Panda3D
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physxSoftBody.h
00001 // Filename: physxSoftBody.h
00002 // Created by:  enn0x (13Sep10)
00003 //
00004 ////////////////////////////////////////////////////////////////////
00005 //
00006 // PANDA 3D SOFTWARE
00007 // Copyright (c) Carnegie Mellon University.  All rights reserved.
00008 //
00009 // All use of this software is subject to the terms of the revised BSD
00010 // license.  You should have received a copy of this license along
00011 // with this source code in a file named "LICENSE."
00012 //
00013 ////////////////////////////////////////////////////////////////////
00014 
00015 #ifndef PHYSXSOFTBODY_H
00016 #define PHYSXSOFTBODY_H
00017 
00018 #include "pandabase.h"
00019 #include "luse.h"
00020 
00021 #include "physxObject.h"
00022 #include "physxObjectCollection.h"
00023 #include "physxEnums.h"
00024 #include "physx_includes.h"
00025 
00026 class PhysxScene;
00027 class PhysxGroupsMask;
00028 class PhysxSoftBodyNode;
00029 
00030 ////////////////////////////////////////////////////////////////////
00031 //       Class : PhysxSoftBody
00032 // Description : 
00033 ////////////////////////////////////////////////////////////////////
00034 class EXPCL_PANDAPHYSX PhysxSoftBody : public PhysxObject, public PhysxEnums {
00035 
00036 PUBLISHED:
00037   INLINE PhysxSoftBody();
00038   INLINE ~PhysxSoftBody();
00039 
00040   PhysxScene *get_scene() const;
00041   PhysxSoftBodyNode *get_soft_body_node() const;
00042   PhysxSoftBodyNode *create_soft_body_node(const char *name);
00043 
00044   void set_name(const char *name);
00045   void set_flag(PhysxSoftBodyFlag flag, bool value);
00046   void set_groups_mask(const PhysxGroupsMask &mask);
00047   void set_group(unsigned int group);
00048   void set_solver_iterations(unsigned int iterations);
00049   void set_particle_radius(float radius);
00050 #if NX_SDK_VERSION_NUMBER > 281
00051   void set_self_collision_thickness(float thickness);
00052   void set_hard_stretch_limitation_factor(float factor);
00053 #endif
00054   void set_volume_stiffness(float stiffness);
00055   void set_stretching_stiffness(float stiffness);
00056   void set_damping_coefficient(float coef);
00057   void set_friction(float friction);
00058   void set_tear_factor(float factor);
00059   void set_attachment_tear_factor(float factor);
00060 
00061   const char *get_name() const;
00062   bool get_flag(PhysxSoftBodyFlag flag) const;
00063   PhysxGroupsMask get_groups_mask() const;
00064   unsigned int get_group() const;
00065   unsigned int get_num_particles();
00066   unsigned int get_solver_iterations() const;
00067   float get_particle_radius() const;
00068   float get_density() const;
00069   float get_relative_grid_spacing() const;
00070 #if NX_SDK_VERSION_NUMBER > 281
00071   float get_self_collision_thickness() const;
00072   float get_hard_stretch_limitation_factor() const;
00073 #endif
00074   float get_volume_stiffness() const;
00075   float get_stretching_stiffness() const;
00076   float get_damping_coefficient() const;
00077   float get_friction() const;
00078   float get_tear_factor() const;
00079   float get_attachment_tear_factor() const;
00080 
00081 /*
00082   // Attachment
00083   void attach_vertex_to_global_pos(unsigned int vertexId, LPoint3f const &pos);
00084   void free_vertex(unsigned int vertexId);
00085   void attach_to_shape(PhysxShape *shape);
00086   void attach_to_colliding_shapes();
00087   void detach_from_shape(PhysxShape *shape);
00088   void attach_vertex_to_shape(unsigned int vertexId, PhysxShape *shape, LPoint3f const &localPos);
00089   PhysxVertexAttachmentStatus get_vertex_attachment_status(unsigned int vertexId) const;
00090   PhysxShape *get_vertex_attachment_shape(unsigned int vertexId) const;
00091   LPoint3f get_vertex_attachment_pos(unsigned int vertexId) const;
00092 */
00093 
00094   // Sleeping
00095   bool is_sleeping() const;
00096   void wake_up(float wakeCounterValue=NX_SLEEP_INTERVAL);
00097   void put_to_sleep();
00098   void set_sleep_linear_velocity(float threshold);
00099   float get_sleep_linear_velocity() const;
00100 
00101 /*
00102   // Forces
00103   void set_external_acceleration(LVector3f const &acceleration);
00104   LVector3f get_external_acceleration() const;
00105 
00106   void set_wind_acceleration(LVector3f const &acceleration);
00107   LVector3f get_wind_acceleration() const;
00108 
00109   void add_force_at_vertex(LVector3f const &force, int vertexId,
00110                            PhysxForceMode mode=FM_force);
00111   void add_force_at_pos(LPoint3f const &pos, float magnitude, float radius,
00112                         PhysxForceMode mode=FM_force);
00113   void add_directed_force_at_pos(LPoint3f const &pos, LVector3f const &force, float radius,
00114                                  PhysxForceMode mode=FM_force);
00115 */
00116 
00117 
00118 /*
00119 virtual void  getWorldBounds (NxBounds3 &bounds) const =0 
00120 virtual void  attachToShape (const NxShape *shape, NxU32 attachmentFlags)=0 
00121 virtual void  attachToCollidingShapes (NxU32 attachmentFlags)=0 
