Revision control
++ // Copyright (c) 2001-2004 NovodeX AG. All rights reserved.
++ // Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.
++ // SPDX-FileCopyrightText: Copyright (c) 2008-2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
++ // SPDX-License-Identifier: Apache-2.0
++
++ #ifndef PX_ACTOR_H
++ #define PX_ACTOR_H
++
++ #include "PxPhysXConfig.h"
++ #include "foundation/PxBounds3.h"
++ #include "PxClient.h"
++ #include "common/PxBase.h"
++
++ #if !PX_DOXYGEN
++ namespace physx
++ {
++ #endif
++
++ class PxRigidActor;
++ class PxRigidBody;
++ class PxRigidStatic;
++ class PxRigidDynamic;
++ class PxArticulationLink;
++ class PxScene;
++
++ /**
++ \brief Group index which allows to specify 1- or 2-way interaction
++ */
++ typedef PxU8 PxDominanceGroup; // Must be < 32, PxU8.
++
++ /**
++ \brief Flags which control the behavior of an actor.
++
++ \see PxActorFlags PxActor PxActor.setActorFlag() PxActor.getActorFlags()
++ */
++ struct PxActorFlag
++ {
++ enum Enum
++ {
++ /**
++ \brief Enable debug renderer for this actor
++
++ \see PxScene.getRenderBuffer() PxRenderBuffer PxVisualizationParameter
++ */
++ eVISUALIZATION = (1<<0),
++
++ /**
++ \brief Disables scene gravity for this actor
++ */
++ eDISABLE_GRAVITY = (1<<1),
++
++ /**
++ \brief Enables the sending of PxSimulationEventCallback::onWake() and PxSimulationEventCallback::onSleep() notify events
++
++ \see PxSimulationEventCallback::onWake() PxSimulationEventCallback::onSleep()
++ */
++ eSEND_SLEEP_NOTIFIES = (1<<2),
++
++ /**
++ \brief Disables simulation for the actor.
++
++ \note This is only supported by PxRigidStatic and PxRigidDynamic actors and can be used to reduce the memory footprint when rigid actors are
++ used for scene queries only.
++
++ \note Setting this flag will remove all constraints attached to the actor from the scene.
++
++ \note If this flag is set, the following calls are forbidden:
++ \li PxRigidBody: setLinearVelocity(), setAngularVelocity(), addForce(), addTorque(), clearForce(), clearTorque(), setForceAndTorque()
++ \li PxRigidDynamic: setKinematicTarget(), setWakeCounter(), wakeUp(), putToSleep()
++
++ \par <b>Sleeping:</b>
++ Raising this flag will set all velocities and the wake counter to 0, clear all forces, clear the kinematic target, put the actor
++ to sleep and wake up all touching actors from the previous frame.
++ */
++ eDISABLE_SIMULATION = (1<<3)
++ };
++ };
++
++ /**
++ \brief collection of set bits defined in PxActorFlag.
++
++ \see PxActorFlag
++ */
++ typedef PxFlags<PxActorFlag::Enum,PxU8> PxActorFlags;
++ PX_FLAGS_OPERATORS(PxActorFlag::Enum,PxU8)
++
++ /**
++ \brief Identifies each type of actor.
++ \see PxActor
++ */
++ struct PxActorType
++ {
++ enum Enum
++ {
++ /**
++ \brief A static rigid body
++ \see PxRigidStatic
++ */
++ eRIGID_STATIC,
++
++ /**
++ \brief A dynamic rigid body
++ \see PxRigidDynamic
++ */
++ eRIGID_DYNAMIC,
++
++ /**
++ \brief An articulation link
++ \see PxArticulationLink
++ */
++ eARTICULATION_LINK,
++
++ /**
++ \brief A deformable surface
++ \see PxDeformableSurface
++ */
++ eDEFORMABLE_SURFACE,
++
++ /**
++ \brief A deformable volume
++ \see PxDeformableVolume
++ */
++ eDEFORMABLE_VOLUME,
++
++ /**
++ \brief A PBD ParticleSystem
++ \see PxPBDParticleSystem
++ */
++ ePBD_PARTICLESYSTEM,
++
++ //! \brief internal use only!
++ eACTOR_COUNT,
++
++ //! \brief internal use only!
++ eACTOR_FORCE_DWORD = 0x7fffffff
++ };
++ };
++
++ /**
++ \brief PxActor is the base class for the main simulation objects in the physics SDK.
++
++ The actor is owned by and contained in a PxScene.
++ */
++ class PxActor : public PxBase
++ {
++ public:
++ /**
++ \brief Deletes the actor.
++
++ Do not keep a reference to the deleted instance.
++
++ If the actor belongs to a #PxAggregate object, it is automatically removed from the aggregate.
++
++ \see PxBase.release(), PxAggregate
++ */
++ virtual void release() = 0;
++
++ /**
++ \brief Retrieves the type of actor.
++
++ \return The actor type of the actor.
++
++ \see PxActorType
++ */
++ virtual PxActorType::Enum getType() const = 0;
++
++ /**
++ \brief Retrieves the scene which this actor belongs to.
++
++ \return Owner Scene. NULL if not part of a scene.
++
++ \see PxScene
++ */
++ virtual PxScene* getScene() const = 0;
++
++ // Runtime modifications
++
++ /**
++ \brief Sets a name string for the object that can be retrieved with getName().
++
++ This is for debugging and is not used by the SDK. The string is not copied by the SDK,
++ only the pointer is stored.
++
++ \param[in] name String to set the objects name to.
