point) const {

  nassertr(_error_type == ET_ok, LVector3f::zero());
  nassertr_always(!point.is_nan(), LVector3f::zero());

  NxVec3 nPoint = PhysxManager::point3_to_nxVec3(point);
  return PhysxManager::nxVec3_to_vec3(_ptr->getPointVelocity(nPoint));
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::get_local_point_velocity
//       Access: Published
//  Description: Computes the velocity of a point given in body
//               local coordinates as if it were attached to the
//               actor and moving with it. 
//
//               The actor must be dynamic.
////////////////////////////////////////////////////////////////////
LVector3f PhysxActor::
get_local_point_velocity(const LPoint3f &point) const {

  nassertr(_error_type == ET_ok, LVector3f::zero());
  nassertr_always(!point.is_nan(), LVector3f::zero());

  NxVec3 nPoint = PhysxManager::point3_to_nxVec3(point);
  return PhysxManager::nxVec3_to_vec3(_ptr->getLocalPointVelocity(nPoint));
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::set_linear_momentum
//       Access: Published
//  Description: Sets the linear momentum of the actor. 
//               Note that if you continuously set the linear
//               momentum of an actor yourself, forces such as
//               gravity or friction will not be able to manifest
//               themselves, because forces directly influence only
//               the velocity/momentum of a actor.
//               The actor must be dynamic.
////////////////////////////////////////////////////////////////////
void PhysxActor::
set_linear_momentum(const LVector3f &momentum) {

  nassertv(_error_type == ET_ok);
  _ptr->setLinearMomentum(PhysxManager::vec3_to_nxVec3(momentum));
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::set_angular_momentum
//       Access: Published
//  Description: Sets the angular momentum of the actor. 
//               Note that if you continuously set the angular
//               velocity of an actor yourself, forces such as
//               friction will not be able to rotate the actor,
//               because forces directly influence only the velocity
//               of actor.
//               The actor must be dynamic.
////////////////////////////////////////////////////////////////////
void PhysxActor::
set_angular_momentum(const LVector3f &momentum) {

  nassertv(_error_type == ET_ok);
  _ptr->setAngularMomentum(PhysxManager::vec3_to_nxVec3(momentum));
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::get_linear_momentum
//       Access: Published
//  Description: Retrieves the linear momentum of an actor. 
//               The momentum is equal to the velocity times the
//               mass.
//               The actor must be dynamic.
////////////////////////////////////////////////////////////////////
LVector3f PhysxActor::
get_linear_momentum() const {

  nassertr(_error_type == ET_ok, LVector3f::zero());
  return PhysxManager::nxVec3_to_vec3(_ptr->getLinearMomentum());
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::get_angular_momentum
//       Access: Published
//  Description: Retrieves the angular momentum of an actor. 
//               The angular momentum is equal to the angular
//               velocity times the global space inertia tensor.
//               The actor must be dynamic.
////////////////////////////////////////////////////////////////////
LVector3f PhysxActor::
get_angular_momentum() const {

  nassertr(_error_type == ET_ok, LVector3f::zero());
  return PhysxManager::nxVec3_to_vec3(_ptr->getAngularMomentum());
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::set_sleep_linear_velocity
//       Access: Published
//  Description: Sets the linear velocity below which an actor may
//               go to sleep. Actors whose linear velocity is above
//               this threshold will not be put to sleep.
//
//               Setting the sleep angular/linear velocity only
//               makes sense when the BF_energy_sleep_test is not
//               set.
//
//               The actor must be dynamic.
////////////////////////////////////////////////////////////////////
void PhysxActor::
set_sleep_linear_velocity(float threshold) {

  nassertv(_error_type == ET_ok);
  _ptr->setSleepLinearVelocity(threshold);
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::set_sleep_angular_velocity
//       Access: Published
//  Description: Sets the angular velocity below which an actor may
//               go to sleep.  Actors whose angular velocity is
//               above this threshold will not be put to sleep.
//
//               Setting the sleep angular/linear velocity only
//               makes sense when the BF_energy_sleep_test is not
//               set.
//
//               The actor must be dynamic.
////////////////////////////////////////////////////////////////////
void PhysxActor::
set_sleep_angular_velocity(float threshold) {