00122 virtual void  detachFromShape (const NxShape *shape)=0 
00123 virtual void  attachVertexToShape (NxU32 vertexId, const NxShape *shape, const NxVec3 &localPos, NxU32 attachmentFlags)=0 
00124 virtual void  attachVertexToGlobalPosition (const NxU32 vertexId, const NxVec3 &pos)=0 
00125 virtual void  freeVertex (const NxU32 vertexId)=0 
00126 virtual bool  tearVertex (const NxU32 vertexId, const NxVec3 &normal)=0 
00127 virtual bool  raycast (const NxRay &worldRay, NxVec3 &hit, NxU32 &vertexId)=0 
00128 virtual void  setMeshData (NxMeshData &meshData)=0 
00129 virtual NxMeshData  getMeshData ()=0 
00130 virtual void  setSplitPairData (NxSoftBodySplitPairData &splitPairData)=0 
00131 virtual NxSoftBodySplitPairData  getSplitPairData ()=0 
00132 virtual void  setValidBounds (const NxBounds3 &validBounds)=0 
00133 virtual void  getValidBounds (NxBounds3 &validBounds) const =0 
00134 virtual void  setPosition (const NxVec3 &position, NxU32 vertexId)=0 
00135 virtual void  setPositions (void *buffer, NxU32 byteStride=sizeof(NxVec3))=0 
00136 virtual NxVec3  getPosition (NxU32 vertexId) const =0 
00137 virtual void  getPositions (void *buffer, NxU32 byteStride=sizeof(NxVec3))=0 
00138 virtual void  setVelocity (const NxVec3 &velocity, NxU32 vertexId)=0 
00139 virtual void  setVelocities (void *buffer, NxU32 byteStride=sizeof(NxVec3))=0 
00140 virtual NxVec3  getVelocity (NxU32 vertexId) const =0 
00141 virtual void  getVelocities (void *buffer, NxU32 byteStride=sizeof(NxVec3))=0 
00142 virtual void  setConstrainPositions (void *buffer, NxU32 byteStride=sizeof(NxVec3))=0 
00143 virtual void  setConstrainNormals (void *buffer, NxU32 byteStride=sizeof(NxVec3))=0 
00144 virtual void  setConstrainCoefficients (const NxSoftBodyConstrainCoefficients *coefficients, NxU32 byteStride=sizeof(NxSoftBodyConstrainCoefficients))=0 
00145 virtual NxU32  queryShapePointers ()=0 
00146 virtual NxU32  getStateByteSize ()=0 
00147 virtual void  getShapePointers (NxShape **shapePointers, NxU32 *flags)=0 
00148 virtual void  setShapePointers (NxShape **shapePointers, unsigned int numShapes)=0 
00149 virtual void  saveStateToStream (NxStream &stream, bool permute=false)=0 
00150 virtual void  loadStateFromStream (NxStream &stream)=0 
00151 virtual void  setCollisionResponseCoefficient (NxReal coefficient)=0 
00152 virtual NxReal  getCollisionResponseCoefficient () const =0 
00153 virtual void  setAttachmentResponseCoefficient (NxReal coefficient)=0 
00154 virtual NxReal  getAttachmentResponseCoefficient () const =0 
00155 virtual void  setFromFluidResponseCoefficient (NxReal coefficient)=0 
00156 virtual NxReal  getFromFluidResponseCoefficient () const =0 
00157 virtual void  setToFluidResponseCoefficient (NxReal coefficient)=0 
00158 virtual NxReal  getToFluidResponseCoefficient () const =0 
00159 virtual void  setExternalAcceleration (NxVec3 acceleration)=0 
00160 virtual NxVec3  getExternalAcceleration () const =0 
00161 virtual void  setMinAdhereVelocity (NxReal velocity)=0 
00162 virtual NxReal  getMinAdhereVelocity () const =0 
00163 virtual void  addForceAtVertex (const NxVec3 &force, NxU32 vertexId, NxForceMode mode=NX_FORCE)=0 
00164 virtual void  addForceAtPos (const NxVec3 &position, NxReal magnitude, NxReal radius, NxForceMode mode=NX_FORCE)=0 
00165 virtual void  addDirectedForceAtPos (const NxVec3 &position, const NxVec3 &force, NxReal radius, NxForceMode mode=NX_FORCE)=0 
00166 virtual bool  overlapAABBTetrahedra (const NxBounds3 &bounds, NxU32 &nb, const NxU32 *&indices) const =0 
00167 virtual NxCompartment *  getCompartment () const =0 
00168 virtual NxForceFieldMaterial  getForceFieldMaterial () const =0 
00169 virtual void  setForceFieldMaterial (NxForceFieldMaterial)=0 
00170 */
00171 
00172   INLINE void ls() const;
00173   INLINE void ls(ostream &out, int indent_level=0) const;
00174 
00175 public:
00176   void update();
00177 
00178 ////////////////////////////////////////////////////////////////////
00179 PUBLISHED:
00180   void release();
00181 
00182 public:
00183   INLINE NxSoftBody *ptr() const { return _ptr; };
00184 
00185   void link(NxSoftBody *ptr);
00186   void unlink();
00187 
00188 private:
00189   NxSoftBody *_ptr;
00190   PT(PhysxSoftBodyNode) _node;
00191   string _name;
00192 
00193 ////////////////////////////////////////////////////////////////////
00194 public:
00195   static TypeHandle get_class_type() {
00196     return _type_handle;
00197   }
00198   static void init_type() {
00199     PhysxObject::init_type();
00200     register_type(_type_handle, "PhysxSoftBody", 
00201                   PhysxObject::get_class_type());
00202   }
00203   virtual TypeHandle get_type() const {
00204     return get_class_type();
00205   }
00206   virtual TypeHandle force_init_type() {
00207     init_type();
00208     return get_class_type();
00209   }
00210 
00211 private:
00212   static TypeHandle _type_handle;
00213 };
00214 
00215 #include "physxSoftBody.I"
00216 
00217 #endif // PHYSXSOFTBODY_H
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