++
++ <b>Default:</b> NULL
++
++ \see getName()
++ */
++ virtual void setName(const char* name) = 0;
++
++ /**
++ \brief Retrieves the name string set with setName().
++
++ \return Name string associated with object.
++
++ \see setName()
++ */
++ virtual const char* getName() const = 0;
++
++ /**
++ \brief Retrieves the axis aligned bounding box enclosing the actor.
++
++ \note It is not allowed to use this method while the simulation is running (except during PxScene::collide(),
++ in PxContactModifyCallback or in contact report callbacks).
++
++ \param[in] inflation Scale factor for computed world bounds. Box extents are multiplied by this value.
++
++ \return The actor's bounding box.
++
++ \see PxBounds3
++ */
++ virtual PxBounds3 getWorldBounds(float inflation=1.01f) const = 0;
++
++ /**
++ \brief Raises or clears a particular actor flag.
++
++ See the list of flags #PxActorFlag
++
++ <b>Sleeping:</b> Does <b>NOT</b> wake the actor up automatically.
++
++ \param[in] flag The PxActor flag to raise(set) or clear. See #PxActorFlag.
++ \param[in] value The boolean value to assign to the flag.
++
++ \see PxActorFlag getActorFlags()
++ */
++ virtual void setActorFlag(PxActorFlag::Enum flag, bool value) = 0;
++
++ /**
++ \brief Sets the actor flags.
++
++ See the list of flags #PxActorFlag
++ \see PxActorFlag setActorFlag()
++ */
++ virtual void setActorFlags( PxActorFlags inFlags ) = 0;
++
++ /**
++ \brief Reads the PxActor flags.
++
++ See the list of flags #PxActorFlag
++
++ \return The values of the PxActor flags.
++
++ \see PxActorFlag setActorFlag()
++ */
++ virtual PxActorFlags getActorFlags() const = 0;
++
++ /**
++ \brief Assigns dynamic actors a dominance group identifier.
++
++ PxDominanceGroup is a 5 bit group identifier (legal range from 0 to 31).
++
++ The PxScene::setDominanceGroupPair() lets you set certain behaviors for pairs of dominance groups.
++ By default every dynamic actor is created in group 0.
++
++ <b>Default:</b> 0
++
++ <b>Sleeping:</b> Changing the dominance group does <b>NOT</b> wake the actor up automatically.
++
++ \param[in] dominanceGroup The dominance group identifier. <b>Range:</b> [0..31]
++
++ \see getDominanceGroup() PxDominanceGroup PxScene::setDominanceGroupPair()
++ */
++ virtual void setDominanceGroup(PxDominanceGroup dominanceGroup) = 0;
++
++ /**
++ \brief Retrieves the value set with setDominanceGroup().
++
++ \return The dominance group of this actor.
++
++ \see setDominanceGroup() PxDominanceGroup PxScene::setDominanceGroupPair()
++ */
++ virtual PxDominanceGroup getDominanceGroup() const = 0;
++
++ /**
++ \brief Sets the owner client of an actor.
++
++ This cannot be done once the actor has been placed into a scene.
++
++ <b>Default:</b> PX_DEFAULT_CLIENT
++
++ \see PxClientID PxScene::createClient()
++ */
++ virtual void setOwnerClient( PxClientID inClient ) = 0;
++
++ /**
++ \brief Returns the owner client that was specified at creation time.
++
++ This value cannot be changed once the object is placed into the scene.
++
++ \see PxClientID PxScene::createClient()
++ */
++ virtual PxClientID getOwnerClient() const = 0;
++
++ /**
++ \brief Retrieves the aggregate the actor might be a part of.
++
++ \return The aggregate the actor is a part of, or NULL if the actor does not belong to an aggregate.
++
++ \see PxAggregate
++ */
++ virtual PxAggregate* getAggregate() const = 0;
++
++ /************************************************************************************************/
++ /** \name Environment ID
++ */
++
++ /**
++ \brief Sets the environment ID for this actor.
++
++ The environment ID is an extra built-in filter group for the GPU broadphase. Actors will only collide with each-other if they have the
++ same environment ID.
++
++ The default value is PX_INVALID_U32. Actors with this ID will collide with other actors, regardless of which environment they are a part of.
++
++ The environment ID must be set before adding the actor to a scene, and cannot change while the actor is in the scene.
++
++ If it is not PX_INVALID_U32, the environment ID must be smaller than 1<<24, i.e. the system does not support more than 1<<24 environments.
++
++ <b>Default:</b> PX_INVALID_U32
++
++ \note This is not available for CPU broadphases.
++
++ \param[in] envID Environment ID for this actor.
++ \return True if success.
++
++ \see getEnvironmentID()
++ */
++ virtual bool setEnvironmentID(PxU32 envID) = 0;
++
++ /**
++ \brief Returns the environment ID for this actor.
++
++ \return Environment ID for this actor.
++
++ \see setEnvironmentID()
++ */
++ virtual PxU32 getEnvironmentID() const = 0;
++
++ //public variables:
++ void* userData; //!< user can assign this to whatever, usually to create a 1:1 relationship with a user object.
++
++ protected:
++ PX_INLINE PxActor(PxType concreteType, PxBaseFlags baseFlags) : PxBase(concreteType, baseFlags), userData(NULL) {}
++ PX_INLINE PxActor(PxBaseFlags baseFlags) : PxBase(baseFlags) {}
++ virtual ~PxActor() {}
++ virtual bool isKindOf(const char* name) const { PX_IS_KIND_OF(name, "PxActor", PxBase); }
++ };
++
++ #if !PX_DOXYGEN
++ } // namespace physx
++ #endif
++
++ #endif