  nassertv(_error_type == ET_ok);
  _ptr->setSleepAngularVelocity(threshold);
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::set_sleep_energy_threshold
//       Access: Published
//  Description: Sets the energy threshold below which an actor may
//               go to sleep. Actors whose kinematic energy is above
//               this threshold will not be put to sleep.
//
//               Setting the sleep energy threshold only makes sense
//               when the BF_energy_sleep_test is set. There are
//               also other types of sleeping that uses the linear
//               and angular velocities directly instead of the
//               energy.
//
//               The actor must be dynamic.
////////////////////////////////////////////////////////////////////
void PhysxActor::
set_sleep_energy_threshold(float threshold) {

  nassertv(_error_type == ET_ok);
  _ptr->setSleepEnergyThreshold(threshold);
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::get_sleep_linear_velocity
//       Access: Published
//  Description: Returns the linear velocity below which an actor
//               may go to sleep. Actors whose linear velocity is
//               above this threshold will not be put to sleep.
//               The actor must be dynamic.
////////////////////////////////////////////////////////////////////
float PhysxActor::
get_sleep_linear_velocity() const {

  nassertr(_error_type == ET_ok, 0.0f);
  return _ptr->getSleepLinearVelocity();
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::get_sleep_angular_velocity
//       Access: Published
//  Description: Returns the angular velocity below which an actor
//               may go to sleep. Actors whose angular velocity is
//               above this threshold will not be put to sleep.
//               The actor must be dynamic.
////////////////////////////////////////////////////////////////////
float PhysxActor::
get_sleep_angular_velocity() const {

  nassertr(_error_type == ET_ok, 0.0f);
  return _ptr->getSleepAngularVelocity();
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::get_sleep_energy_threshold
//       Access: Published
//  Description: Returns the energy below which an actor may go to
//               sleep. Actors whose energy is above this threshold
//               will not be put to sleep. The actor must be dynamic.
////////////////////////////////////////////////////////////////////
float PhysxActor::
get_sleep_energy_threshold() const {

  nassertr(_error_type == ET_ok, 0.0f);
  return _ptr->getSleepEnergyThreshold();
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::is_sleeping
//       Access: Published
//  Description: Returns true if this body is sleeping. 
//
//               When an actor does not move for a period of time,
//               it is no longer simulated in order to save time.
//               This state is called sleeping. However, because the
//               object automatically wakes up when it is either
//               touched by an awake object, or one of its
//               properties is changed by the user, the entire sleep
//               mechanism should be transparent to the user.
//
//               The actor must be dynamic.
////////////////////////////////////////////////////////////////////
bool PhysxActor::
is_sleeping() const {

  nassertr(_error_type == ET_ok, false);
  return _ptr->isSleeping();
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::wake_up
//       Access: Published
//  Description: Wakes up the actor if it is sleeping. 
//
//               The wakeCounterValue determines how long until the
//               body is put to sleep, a value of zero means that
//               the body is sleeping. wake_up(0) is equivalent to
//               PhysxActor::put_to_sleep().
//
//               The actor must be dynamic.
////////////////////////////////////////////////////////////////////
void PhysxActor::
wake_up(float wakeCounterValue) {

  nassertv(_error_type == ET_ok);
  _ptr->wakeUp(wakeCounterValue);
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::put_to_sleep
//       Access: Published
//  Description: Forces the actor to sleep. 
//
//               The actor will stay asleep until the next call to
//               simulate, and will not wake up until then even when
//               otherwise it would (for example a force is applied
//               to it). It can however wake up during the next
//               do_physics call.
//
//               The actor must be dynamic.
////////////////////////////////////////////////////////////////////
void PhysxActor::
put_to_sleep() {

  nassertv(_error_type == ET_ok);
  _ptr->putToSleep();
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::set_mass
//       Access: Published
//  Description: Sets the mass of a dynamic actor.
////////////////////////////////////////////////////////////////////
void PhysxActor::
set_mass(float mass) {

  nassertv(_error_type == ET_ok);
  _ptr->setMass(mass);
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::get_mass
//       Access: Published
//  Description: Returns the mass of the actor.
////////////////////////////////////////////////////////////////////
float PhysxActor::
get_mass() const {

  nassertr(_error_type == ET_ok, 0.0f);
  return _ptr->getMass();
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::set_c_mass_offset_local_mat
//       Access: Published
//  Description: Sets the matrix of the center of mass relative
//               to the actor.
////////////////////////////////////////////////////////////////////
void PhysxActor::
set_c_mass_offset_local_mat(const LMatrix4f &mat) {

  nassertv(_error_type == ET_ok);
  _ptr->setCMassOffsetLocalPose(PhysxManager::mat4_to_nxMat34(mat));
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::set_c_mass_offset_local_pos
//       Access: Published
//  Description: Sets the position of the center of mass relative
//               to the actor.
////////////////////////////////////////////////////////////////////
void PhysxActor::
set_c_mass_offset_local_pos(const LPoint3f &pos) {

  nassertv(_error_type == ET_ok);
  _ptr->setCMassOffsetLocalPosition(PhysxManager::point3_to_nxVec3(pos));
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::set_c_mass_offset_local_orientation
//       Access: Published
//  Description: Sets the orientation of the center of mass relative
//               to the actor.
////////////////////////////////////////////////////////////////////
void PhysxActor::
set_c_mass_offset_local_orientation(const LMatrix3f &mat) {

  nassertv(_error_type == ET_ok);
  _ptr->setCMassOffsetLocalOrientation(PhysxManager::mat3_to_nxMat33(mat));
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::set_c_mass_offset_global_mat
//       Access: Published
//  Description: Sets the matrix of the center of mass relative
//               to world space.
////////////////////////////////////////////////////////////////////
void PhysxActor::
set_c_mass_offset_global_mat(const LMatrix4f &mat) {

  nassertv(_error_type == ET_ok);
  _ptr->setCMassOffsetGlobalPose(PhysxManager::mat4_to_nxMat34(mat));
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::set_c_mass_offset_global_pos
//       Access: Published
//  Description: Sets the position of the center of mass relative
//               to world space.
////////////////////////////////////////////////////////////////////
void PhysxActor::
set_c_mass_offset_global_pos(const LPoint3f &pos) {

  nassertv(_error_type == ET_ok);
  _ptr->setCMassOffsetGlobalPosition(PhysxManager::point3_to_nxVec3(pos));
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::set_c_mass_offset_global_orientation
//       Access: Published
//  Description: Sets the orientation of the center of mass relative
//               to world space.
////////////////////////////////////////////////////////////////////
void PhysxActor::
set_c_mass_offset_global_orientation(const LMatrix3f &mat) {

  nassertv(_error_type == ET_ok);
  _ptr->setCMassOffsetGlobalOrientation(PhysxManager::mat3_to_nxMat33(mat));
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::set_c_mass_global_mat
//       Access: Published
//  Description: Moves the actor by setting the transform of the
//               center of mass.
////////////////////////////////////////////////////////////////////
void PhysxActor::
set_c_mass_global_mat(const LMatrix4f &mat) {

  nassertv(_error_type == ET_ok);
  _ptr->setCMassGlobalPose(PhysxManager::mat4_to_nxMat34(mat));
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::set_c_mass_global_pos
//       Access: Published
//  Description: Moves the actor by setting the position of the
//               center of mass.
////////////////////////////////////////////////////////////////////
void PhysxActor::
set_c_mass_global_pos(const LPoint3f &pos) {

  nassertv(_error_type == ET_ok);
  _ptr->setCMassGlobalPosition(PhysxManager::point3_to_nxVec3(pos));
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::set_c_mass_global_orientation
//       Access: Published
//  Description: Moves the actor by setting the orientation of the
//               center of mass.
////////////////////////////////////////////////////////////////////
void PhysxActor::
set_c_mass_global_orientation(const LMatrix3f &mat) {

  nassertv(_error_type == ET_ok);
  _ptr->setCMassGlobalOrientation(PhysxManager::mat3_to_nxMat33(mat));
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::set_mass_space_inertia_tensor
//       Access: Published
//  Description: Sets the inertia tensor, using a parameter
//               specified in mass space coordinates.
////////////////////////////////////////////////////////////////////
void PhysxActor::
set_mass_space_inertia_tensor(const LVector3f &m) {

  nassertv(_error_type == ET_ok);
  _ptr->setMassSpaceInertiaTensor(PhysxManager::vec3_to_nxVec3(m));
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::get_c_mass_global_mat
//       Access: Published
//  Description: Returns the center of mass transform in world
//               space.
////////////////////////////////////////////////////////////////////
LMatrix4f PhysxActor::
get_c_mass_global_mat() const {

  nassertr(_error_type == ET_ok, LMatrix4f::zeros_mat());
  return PhysxManager::nxMat34_to_mat4(_ptr->getCMassGlobalPose());
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::get_c_mass_global_pos
//       Access: Published
//  Description: Returns the center of mass position in world
//               space.
////////////////////////////////////////////////////////////////////
LPoint3f PhysxActor::
get_c_mass_global_pos() const {

  nassertr(_error_type == ET_ok, LPoint3f::zero());
  return PhysxManager::nxVec3_to_point3(_ptr->getCMassGlobalPosition());
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::get_c_mass_global_orientation
//       Access: Published
//  Description: Returns the center of mass orientation in world
//               space.
////////////////////////////////////////////////////////////////////
LMatrix3f PhysxActor::
get_c_mass_global_orientation() const {

  nassertr(_error_type == ET_ok, LMatrix3f::ident_mat());
  return PhysxManager::nxMat33_to_mat3(_ptr->getCMassGlobalOrientation());
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::get_c_mass_local_mat
//       Access: Published
//  Description: Returns the center of mass transform relative
//               to the actor.
////////////////////////////////////////////////////////////////////
LMatrix4f PhysxActor::
get_c_mass_local_mat() const {

  nassertr(_error_type == ET_ok, LMatrix4f::zeros_mat());
  return PhysxManager::nxMat34_to_mat4(_ptr->getCMassLocalPose());
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::get_c_mass_local_pos
//       Access: Published
//  Description: Returns the center of mass position relative to
//               the actor.
////////////////////////////////////////////////////////////////////
LPoint3f PhysxActor::
get_c_mass_local_pos() const {

  nassertr(_error_type == ET_ok, LPoint3f::zero());
  return PhysxManager::nxVec3_to_point3(_ptr->getCMassLocalPosition());
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::get_c_mass_local_orientation
//       Access: Published
//  Description: Returns the center of mass orientation relative to
//               the actor.
////////////////////////////////////////////////////////////////////
LMatrix3f PhysxActor::
get_c_mass_local_orientation() const {

  nassertr(_error_type == ET_ok, LMatrix3f::ident_mat());
  return PhysxManager::nxMat33_to_mat3(_ptr->getCMassLocalOrientation());
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::get_mass_space_inertia_tensor
//       Access: Published
//  Description: Returns the diagonal inertia tensor of the actor
//               relative to the mass coordinate frame.
////////////////////////////////////////////////////////////////////
LVector3f PhysxActor::
get_mass_space_inertia_tensor() const {

  nassertr(_error_type == ET_ok, LVector3f::zero());
  return PhysxManager::nxVec3_to_vec3(_ptr->getMassSpaceInertiaTensor());
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::get_global_inertia_tensor
//       Access: Published
//  Description: Returns the inertia tensor of the actor relative
//               to the world coordinate frame.
////////////////////////////////////////////////////////////////////
LMatrix3f PhysxActor::
get_global_inertia_tensor() const {

  nassertr(_error_type == ET_ok, LMatrix3f::ident_mat());
  return PhysxManager::nxMat33_to_mat3(_ptr->getGlobalInertiaTensor());
}

////////////////////////////////////////////////////////////////////
//     Function: PhysxActor::get_global_inertia_tensor_inverse
//       Access: Published
//  Description: Returns the inverse of the inertia tensor of the
//               actor relative to the world coordinate frame.
////////////////////////////////////////////////////////////////////
LMatrix3f PhysxActor::
get_global_inertia_tensor_inverse() const {

  nassertr(_error_type == ET_ok, LMatrix3f::ident_mat());
  return PhysxManager::nxMat33_to_mat3(_ptr->getGlobalInertiaTensorInverse());
}